Pressure control module and system for automatic drilling robot
Through real-time closed-loop control and PID calculation of the pressure control module, combined with pressure sensors and guide mechanical mechanisms, the problem that the automatic drilling robot cannot adjust the feed speed according to the wall hardness is solved, and accurate pressure feedback and control is achieved, equipment and structure safety is protected, and drilling efficiency is improved.
Patent Information
- Application Number
- CN202411713644.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-11-27
- Publication Date
- 2025-08-29
AI Technical Summary
The existing automatic drilling robot pressure control system cannot automatically adjust the feed speed according to the wall hardness, resulting in system overload, drill bit overheating or equipment damage. At the same time, it cannot accurately feedback pressure changes during the drilling process, inaccurate control, and timely detection of obstacles may lead to damage to building structures or equipment damage.
The pressure control module is adopted, using real-time pressure closed-loop control and PID calculation, combined with pressure sensors and guide mechanical mechanisms, the feed speed of the robotic arm is automatically adjusted, the bending moment and torque affect the pressure sensor readings are eliminated, and the pressure changes in the drilling process are achieved accurately feedback.
Improve the accuracy and stability of drilling control, avoid equipment damage, protect building structure from damage, improve drilling efficiency, promptly detect and avoid abnormal hard objects, and prevent drilling bits from overheating and overloading of robotic arms.
Smart Images
Figure CN120552093A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of automatic drilling robots, and in particular to a pressure control module and system for the automatic drilling robots. Background Art
[0002] The automatic drilling robot is an automated device that integrates components such as a motion mechanism, an actuator, a process control module, and a three-dimensional scanner.
[0003] Existing pressure control systems used in automatic drilling robots usually do not have the function of automatically adjusting the feed speed according to the hardness of the wall, which may cause system overload, drill bit overheating or equipment damage. At the same time, they cannot accurately feedback the pressure changes during the drilling process, resulting in inaccurate control. They do not have the function of promptly detecting obstacles encountered during the drilling process, which may cause damage to the building structure or equipment.
[0004] In view of the problem that the pressure control system used in existing automatic drilling robots may cause system overload, drill bit overheating or equipment damage, and cannot accurately feedback the pressure changes during the drilling process, resulting in inaccurate control, the pressure control system used in this automatic drilling robot uses a pressure control module, real-time pressure closed-loop control and PID calculation, and can automatically adjust the feed speed of the robotic arm according to the hardness of the wall to avoid system overload and drill bit overheating. At the same time, the use of pressure sensors and guide mechanical mechanisms can accurately feedback the pressure changes during the drilling process, eliminate the influence of bending moment and torque on the pressure sensor readings, and improve the accuracy of control. Summary of the Invention
[0005] In order to overcome the pressure control systems used in existing automatic drilling robots, they usually do not have the function of automatically adjusting the feed speed according to the hardness of the wall, which may cause system overload, drill bit overheating or equipment damage. At the same time, they cannot accurately feedback the pressure changes during the drilling process, resulting in inaccurate control. They do not have the function of timely detecting obstacles encountered during the drilling process, which may cause damage to the building structure or equipment.
[0006] The technical solution of the present invention is: a pressure control module and system for an automatic drilling robot, including a pressure plate, a pressure sensor and a guide column. The bottom surface of the pressure plate is provided with a pressure sensor, and guide columns are provided at the four corners of the bottom surface of the pressure plate.
[0007] Preferably, the feed force of drilling is transmitted to the pressure sensor through the pressure plate for real-time reading, the magnitude of the feed force is detected by the pressure sensor, and the bending moment and torque generated during the drilling operation are dispersed through the guide column to avoid direct action on the pressure sensor.
[0008] The pressure control system for the automatic drilling robot includes the following modules: Robotic arm module: responsible for movement and positioning during drilling operations; Drill gun module: used for drilling operations; Pressure module: used to provide real-time pressure feedback to the drilling strength module; 3D scanner module: used to sense the spatial position information of the drilling hole; Controller module: used for receiving drilling space information sensed by the 3D scanner module; Pressure sensor module: used to read the pressure signal generated during the drilling process in real time; Guide column module: used to eliminate the influence of bending moment and torque during drilling process on pressure sensor readings.
[0009] Preferably, the robotic arm module is used as the motion mechanism of the drilling robot, responsible for movement and positioning during drilling operations. The feed speed of the robotic arm is adjusted in real time by the pressure control system through closed-loop feedback to adapt to walls of different hardness.
[0010] Preferably, the drill gun module serves as the actuator of the drilling robot. The drill gun module is used to execute the drilling operation command and provide rotational cutting force to perform drilling operations. The drill gun is connected to the robotic arm, and its feed speed is determined by the feed speed of the robotic arm.
[0011] Preferably, the pressure module is used to monitor the reverse force applied to the robotic arm by the drill bit, i.e., the feed force, in real time through a pressure sensor, and convert the pressure signal into an electrical signal for subsequent processing. The pressure module adjusts the feed speed of the robotic arm in real time through closed-loop negative feedback and PID operation, thereby controlling the feed speed of the drill bit.
[0012] Preferably, the pressure module comprises the following steps when operating: S11: According to the wall material being cut, the system gives a preset feed force, which is also the maximum allowable feed force; S12: After the first round of proportional calculation, the preset feed force is converted into a preset maximum feed speed of the robot arm; S13: When this feed rate gives the drill bit a feed cutting force, a reverse force F (t) is applied to the pressure module, which passes through the pressure sensor and generates a pressure signal; S14: The pressure signal is used as negative feedback and subtracted from the preset pressure value to obtain dF(t). After PID calculation, dF(t) is converted into the real-time feed rate Vz(t) and transmitted to the robot arm as a control signal; S15: When the wall is hard, the feed speed is low, and when the wall is soft, the feed speed is high. When the drill bit touches an abnormally hard object such as steel bars, the pressure sensor feedback value is greater than or equal to the preset feed force (i.e., F(t)>=F0). At this time, the feed speed of the robotic arm and the drill bit is equal to 0, and the drill bit stops.
[0013] Preferably, the three-dimensional scanner module is used to sense the spatial position information of the drilling hole and send the spatial coordinates to the controller. The controller controls the movement of the robotic arm to the target drilling position to perform the operation based on this information, thereby ensuring the accuracy and precision of the drilling.
[0014] Preferably, the controller module is responsible for receiving input information from the three-dimensional scanner, processing the pressure signal from the pressure module, and controlling the core components of the robot arm and drill gun movement. The controller realizes automation and intelligent control of the drilling process through calculation.
[0015] Preferably, the pressure sensor module is located between the pressure plate and the pressure controller, and is used to read the pressure signal generated during the drilling process in real time, and convert it into an electrical signal and send it to the pressure module for processing.
[0016] Preferably, the guide column module is used to eliminate the influence of the bending moment and torque generated during the drilling process on the pressure sensor reading. Through the action of the guide column, it can ensure that the pressure sensor only reads the pressure signal generated by the drilling feed force, thereby improving the accuracy and stability of pressure control.
[0017] Preferably, the feed speed can be optimally controlled through pressure closed-loop feedback. The use of pressure closed-loop feedback can avoid drilling into the steel structure of the building by mistake, thereby protecting the building structure from damage and improving drilling efficiency. At the same time, the guide column design in the mechanical structure of the pressure module can eliminate the influence of bending moment and torque on the pressure sensor reading. When encountering abnormal hard objects such as steel bars, the pressure module can quickly feedback and stop feeding to prevent the drill bit from overheating and the robotic arm from overloading, thereby protecting the equipment from damage.
[0018] Beneficial effects of the present invention: 1. Compared with the pressure control systems used in traditional automatic drilling robots, which usually lack the function of automatically adjusting the feed speed according to the wall hardness, this may cause system overload, drill bit overheating, or equipment damage. At the same time, it cannot accurately feedback the pressure changes during the drilling process, resulting in inaccurate control and the inability to promptly detect obstacles encountered during the drilling process, which may cause damage to the building structure or equipment. The pressure control system used in this automatic drilling robot uses a pressure control module, real-time pressure closed-loop control and PID calculation to automatically adjust the feed speed of the robotic arm according to the wall hardness, avoiding system overload and drill bit overheating. At the same time, the use of pressure sensors and guide-type mechanical mechanisms can accurately feedback the pressure changes during the drilling process and eliminate the influence of bending moment and torque on the pressure sensor readings, thereby improving control accuracy. 2. Optimal control of feed speed can be achieved through pressure closed-loop feedback. Using pressure closed-loop feedback can avoid drilling into the steel structure of the building, thereby protecting the building structure from damage and improving drilling efficiency. At the same time, the guide column design in the mechanical structure of the pressure module can eliminate the influence of bending moment and torque on the pressure sensor reading. When encountering abnormal hard objects such as steel bars, the pressure module can quickly feedback and stop feeding to prevent the drill bit from overheating and the robotic arm from overloading, thereby protecting the equipment from damage. BRIEF DESCRIPTION OF THE DRAWINGS
[0019] Figure 1 Shown is a first schematic diagram of a specific application of a pressure control module for an automatic drilling robot and the drilling robot according to the present invention; Figure 2 Shown is a second schematic diagram of a specific application of a pressure control module for an automatic drilling robot and the drilling robot according to the present invention; Figure 3 Shown is a three-dimensional schematic diagram of a pressure control module for an automatic drilling robot of the present invention; Figure 4 Shown is a schematic diagram of the working process of the pressure module of the pressure control system for the automatic drilling robot of the present invention; Explanation of the accompanying drawings: 1. pressure plate; 2. pressure sensor; 3. guide column. DETAILED DESCRIPTION
[0020] The present invention will be further described below with reference to the accompanying drawings and examples.
[0021] See also Figures 1-4 The present invention provides an embodiment: a pressure control module and system for an automatic drilling robot, including a pressure plate 1, a pressure sensor 2 and a guide column 3. The pressure sensor 2 is provided on the bottom surface of the pressure plate 1, and the guide columns 3 are provided at the four corners of the bottom surface of the pressure plate 1.
[0022] Preferably, the drilling feed force is transmitted to the pressure sensor 2 through the pressure plate 1 for real-time reading, the magnitude of the feed force is detected by the pressure sensor 2, and the bending moment and torque generated during the drilling operation are dispersed through the guide column 3 to avoid direct action on the pressure sensor 2.
[0023] The pressure control system for the automatic drilling robot includes the following modules: Robotic arm module: responsible for movement and positioning during drilling operations; Drill gun module: used for drilling operations; Pressure module: used to provide real-time pressure feedback to the drilling strength module; 3D scanner module: used to sense the spatial position information of the drilling hole; Controller module: used for receiving drilling space information sensed by the 3D scanner module; Pressure sensor module: used to read the pressure signal generated during the drilling process in real time; Guide column module: used to eliminate the influence of bending moment and torque during drilling process on pressure sensor readings.
[0024] Preferably, the robotic arm module is used as the motion mechanism of the drilling robot, responsible for movement and positioning during drilling operations. The feed speed of the robotic arm is adjusted in real time by the pressure control system through closed-loop feedback to adapt to walls of different hardness.
[0025] Preferably, the drill gun module serves as the actuator of the drilling robot. The drill gun module is used to execute the drilling operation command and provide rotational cutting force to perform drilling operations. The drill gun is connected to the robotic arm, and its feed speed is determined by the feed speed of the robotic arm.
[0026] Preferably, the pressure module is used to monitor the reverse force applied to the robotic arm by the drill bit, i.e., the feed force, in real time through a pressure sensor, and convert the pressure signal into an electrical signal for subsequent processing. The pressure module adjusts the feed speed of the robotic arm in real time through closed-loop negative feedback and PID operation, thereby controlling the feed speed of the drill bit.
[0027] Preferably, the pressure module comprises the following steps when operating: S11: According to the wall material being cut, the system gives a preset feed force, which is also the maximum allowable feed force; S12: After the first round of proportional calculation, the preset feed force is converted into a preset maximum feed speed of the robot arm; S13: When this feed rate gives the drill bit a feed cutting force, a reverse force F (t) is applied to the pressure module, which passes through the pressure sensor and generates a pressure signal; S14: The pressure signal is used as negative feedback and subtracted from the preset pressure value to obtain dF(t). After PID calculation, dF(t) is converted into the real-time feed rate Vz(t) and transmitted to the robot arm as a control signal; S15: When the wall is hard, the feed speed is low, and when the wall is soft, the feed speed is high. When the drill bit touches an abnormally hard object such as steel bars, the pressure sensor feedback value is greater than or equal to the preset feed force (i.e., F(t)>=F0). At this time, the feed speed of the robotic arm and the drill bit is equal to 0, and the drill bit stops.
[0028] Preferably, the three-dimensional scanner module is used to sense the spatial position information of the drilling hole and send the spatial coordinates to the controller. The controller controls the movement of the robotic arm to the target drilling position to perform the operation based on this information, thereby ensuring the accuracy and precision of the drilling.
[0029] Preferably, the controller module is responsible for receiving input information from the three-dimensional scanner, processing the pressure signal from the pressure module, and controlling the core components of the robot arm and drill gun movement. The controller realizes automation and intelligent control of the drilling process through calculation.
[0030] Preferably, the pressure sensor module is located between the pressure plate and the pressure controller, and is used to read the pressure signal generated during the drilling process in real time, and convert it into an electrical signal and send it to the pressure module for processing.
[0031] Preferably, the guide column module is used to eliminate the influence of the bending moment and torque generated during the drilling process on the pressure sensor reading. Through the action of the guide column, it can ensure that the pressure sensor only reads the pressure signal generated by the drilling feed force, thereby improving the accuracy and stability of pressure control.
[0032] Preferably, the feed speed can be optimally controlled through pressure closed-loop feedback. The use of pressure closed-loop feedback can avoid drilling into the steel structure of the building by mistake, thereby protecting the building structure from damage and improving drilling efficiency. At the same time, the guide column design in the mechanical structure of the pressure module can eliminate the influence of bending moment and torque on the pressure sensor reading. When encountering abnormal hard objects such as steel bars, the pressure module can quickly feedback and stop feeding to prevent the drill bit from overheating and the robotic arm from overloading, thereby protecting the equipment from damage.
[0033] The embodiments of the present invention are described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Various changes can be made within the scope of knowledge of those skilled in the art without departing from the spirit of the present invention.
Claims
1. Pressure control module for automatic drilling robot; its characteristics are: The invention comprises a pressure plate (1), a pressure sensor (2) and a guide column (3). The pressure sensor (2) is provided on the bottom surface of the pressure plate (1), and the guide columns (3) are provided at the four corners of the bottom surface of the pressure plate (1).
2. A pressure control system for an automatic drilling robot, characterized in that: The pressure control module for the automatic drilling robot according to claim 1 comprises the following modules: Robotic arm module: responsible for movement and positioning during drilling operations; Drill gun module: used for drilling operations; Pressure module: used to provide real-time pressure feedback to the drilling strength module; 3D scanner module: used to sense the spatial position information of the drilling hole; Controller module: used for receiving drilling space information sensed by the 3D scanner module; Pressure sensor module: used to read the pressure signal generated during the drilling process in real time; Guide column module: used to eliminate the influence of bending moment and torque during drilling process on pressure sensor readings.
3. The pressure control system for the automatic drilling robot according to claim 2, characterized in that: The robotic arm module serves as the motion mechanism of the drilling robot, responsible for movement and positioning during drilling operations. The feed speed of the robotic arm is adjusted in real time by the pressure control system through closed-loop feedback to adapt to walls of different hardness.
4. The pressure control system for the automatic drilling robot according to claim 3, characterized in that: The drill gun module serves as the actuator of the drilling robot. It is used to execute drilling operation commands and provide rotational cutting force for drilling operations. The drill gun is connected to the robotic arm, and its feed speed is determined by the feed speed of the robotic arm.
5. The pressure control system for the automatic drilling robot according to claim 4, characterized in that: The pressure module is used to monitor the reverse force applied by the drill bit to the robotic arm, i.e. the feed force, in real time through a pressure sensor, and convert the pressure signal into an electrical signal for subsequent processing. The pressure module adjusts the feed speed of the robotic arm in real time through closed-loop negative feedback and PID calculation, thereby controlling the feed speed of the drill bit.
6. The pressure control system for the automatic drilling robot according to claim 5, characterized in that: The pressure module operates in the following steps: S11: According to the wall material being cut, the system gives a preset feed force, which is also the maximum allowable feed force; S12: After the first round of proportional calculation, the preset feed force is converted into a preset maximum feed speed of the robot arm; S13: When this feed rate gives the drill bit a feed cutting force, a reverse force F (t) is applied to the pressure module, which passes through the pressure sensor and generates a pressure signal; S14: The pressure signal is used as negative feedback and subtracted from the preset pressure value to obtain dF(t). After PID calculation, dF(t) is converted into the real-time feed rate Vz(t) and transmitted to the robot arm as a control signal; S15: When the wall is hard, the feed speed is low, and when the wall is soft, the feed speed is high. When the drill bit touches an abnormally hard object such as steel bars, the pressure sensor feedback value is greater than or equal to the preset feed force (i.e., F(t)>=F0). At this time, the feed speed of the robotic arm and the drill bit is equal to 0, and the drill bit stops.
7. The pressure control system for the automatic drilling robot according to claim 6, characterized in that: The 3D scanner module is used to sense the spatial position information of the drilling hole and send the spatial coordinates to the controller. The controller controls the movement of the robotic arm to the target drilling position based on this information to ensure the accuracy and precision of the drilling.
8. The pressure control system for the automatic drilling robot according to claim 7, characterized in that: The 3D scanner module is used to sense the spatial position information of the drilling hole and send the spatial coordinates to the controller. The controller controls the movement of the robotic arm to the target drilling position based on this information to ensure the accuracy and precision of the drilling.
9. The pressure control system for the automatic drilling robot according to claim 8, characterized in that: The pressure sensor module is located between the pressure plate and the pressure controller. It is used to read the pressure signal generated during the drilling process in real time and convert it into an electrical signal and send it to the pressure module for processing.
10. The pressure control system for the automatic drilling robot according to claim 9, characterized in that: The guide column module is used to eliminate the influence of bending moment and torque generated during the drilling process on the pressure sensor reading. Through the action of the guide column, it can ensure that the pressure sensor only reads the pressure signal generated by the drilling feed force, thereby improving the accuracy and stability of pressure control.