Top plate support drilling equipment based on automatic control

Abstract

The invention provides roof support drilling equipment based on automatic control, and relates to the field of civil construction. The driving wheel set is arranged at the bottom of the base; the three-axis mechanical arm is arranged at the top of the base; the adjusting device is arranged between the base and the three-axis mechanical arm and used for adjusting the height and the transverse position of the three-axis mechanical arm; the mounting base is arranged at the end, away from the adjusting device, of the three-axis mechanical arm, and a drilling machine, a camera module, a steel bar detection module and a distance measuring module are arranged on the mounting base; the controller is arranged on the base and used for controlling the traveling wheel set, the three-axis mechanical arm, the adjusting device, the drilling machine, the camera shooting module, the steel bar detection module and the distance measuring module. The automatic drilling equipment for the top plate bracket has the effect of integrating automatic movement, intelligent obstacle avoidance and accurate positioning.

Description

Technical Field

[0001] This application relates to the field of civil engineering construction technology, and in particular to a drilling device for roof support based on automated control. Background Technology

[0002] In the construction industry, drilling holes in roof slabs is a crucial step in the installation of scaffolding and suspended ceilings, typically requiring manual drilling at height using mobile scaffolding. However, this method presents significant safety hazards, such as the risk of falls from heights, drill bit explosion injuries, and dust and noise pollution. Furthermore, due to varying skill levels among construction workers, some elderly or physically weak workers are unable to handle the high-intensity hand-held drilling work, which can easily lead to damage to the roof slab structure or substandard construction quality. In addition, traditional manual drilling is inefficient, costly, and ill-suited to the demands of modern intelligent building construction. Therefore, there is an urgent need for automated, safe, and efficient roof slab drilling equipment to optimize the construction process.

[0003] Currently, drilling holes in roof slabs mainly relies on manual hand-held electric drills or aerial work platforms. Some improved equipment uses tracked walking mechanisms or hydraulic lifting systems, but these still have significant limitations. For example, tracked equipment has poor lateral movement flexibility and requires frequent turning and position adjustments; hydraulic direct-drive lifting mechanisms can only move vertically, resulting in poor flexibility.

[0004] Therefore, there is an urgent need to develop an automated drilling equipment for roof supports that integrates automated movement, intelligent obstacle avoidance, and precise positioning to improve construction safety, efficiency, and quality. Summary of the Invention

[0005] To address the aforementioned technical problems, this application provides a drilling device for a roof support based on automated control.

[0006] The technical solution of the automatic control-based drilling equipment for roof supports provided in this application is as follows: The automated control-based drilling equipment for roof supports includes: Base; The running wheel assembly is located at the bottom of the base; A three-axis robotic arm is provided with the top of the base; An adjustment device is provided between the base and the three-axis robotic arm for adjusting the height and lateral position of the three-axis robotic arm; The mounting base is located at the end of the three-axis robotic arm away from the adjustment device, and a drilling rig and a camera module, a rebar detection module and a ranging module located around the drilling rig are mounted on it. The controller, mounted on the base, is used to control the traveling wheel set, the three-axis robotic arm, the adjustment device, the drilling rig, the camera module, the rebar detection module, and the ranging module; The controller, in conjunction with the camera module, controls the traveling wheel assembly to reach the construction position, uses an adjustment device to coarsely adjust the drilling rig position, uses a three-axis robotic arm in conjunction with the camera module to finely adjust the drilling rig position and angle, uses a rebar detection module to avoid rebar in the drilling area, and uses a distance measuring module to control the drilling depth.

[0007] Furthermore, the base is provided with multiple sensors for detecting obstacles on its periphery.

[0008] Furthermore, the adjustment device includes a lateral translation component and a first telescopic cylinder; The lateral translation component includes a first lead screw slide and a second lead screw slide arranged perpendicularly to each other. The first lead screw slide is fixedly connected to the base, and the second lead screw slide is fixedly connected to the slide of the first lead screw slide. One end of the first telescopic cylinder is fixedly connected to the slide of the second lead screw slide.

[0009] Furthermore, the three-axis robotic arm includes a base, a first rocker arm, a second rocker arm, and a third rocker arm. The base is fixedly connected to the end of the first telescopic cylinder away from the second lead screw slide. One end of the first rocker arm is rotatably connected to the base. The first rocker arm, the second rocker arm, and the third rocker arm are rotatably connected in sequence.

[0010] Furthermore, the end of the third rocker arm is provided with a mounting frame, and a second telescopic cylinder is provided inside the mounting frame. The movable end of the second telescopic cylinder extends out of the mounting frame and is fixedly connected to the mounting seat to drive the mounting seat to move closer to or away from the mounting frame.

[0011] Furthermore, it also includes a spraying device installed on the base and a collection device installed on the mounting base. The spraying device is used to spray the drilling rig, and the collection device is used to collect the spraying fluid and the debris generated during drilling.

[0012] Furthermore, the collecting device is a collecting bucket fixedly installed on the mounting base. The collecting bucket is made of elastic material and is flared from one end near the mounting base to the other end away from the mounting base. The drilling rig, camera module, ranging module, and metal detection module are all located inside the collecting bucket.

[0013] Furthermore, the spraying device includes a water tank, a water pump, a spray pipe, and a spray head. The water tank is set on the base, the water pump is installed inside the water tank, one end of the spray pipe is connected to the water pump, and the other end passes through the collection hopper and is set toward the drill bit of the drilling machine. The spray head is set at the end of the spray pipe near the drilling machine.

[0014] Furthermore, the spray pipe is provided with three transition cylinders, and the spray pipe is connected to the interior of the transition cylinders. The spray pipe enters and exits the same transition cylinder at two extreme points of the transition cylinder, and the three transition cylinders are coaxially rotatably connected to the three rotating shafts of the three-axis robotic arm.

[0015] Furthermore, the mounting base is equipped with a transparent protective cover to isolate drill cuttings or spray fluid splashes, and both the camera module and the ranging module are located inside the transparent protective cover.

[0016] In summary, this application includes at least one of the following beneficial technical effects: 1. The controller, in conjunction with the camera module, controls the traveling wheel assembly to move to the vicinity of the construction location. During this process, the three-axis robotic arm can flexibly adjust the shooting angle of the camera module to accurately locate the construction location. In addition, it works with sensors around the base to achieve precise obstacle avoidance. After arriving at the construction location, the controller adjusts the angle and position of the drill rig through the control adjustment device and the three-axis robotic arm, so that the drill bit can drill in a direction perpendicular to the drilling surface, improving drilling efficiency. The drill bit, in conjunction with the ranging module, accurately controls the drilling depth. The drill bit is equipped with a metal detection module to avoid steel bars in the concrete, preventing the drill bit from encountering steel bars and being damaged. Thus, a high-safety, high-efficiency, and high-quality drilling equipment is provided. 2. By setting the adjustment device as a lateral translation component and a first telescopic cylinder, the three-axis robotic arm can move freely in three directions—lateral, longitudinal, and vertical—within its range of motion. Combined with the multi-angle flexible adjustment of the three-axis robotic arm itself, the flexibility of this device can be greatly improved. 3. A second telescopic cylinder is installed at the end of the third rocker arm to facilitate the control of the advancement of the mounting base, and the collection bucket is installed on the mounting base to advance synchronously, so that the collection bucket can fit in close contact with the surrounding environment of the drilling position while drilling. 4. By setting up a spraying device and a collection device, the drill bit of the drilling rig can be cooled down in time and the drilling point can be cleaned quickly to protect the drill bit and improve its service life. The collection device collects the sprayed water and drill cuttings to reduce dust pollution. 5. By setting multiple transition cylinders on the spray pipe, the transition cylinders adapt to the angle changes at the joints of the three-axis robotic arm when the angle is adjusted, reducing the risk of the spray pipe breaking due to frequent bending and improving the service life of the spray system. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the overall structure of an embodiment of this application.

[0019] Figure 2 This is a schematic diagram of the overall structure from another perspective of an embodiment of this application.

[0020] Figure 3 This is a schematic diagram of the end structure of the third rocker arm in an embodiment of this application.

[0021] Figure 4 This is a schematic diagram of the internal structure of the collection hopper according to an embodiment of this application.

[0022] Reference numerals: 1. Base; 11. Sensor; 2. Traveling wheel assembly; 21. Front wheel assembly; 22. Rear wheel assembly; 3. Adjustment device; 31. Lateral translation assembly; 311. First lead screw slide; 312. Second lead screw slide; 313. Slider; 314. Limiting rod; 32. First telescopic cylinder; 4. Three-axis robotic arm; 41. Base; 42. First rocker arm; 43. Second rocker arm; 44. Third rocker arm; 441. Mounting frame; 442. Second telescopic cylinder; 5. Mounting seat; 51. Drill rig; 511. Drill bit; 52. Distance measuring module; 53. Camera module; 54. Metal detection module; 55. Transparent protective cover; 6. Spraying device; 61. Water tank; 62. Spray pipe; 63. Spray head; 7. Collection hopper; 8. Controller; 9. Marking rod. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0024] This application discloses an automated control-based drilling device for a roof support. (Refer to...) Figure 1 Automated control-based drilling equipment for roof supports includes: Base 1, travel wheel set 2, three-axis robotic arm 4, adjustment device 3, mounting base 5, drilling rig 51, camera module 53, distance measuring module 52, and controller 8.

[0025] The base 1 is an L-shaped plate frame structure used to support and fix various functional components.

[0026] The driving wheel set 2 is located at the bottom of the base 1. The driving wheel set 2 includes a front wheel set 21 and a rear wheel set 22. The front wheel set 21 is connected to the front end of the bottom of the base 1 through a steering control structure, and the rear wheel set 22 is connected to the rear end of the bottom of the base 1 through a drive control mechanism to realize forward, backward and stationary turning. It is a relatively conventional wheel set structure, which will not be described in detail here.

[0027] Multiple sensors 11 are evenly distributed around the base 1. The sensors 11 are infrared photoelectric sensors 11. In this embodiment, three sensors 11 are provided on the left and right sides of the base 1, and two sensors 11 are provided on the front and rear sides. These sensors are used to detect surrounding obstacles in real time and transmit signals to the controller 8 so as to perform path planning and obstacle avoidance control during automatic driving.

[0028] The adjustment device 3 is located between the base 1 and the three-axis robotic arm 4, and includes a lateral translation component 31 and a first telescopic cylinder 32. Figure 2 As shown, the lateral translation component 31 consists of a first lead screw slide 311 and a second lead screw slide 312 arranged perpendicularly to each other. The first lead screw slide 311 is fixed to the base 1 by bolts, and the bottom of the second lead screw slide 312 is fixedly connected to the slider 313 of the first lead screw slide 311 by bolts. The first telescopic cylinder 32 is an electric telescopic cylinder, and its cylinder body is fixed to the slider 313 of the second lead screw slide 312 by a rectangular mounting plate. Its telescopic end is fixedly connected to the base 41 of the three-axis robotic arm 4 for adjusting the height of the three-axis robotic arm 4. Furthermore, driven by the first lead screw slide 311 and the second lead screw slide 312, the first telescopic cylinder 32 can move freely in the lateral or longitudinal direction.

[0029] To improve the operational stability of the second lead screw slide 312, sliders 313 are fixedly connected to both ends of the bottom of the second lead screw slide 312. Two limiting rods 314 are fixedly mounted on the base 1 at corresponding positions of the two sliders 313. The limiting rods 314 are parallel to the sliding direction of the first lead screw slide 311. By limiting the sliders 313 and the limiting rods 314, the operational stability of the second lead screw slide 312 can be significantly improved.

[0030] On the other hand, such as Figure 2 As shown, the three-axis robotic arm 4 includes a base 41, a first rocker arm 42, a second rocker arm 43 and a third rocker arm 44. Each rocker arm is connected in sequence by a rotating shaft and is driven by a servo motor to achieve multi-degree-of-freedom rotation.

[0031] Reference Figure 3A rectangular mounting frame 441 is welded and fixed to the end of the third rocker arm 44. An electrically driven second telescopic cylinder 442 is installed inside the mounting frame 441. The telescopic end of the second telescopic cylinder 442 passes through the mounting frame 441 and is fixedly connected to the mounting base 5 so as to drive the mounting base 5 to extend and retract precisely along the direction of the third rocker arm 44, so as to push the drill rig 51 forward at a uniform speed to perform drilling.

[0032] The mounting base 5 is disc-shaped, with a drilling rig 51 fixedly mounted at its center. The drilling rig 51 can be fitted with drill bits 511 of different specifications as needed. A ranging module 52, a camera module 53, and a metal detection module 54 are arranged around the drilling rig 51 on the mounting base 5.

[0033] The ranging module 52 is preferably a laser ranging sensor 11, with its emitting end facing the drilling direction. It uses the laser pulse time difference or triangulation principle to determine the distance between the tip of the drill bit 511 and the top plate surface, and monitors the drilling depth in real time during the drilling process, feeding the depth information back to the controller 8. When the drilling reaches the preset depth, the controller 8 issues a stop drilling command to prevent excessive drilling from causing structural damage.

[0034] The camera module 53 is preferably a high-definition industrial camera, equipped with a wide-angle lens and LED fill light, capable of capturing images of the construction area in real time. The camera module 53 uses image recognition algorithms to identify predetermined hole markings or positioning reference points on the top plate and combines this with the robotic arm's pose information for precise alignment. The camera module 53 can also record the drilling process, facilitating quality traceability.

[0035] The metal detection module 54 is preferably a small ground-penetrating radar detector with an operating frequency of 1.5–2.6 GHz. The antenna is isolated from the outside through a thin dielectric window. It can detect the location of the steel reinforcement inside the concrete and the thickness of the protective layer within a range of 2–5 cm from the top plate, and generate a steel reinforcement distribution map for the controller 8 to plan the avoidance of steel reinforcement.

[0036] A transparent protective cover 55, preferably made of high-strength polycarbonate material, is provided on the outside of the mounting base 5 to block splashing drill cuttings and water mist, without affecting the imaging quality of the camera module 53 and the measurement accuracy of the ranging module 52.

[0037] In addition, in order to improve the service life of the drilling rig 51 and reduce dust pollution during construction, the roof support drilling equipment based on automated control of this application also includes a spraying device 6 for spraying the drill bit 511 and a collection device for collecting spraying liquid and drilling debris.

[0038] The collection device is a collection hopper 7 that is bonded and fixed to the mounting base 5. The collection hopper 7 is made of elastic and wear-resistant material, such as rubber. Its opening end is flared and faces the construction top plate. During the drilling process, it fits against the construction surface and can effectively collect drill cuttings and sprayed water during the drilling process to prevent them from falling to the ground.

[0039] like Figure 2 As shown, the spraying device 6 includes a water tank 61, a water pump, a spray pipe 62, and a spray head 63. The water tank 61 is fixed on the base 1, the water pump is installed inside the water tank 61, one end of the spray pipe 62 is connected to the water pump, and the other end passes through the collection hopper 7 and is connected to the spray head 63. The spray head 63 is aligned with the position of the drill bit 511.

[0040] To avoid damage to the spray pipe 62 due to frequent adjustments of the three-axis robotic arm 4, three transition cylinders are provided on the spray pipe 62, which are coaxially connected to the three rotating shafts of the three-axis robotic arm 4, so that the spray pipe 62 can bend smoothly during the rotation of the robotic arm and avoid damage due to repeated bending.

[0041] During drilling, the spraying fluid and drill cuttings can easily contaminate the ranging module 52, camera module 53, and metal detection module 54. In this embodiment, a transparent protective cover is fixedly installed on the mounting base 5. The transparent protective cover is preferably made of polycarbonate material, and the ranging module 52, camera module 53, and metal detection module 54 are all located within the transparent protective cover. By setting up the transparent protective cover to block drill cuttings and water mist, the field of view and measurement accuracy of the camera module 53 and the ranging module 52 are not affected.

[0042] The controller 8 is fixed to the back of the base 1 and includes a control panel, a control module, a signal transmission module, and a power module. The control panel features a display screen and physical buttons, allowing operators to input commands such as hole coordinates, drilling depth, and obstacle avoidance parameters, and displays real-time camera footage, distance measurement information, and detection results. The control module is a built-in embedded processor that runs motion control, path planning, image recognition, and obstacle avoidance algorithms to achieve coordinated control of the traveling wheel set 2, adjustment device 3, three-axis robotic arm 4, drilling rig 51, and spraying device 6. The signal transmission module includes a wired bus and a wireless communication unit for data exchange with the sensors 11 and actuators, and supports wireless connection to a remote terminal. The power module includes a battery pack and a power management unit, providing stable power to the entire machine and all electronic modules, and features low battery alarm and automatic shutdown protection functions.

[0043] Additionally, a buckle is provided on the side wall of the base 1, through which a marking rod 9 is detachably connected. The marking rod 9 includes a telescopic rod and a marker pen at the tip of the telescopic rod. The operator can remove the marking rod 9 and mark the hole positions with color according to the design drawings. This marking can be used to indicate the corresponding drilling points on the top plate of the equipment. By marking the drilling positions on the construction reference surface, the planned drilling positions can be quickly found through the camera module 53 during continuous construction at multiple holes or equipment repositioning, ensuring the accuracy of the drilling positions and the consistency with the construction layout, and avoiding hole position deviations caused by equipment movement or visual positioning errors.

[0044] This application relates to an automated control-based drilling device for roof supports, which includes the following steps during operation: S1. Task Input and System Initialization: The operator inputs the hole coordinates, drilling depth and reinforcement avoidance requirements through the control panel. The system completes self-check and initializes each module.

[0045] S2. Automatic driving and obstacle avoidance: The controller 8 controls the driving wheel set 2 to move to the construction area and avoid obstacles based on the environmental image of the camera module 53 and the obstacle detection signal of the sensor 11.

[0046] S3. Coarse positioning: After reaching the target area, the adjustment device 3 adjusts the horizontal and vertical directions to align the approximate position of the drilling rig 51 with the target hole position.

[0047] S4. Precise alignment: Under the guidance of the feedback image from the camera module 53, the three-axis robotic arm 4 performs multi-degree-of-freedom fine adjustment to ensure that the drill bit 511 is precisely aligned with the hole position.

[0048] S5, Rebar Avoidance Scan: The metal detection module 54 starts scanning. If a rebar is detected, the controller 8 adjusts the hole position or drilling angle to avoid the rebar area.

[0049] S6. Drilling Operation: The drilling rig 51 is started, the second telescopic cylinder 442 advances the mounting base 5 to drill, and the spraying device 6 works simultaneously to cool the drill bit 511 and rinse the borehole. The collection bucket 7 collects drill cuttings and water in real time. The ranging module 52 monitors the drilling depth in real time and feeds it back to the controller 8.

[0050] S7. Automatic shutdown and completion: After the drilling reaches the set depth, the controller 8 stops the drilling machine 51 and turns off the spray device 6. The collection bucket 7 collects the residual liquid and debris, the equipment is reset and ready to perform the next task.

[0051] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A drilling device for a roof support based on automated control, characterized in that, include: Base; The running wheel assembly is located at the bottom of the base; A three-axis robotic arm is provided with the top of the base; An adjustment device is provided between the base and the three-axis robotic arm for adjusting the height and lateral position of the three-axis robotic arm; The mounting base is located at the end of the three-axis robotic arm away from the adjustment device, and a drilling rig and a camera module, a rebar detection module and a ranging module located around the drilling rig are mounted on it. The controller, mounted on the base, is used to control the traveling wheel set, the three-axis robotic arm, the adjustment device, the drilling rig, the camera module, the rebar detection module, and the ranging module; The controller, in conjunction with the camera module, controls the traveling wheel assembly to reach the construction position, uses an adjustment device to coarsely adjust the drilling rig position, uses a three-axis robotic arm in conjunction with the camera module to finely adjust the drilling rig position and angle, uses a rebar detection module to avoid rebar in the drilling area, and uses a distance measuring module to control the drilling depth.

2. The drilling equipment for roof support based on automated control according to claim 1, characterized in that, The base is equipped with multiple sensors for detecting obstacles.

3. The drilling equipment for roof support based on automated control according to claim 1, characterized in that, The adjusting device includes a lateral translation component and a first telescopic cylinder; The lateral translation component includes a first lead screw slide and a second lead screw slide arranged perpendicularly to each other. The first lead screw slide is fixedly connected to the base, and the second lead screw slide is fixedly connected to the slide of the first lead screw slide. One end of the first telescopic cylinder is fixedly connected to the slide of the second lead screw slide.

4. The drilling equipment for roof support based on automated control according to claim 3, characterized in that, The three-axis robotic arm includes a base, a first rocker arm, a second rocker arm, and a third rocker arm. The base is fixedly connected to the end of the first telescopic cylinder away from the second lead screw slide. One end of the first rocker arm is rotatably connected to the base. The first rocker arm, the second rocker arm, and the third rocker arm are rotatably connected in sequence.

5. The drilling equipment for roof support based on automated control according to claim 4, characterized in that, The end of the third rocker arm is provided with a mounting frame, and a second telescopic cylinder is provided inside the mounting frame. The movable end of the second telescopic cylinder extends out of the mounting frame and is fixedly connected to the mounting seat to drive the mounting seat to move closer to or away from the mounting frame.

6. The drilling equipment for roof support based on automated control according to claim 1, characterized in that, It also includes a spraying device installed on the base and a collection device installed on the mounting base. The spraying device is used to spray the drilling rig, and the collection device is used to collect the spraying fluid and the debris generated during drilling.

7. The drilling equipment for roof support based on automated control according to claim 6, characterized in that, The collecting device is a collecting bucket fixedly installed on the mounting base. The collecting bucket is made of elastic material and is flared from one end near the mounting base to the other end away from the mounting base. The drilling rig, camera module, and ranging module are all located inside the collecting bucket.

8. The drilling equipment for roof support based on automated control according to claim 7, characterized in that, The spraying device includes a water tank, a water pump, a spray pipe, and spray heads. The water tank is set on the base, the water pump is installed inside the water tank, one end of the spray pipe is connected to the water pump, and the other end passes through the collection hopper and is set towards the drill bit of the drilling machine. The spray heads are set at the end of the spray pipe near the drilling machine.

9. The drilling equipment for roof support based on automated control according to claim 8, characterized in that, The spray pipe is equipped with three transition cylinders, and the spray pipe is connected to the interior of the transition cylinders. The spray pipe enters and exits the same transition cylinder at two extreme points of the transition cylinder. The three transition cylinders are coaxially rotatably connected to the three rotating shafts of the three-axis robotic arm.

10. The drilling equipment for roof support based on automated control according to claim 7, characterized in that, The mounting base is equipped with a transparent protective cover to isolate drill cuttings or spray fluid splashes, and the camera module and the ranging module are both located inside the transparent protective cover.

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