Truss intelligent drilling device

Abstract

The present application discloses a truss intelligent drilling equipment, belongs to the intelligent drilling technical field, including frame, the bottom both sides of frame are provided with adsorption stabilizing mechanism, X axis line transport mechanism is installed in frame, one side of X axis line transport mechanism is provided with Y axis line transport mechanism, the other side of X axis line transport mechanism is provided with Z axis line transport mechanism, the bottom side of Z axis line transport mechanism and the position close to impact drill are provided with steel bar scanner;Two sides of X axis line transport mechanism are provided with laser range finder one;The other side of frame is provided with control mechanism. With the actual operation data that laser range finder real-time acquisition is as the benchmark, the target parameter of planning path is compared in real time, the difference value is calculated, the operation parameter of three-axis line transport mechanism is dynamically corrected, X, Y axis compensation difference is completed before drilling, Z axis compensation difference is completed in the drilling process, the deviation of control line position and actual line position is eliminated throughout the journey, the reliability and precision of drilling avoidance are improved.

Description

Technical Field

[0001] This invention belongs to the field of drilling technology, specifically relating to intelligent drilling equipment for trusses. Background Technology

[0002] Large cleanrooms typically require the installation of numerous prefabricated partition panels to isolate different processing sections. For some noisy processing equipment, it is also necessary to fix the equipment to the ground with expansion bolts, which requires drilling holes of the same depth continuously along the installation direction in the ground.

[0003] The common method is to draw lines on the ground and then gradually drill holes along the lines using an impact drill. This is not only inconvenient, but it can also result in angled holes due to improper control of the drilling direction, which can negatively impact the subsequent installation of expansion tubes.

[0004] The invention patent with authorization announcement number CN106513774B discloses an intelligent drilling robot and an intelligent drilling robot system, involving a mobile support platform, a robotic arm, a fixed frame, a first displacement adjustment frame, a second displacement adjustment frame, and a drill. One end of the robotic arm is fixedly mounted on the mobile support platform; the fixed frame is fixedly mounted on the end of the robotic arm away from the mobile support platform; the first displacement adjustment frame is fixedly mounted on the fixed frame; the second displacement adjustment frame is fixedly mounted on the first displacement adjustment frame; the drill is fixedly mounted on the second displacement adjustment frame; the first displacement adjustment frame can control the second displacement adjustment frame to move parallel to the surface of the fixed frame; the second displacement adjustment frame can control the drill to move perpendicular to the surface of the fixed frame. The first displacement adjustment frame includes a first slide rail and a first slider. A first slide groove is provided on the first displacement adjustment frame, the first slide rail is provided on the side wall of the first slide groove, and the first slider is mounted on the first slide rail and can slide along the first slide rail. The second displacement adjustment frame includes a second slide rail and a second slider. A second slide groove is provided on the second displacement adjustment frame, and the second slide rail is located on the side wall of the second slide groove. The second slider is mounted on the second slide rail and can slide along the second slide rail. The movable support platform includes a support plate, a telescopic part, and a base. One end of the telescopic part is fixedly connected to the base, and the other end of the telescopic part is fixedly connected to the support plate. The robotic arm is fixedly mounted on the support plate. The base includes multiple telescopic feet and multiple rollers. The robotic arm is a multi-axis robotic arm. An intelligent drilling robot system includes a data control center, a first data acquisition module, a second data acquisition module, and an intelligent drilling robot. The first data acquisition module is mounted on a mobile support platform and is used to acquire the position information of the mobile support platform. The second data acquisition module is mounted on a fixed frame and is used to acquire the position information of the fixed frame. The data control center is connected to the first data acquisition module and is used to acquire the position information of the mobile support platform. The data control center is also connected to the second data acquisition module and is used to acquire the position information of the fixed frame. The data control center is connected to the mobile support platform, a robotic arm, a first displacement adjustment frame, a second displacement adjustment frame, and a drill bit, and controls the movements of the mobile support platform, robotic arm, first displacement adjustment frame, second displacement adjustment frame, and drill bit based on the received position information. The intelligent drilling robot system also includes a control terminal connected to the data control center, used to send control commands to the data control center, and the data control center controls the movements of the mobile support platform, robotic arm, first displacement adjustment frame, second displacement adjustment frame, and drill bit according to the control commands.

[0005] It can be seen that this intelligent drilling robot and intelligent drilling robot system adopts multi-dimensional acquisition of distance signals and three-dimensional coordinates. The data control center analyzes and processes the acquired signals to control the movement of the mobile support platform, robotic arm, first displacement adjustment frame, second displacement adjustment frame and drilling tool, thereby realizing automated positioning and improving the working accuracy of drilling.

[0006] Because underground conductors such as steel bars, cables, and water pipes are often buried beneath the factory floor, relying solely on 3D ground scanning and distance signal acquisition cannot effectively prevent the impact drill bit from contacting these conductors. This not only easily damages the drill bit but also, in severe cases, compromises construction and personnel safety. Therefore, before drilling, construction personnel need to use handheld steel bar detectors to check for underground conductors and set 3D markings. However, this still makes it difficult to ensure the accuracy of the drilling avoidance position, especially when the drilling clearance distance is small. This can easily lead to the drill bit contacting these conductors, mainly because there are significant errors in the marking process and the 3D marking position setting, and there is also a certain error between the controlled movement position and the actual movement position. These errors accumulate. Therefore, it is necessary to install a truss-based intelligent drilling equipment to meet the actual needs. Summary of the Invention

[0007] The purpose of this invention is to provide a truss intelligent drilling device to solve the problems existing in the prior art.

[0008] To achieve the above objectives, the present invention provides the following technical solution: a truss intelligent drilling device, comprising a frame, wherein adsorption stabilization mechanisms are provided on both sides of the bottom of the frame, the adsorption stabilization mechanisms are used to stabilize the frame on the ground by adsorption force, and fixation mechanisms are provided on both sides of the top of the frame, an X-axis travel mechanism is installed inside the frame, a Y-axis travel mechanism is provided on one side of the X-axis travel mechanism, the fixation mechanisms are used for disassembling and assembling the Y-axis travel mechanism on the frame, a Z-axis travel mechanism is provided on the other side of the X-axis travel mechanism, and laser rangefinders are provided on both sides of the upper part of the frame, the laser rangefinders are used to detect the travel distance of the Y-axis travel mechanism, and the Y-axis travel mechanism... This device is used to drive the X-axis and Z-axis moving mechanisms along the Y-axis. The X-axis moving mechanism drives the Z-axis moving mechanism along the X-axis. A second laser rangefinder is installed on the Z-axis moving mechanism to detect the moving distance of the Z-axis moving mechanism. An impact drill is installed on the Z-axis moving mechanism via a buffer support mechanism. A rebar scanner is installed on the bottom side of the Z-axis moving mechanism near the impact drill. The Z-axis moving mechanism drives the impact drill and the rebar scanner along the Z-axis. The buffer support mechanism buffers the drilling process of the impact drill. The rebar scanner detects the depth, diameter, and spacing of underground conductors.

[0009] A laser rangefinder is provided on both sides of the X-axis travel mechanism. The laser rangefinder is used to detect the position distance of the Z-axis travel mechanism on the X-axis travel mechanism.

[0010] On the other side of the frame is a control mechanism, which is used to receive external commands and control the adsorption stabilization mechanism to perform ground adsorption, control the rebar scanner to scan the ground of the frame-covered area for underground conductors, combine the three-dimensional spatial definition and position compensation processing of the ground of the frame-covered area, and control the automatic operation of the X-axis, Y-axis and Z-axis movement mechanisms to enable the impact drill to drill holes in the ground while avoiding underground conductors.

[0011] Compared with the prior art, the beneficial effects of the present invention are:

[0012] This invention constructs a three-axis linkage mechanism (X-axis, Y-axis, and Z-axis) using a truss frame, and collects real-time displacement data with three sets of laser rangefinders. The control mechanism enables fully automated drilling control, completely replacing manual marking and handheld impact drilling. The mechanical structure ensures the verticality of the drilled holes, avoiding hole position deviations and skewed holes caused by manual operation. At the same time, it can realize continuous equal-depth drilling operations in cleanrooms, significantly reducing the intensity of manual operation and improving drilling efficiency and construction quality.

[0013] This invention integrates a rebar scanner and a matching digital processing system, enabling full-coverage scanning of underground conductors in the construction area. A three-dimensional model of the underground conductor is constructed using a surface processing module and precisely matched and placed into the stationary three-dimensional space of the construction area. The location of the underground conductor is set as an untouchable zone, allowing for safety avoidance design during the drilling path planning stage. This fundamentally prevents the drill bit from contacting underground obstacles, reducing drill bit wear, saving construction costs, and eliminating safety accidents such as electric shock and water leakage caused by drilling through cables or water pipes, thus ensuring the safety of construction personnel and on-site facilities.

[0014] This invention constructs a closed-loop positioning control system through a layout processing module and a difference compensation processing module: using the actual operating data collected in real time by the laser rangefinder as a benchmark, the difference is calculated in real time by comparing it with the target parameters of the planned path, and the operating parameters of the three-axis travel mechanism are dynamically corrected. The difference compensation of the X and Y axes is completed before drilling, and the difference compensation of the Z axis is completed during the drilling process, eliminating the deviation between the controlled position and the actual position throughout the process. Even under the condition that the drilling avoidance transfer distance is extremely small, it can accurately achieve safe avoidance of underground conductors, completely solve the problem of avoidance failure caused by error accumulation, and improve the reliability and accuracy of drilling avoidance.

[0015] This invention utilizes a quick-assembly and quick-disassembly structure design for the locking mechanism. Only the locking handle and the pressing handle are needed to quickly complete the assembly and disassembly of the three-axis travel mechanism and the frame. No complicated disassembly tools or cumbersome procedures are required. This facilitates on-site transportation of equipment, multi-station construction, daily maintenance of equipment, and replacement of parts. It is also suitable for the construction needs of multi-area and batch drilling in cleanrooms of factories.

[0016] On the one hand, the present invention uses the vacuum suction force of the electric suction cup to firmly fix the entire equipment to the construction ground through the bottom adsorption stabilization mechanism, so as to avoid the equipment displacement during the drilling process; on the other hand, the hydraulic buffer of the buffer support mechanism eliminates the longitudinal vibration impact force generated during the drilling process of the impact drill, reduces the impact of vibration on the accuracy of the three-axis travel mechanism, and ensures the long-term continuous operation stability and drilling accuracy consistency of the equipment. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0018] Figure 2 for Figure 1 A schematic diagram of the frame area structure;

[0019] Figure 3 This is a right-side view of the frame area of ​​the present invention;

[0020] Figure 4 This is a schematic diagram of the frame area of ​​the present invention;

[0021] Figure 5 This is a schematic diagram of the left view of the frame area of ​​the present invention;

[0022] Figure 6 for Figure 2 A left-facing upward-view diagram;

[0023] Figure 7 for Figure 2 A diagram showing the view from the right (looking up).

[0024] Figure 8 for Figure 2 A magnified structural diagram at point a;

[0025] Figure 9 for Figure 2 A magnified structural diagram at point b;

[0026] Figure 10 for Figure 2 A magnified structural diagram at point c;

[0027] Figure 11 for Figure 2 A magnified structural diagram at point d;

[0028] Figure 12 for Figure 6 A magnified structural diagram at point e;

[0029] Figure 13 for Figure 7 A magnified structural diagram at point f;

[0030] Figure 14 for Figure 7 A magnified structural diagram at point g;

[0031] Figure 15 This is a partial exploded view of the adsorption stabilization mechanism of the present invention;

[0032] Figure 16 This is a partial disassembled schematic diagram of the restraining mechanism of the present invention;

[0033] Figure 17 This is a partial exploded view of the Y-axis travel mechanism of the present invention;

[0034] Figure 18 This is a schematic diagram showing the separation of the X-axis travel mechanism and the other part of the restraint mechanism of the present invention;

[0035] Figure 19 This is a partially disassembled schematic diagram of the Z-axis travel mechanism and the buffer support mechanism of the present invention;

[0036] Figure 20 This is a cross-sectional view of the control box of the present invention;

[0037] Figure 21 This is a schematic diagram showing the connections of the modules in the development board of this invention.

[0038] In the diagram: 1. Frame, 2. Fixing bracket, 3. Locking bolt, 4. Electric suction cup, 5. Guide rail one, 6. Rack one, 8. Slider transition block, 9. Support plate frame, 10. Slide rod, 11. Handle fixing plate, 12. Hanging bracket, 13. Clamping bracket, 14. Pressure handle, 15. Hanging ring, 16. Locking handle, 17. Locking plate, 18. Support frame, 19. Mounting plate, 20. Motor one, 21. Synchronous pulley, 22. Synchronous belt, 23. Belt clamp, 24. Guide rail two, 25. Bearing seat, 26. Middle bearing plate, 27. Right angle commutator, 28. Motor two, 29. Coupling one, 30. Rotary shaft, 31. Coupling two, 32. Support shaft seat, 33. Gear one, 34. Mounting frame plate, 35. Motor three, 39. Gear two, 40. Track 41 Slide 3, 42 Guide Rail 3, 43 Guide Bar Mounting Plate, 44 Guide Bar, 45 Rack 2, 46 Track Slide 4, 47 Guide Rail 4, 48 Side Fixing Plate, 49 Fastening Frame, 50 Impact Drill, 51 Fastening Ring, 52 Top Frame, 53 Mounting Top Plate, 54 Rebar Scanner, 55 Lithium Battery Pack, 56 Control Box, 57 Industrial PC, 58 Transceiver Antenna, 59 Development Board, 60 Servo Controller, 61 Integrated Relay, 101 Motor Support Plate, 102 Top Support Plate, 241 Track Slide 2, 261 Laser Rangefinder 1, 401 Bending Mounting Plate, 411 Laser Rangefinder 2, 412 Hydraulic Buffer, 471 Fixed Seat, 472 Support. Detailed Implementation

[0039] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

[0040] See Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 and Figure 7 The truss intelligent drilling equipment includes a frame 1. Adsorption stabilization mechanisms are installed on both sides of the bottom of the frame 1 to stabilize it on the ground through adsorption force, thus ensuring greater stability of the entire equipment during drilling. Fixing mechanisms are installed on both sides of the top of the frame 1. An X-axis traveling mechanism is installed inside the frame 1. A Y-axis traveling mechanism is installed on one side of the X-axis traveling mechanism. The fixing mechanisms are used for assembling and disassembling the Y-axis traveling mechanism on the frame 1. A Z-axis traveling mechanism is installed on the other side of the X-axis traveling mechanism. Laser rangefinders are bolted to both sides of the upper part of the frame 1. Laser rangefinders are used to detect the traveling distance of the Y-axis traveling mechanism. Reflective plates are bolted to both sides of the support plate 9, and these reflective plates are aligned with the head of the laser rangefinders. The Y-axis traveling mechanism drives the X-axis and Z-axis traveling mechanisms to move along the Y-axis direction. The mechanism is used to drive the Z-axis traveling mechanism to move along the X-axis direction. A laser rangefinder 411 is installed on the Z-axis traveling mechanism to detect the traveling distance of the Z-axis traveling mechanism. An impact drill 50 is installed on the Z-axis traveling mechanism through a buffer support mechanism. A rebar scanner 54 is installed on the bottom side of the Z-axis traveling mechanism and near the impact drill 50. The Z-axis traveling mechanism is used to drive the impact drill 50 and the rebar scanner 54 to move along the Z-axis direction. The buffer support mechanism is used to buffer the drilling process of the impact drill 50. The rebar scanner 54 is used to detect the depth, diameter and spacing of underground conductors.

[0041] The locking mechanism allows for quick installation and removal of the Y-axis traversing mechanism from frame 1, facilitating the assembly and disassembly of the three traversing mechanisms and enabling convenient on-site assembly and disassembly.

[0042] Driven by the X-axis, Y-axis, and Z-axis travel mechanisms, the impact drill 50 can be driven to drill holes in the ground within the travel range of these travel mechanisms. It can also drive the rebar scanner 54 to detect the depth, diameter, and spacing of underground conductors in the ground area covered by the frame 1.

[0043] Laser rangefinders 261 are installed on both sides of the X-axis travel mechanism. The laser rangefinders 261 are used to detect the position distance of the Z-axis travel mechanism on the X-axis travel mechanism.

[0044] By setting up the laser rangefinder-261, the actual travel distance of the X-axis travel mechanism can be measured in real time.

[0045] On the other side of frame 1, there is a control mechanism. The control mechanism is used to receive external commands. The step-by-step control adsorption stabilization mechanism performs ground adsorption, and the control bar scanner 54 scans the ground of the area covered by frame 1 for underground conductors. Combined with the definition and position compensation of the three-dimensional space of the ground in the area covered by frame 1, the control X-axis travel mechanism, Y-axis travel mechanism and Z-axis travel mechanism are automatically operated, so that the impact drill 50 can drill holes in the ground while avoiding underground conductors.

[0046] See Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 and Figure 15 The adsorption stabilization mechanism includes a fixed frame 2 sleeved on the bottom rods on both sides of the frame 1 and an electric suction cup 4 installed on the fixed frame 2. Locking bolts 3 are tightened on the bottom rods on both sides of the frame 1 and the fixed frame 2 to ensure that the fixed frame 2 is stably installed on the bottom rods on both sides of the frame 1. A bent mounting plate 401 is integrally provided on the side of the electric suction cup 4. The bent mounting plate 401 is fixedly installed on the fixed frame 2 by bolts.

[0047] When the electric suction cup 4 operates in a vacuum mode, the soft disk surface of the electric suction cup 4 will grip the smooth floor of the cleanroom, thereby stabilizing the entire frame 1 on the ground.

[0048] See Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 , Figure 9 , Figure 12 and Figure 16The limiting mechanism includes a frame 1 with guide rails 5 bolted to both sides. A track slide is slidably mounted on the guide rails 5. A slider transition block 8 is bolted to the bottom of the track slide. A support plate 9 is slidably mounted on the lower part of the slider transition block 8. The support plate 9 consists of a square plate with a groove on the upper part and a mounting triangle integrally mounted on one side of the bottom of the square plate. A support frame 18 is bolted between the front and rear support plate frames 9. Slide rods 10 are integrally mounted on the front and rear sides of the square plate of the support plate 9, and the slide rods 10 slide through the slider transition block 8. Bolts are mounted on the side of the slider transition block 8. A fixed handle fixing plate 11 is fixed, and a hanging bracket 12 is fixedly installed on the handle fixing plate 11 with bolts. The front and rear sides of the support frame 18 are fitted with pads and clamps 13 by bolt locking. The upper side of the clamps 13 is rotatably connected to the pressure handle 14. The middle part of the pressure handle 14 slides through the support shaft. The two ends of the hanging ring 15 are inserted through the two ends of the support shaft and locked by the nut thread. The hanging ring 15 is fitted into the hanging bracket 12. A locking handle 16 is rotatably set inside the pressure handle 14. A locking plate 17 is extended from the lower side of the clamps 13. One end of the locking handle 16 is connected to a hook that hooks into the hook hole provided on the locking plate 17.

[0049] When the pressure handle 14 is pressed down to fit the support frame 18 and one end of the lock handle 16 hooks into the hook hole provided on the lock plate 17, the hanging ring 15 is hooked in and the hanging bracket 12 is tightened, so that the lower end of the track slide is close to the upper end of the slider transition block 8, and the gear 33 stably meshes with the rack 6.

[0050] When the hook of the lock handle 16 is engaged in the hook hole, it stabilizes the downward flipped state of the pressure handle 14, thereby stabilizing the downward pull of the hanging ring 15 on the hanging bracket 12. When the Y-axis travel mechanism needs to be disassembled for maintenance, the lock handle 16 can be flipped up to disengage its hook from the hook hole. The pressure handle 14 can be flipped up, and the hanging ring 15 can be released from the hanging bracket 12. The hanging ring 15 can then be flipped down to disengage from the hanging bracket 12, and the three travel mechanisms can be removed from the frame 1.

[0051] See Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 9 , Figure 10 , Figure 12 , Figure 13 , Figure 17 and Figure 18The Y-axis travel mechanism includes a mounting plate 19 symmetrically bolted to the front and rear positions on the left side of the support frame 18, and a middle bearing plate 26 bolted to the middle of the left side of the support frame 18. A support shaft seat 32 is bolted to the right side of the mounting plate 19. The inner ring of the bearing in the support shaft seat 32 is interference-fitted into the rotating shaft. One end of the rotating shaft is keyed to one end of the coupling 2 31, and the other end of the coupling 2 31 is keyed to the rotating shaft 30. A right-angle commutator 27 is bolted to the middle bearing plate 26. The bottom flange of the right-angle commutator 27 is connected to the motor 2 28, and the rotor shaft of the motor 2 28 is keyed to the input shaft of the right-angle commutator 27. The two output shafts of the right-angle commutator 27 are keyed to one end of the coupling 1 29, and the other end of the coupling 1 29 is keyed to one end of the rotating shaft 30.

[0052] The upper inner side of frame 1 is bolted to rack 6, and the other end of the shaft is connected to gear 33 by an interference key, and gear 33 meshes with rack 6.

[0053] Motor 28 is a servo geared motor. When motor 28 is running, the right-angle commutator 27 converts the rotational power of the horizontal rotating shaft 30, thereby driving gear 33 to rotate. The cooperation between gear 33 and rack 6, and the cooperation between track slide and guide rail 5, drives the support frame 18 and its upper mounting components to move horizontally and left and right stably.

[0054] See Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 9 , Figure 10 , Figure 12 , Figure 13 and Figure 18 The X-axis travel mechanism includes a guide rail 24 bolted to the upper and lower parts of the right side of the support frame 18. Two track slides 241 are slidably fitted on the guide rail 24. The lower parts of the front and rear mounting plates 19 are bolted to the bearing housing 25 and the motor 20. The motor 20 is a servo geared motor. The inner ring of the bearing in the bearing housing 25 is interference-fitted into the support shaft. The rotor shaft of the motor 20 and the support shaft are both interference-fitted to the synchronous pulley 21. The synchronous belt 22 is installed in the groove of the synchronous pulley 21. The two ends of the synchronous belt 22 are bolted to the belt clamp 23. After the belt clamp 23 is installed, the synchronous belt 22 is taut on the synchronous pulley 21.

[0055] Two laser rangefinders, 261, are symmetrically mounted on the right side of the support frame 18 and positioned between the guide rails 24.

[0056] When the motor 20 is running, it drives the synchronous pulley 21 to rotate, thereby driving the synchronous belt 22 to perform transmission action. Since the track slide 241 and the belt clamp 23 are both fixed to the mounting frame 34, the track slide 241 and the guide rail 24 slide together, thereby enabling the mounting frame 34 and its upper part to move stably laterally back and forth on the Z-axis traveling mechanism.

[0057] Two laser rangefinders, 261 and 261, measure the actual forward and backward displacement of the mounting frame 34.

[0058] See Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 10 , Figure 11 , Figure 14 and Figure 19 The Z-axis travel mechanism includes a mounting frame plate 34 bolted to the second track slide 241 and the clamping plate 23. The upper part of the mounting frame plate 34 is bolted to the motor support plate 101. The third motor 35 is bolted to the motor support plate 101. The third motor 35 is a servo geared motor. The rotor shaft of the third motor 35 passes through the mounting frame plate 34 and is connected to the second gear 39 by an interference key.

[0059] The middle and lower parts of the mounting frame plate 34 are bolted to the track slide block 3 40. The track slide block 3 40 is slidably fitted with the guide rail 3 41. The guide rail 3 41 is bolted to the guide rail 3 41, and the guide bar mounting plate 42 is bolted to the guide bar mounting plate 42. The top of the guide rail 3 41, the guide bar mounting plate 42, and the guide bar 43 is bolted to the top support plate 102, further stabilizing the installation of the guide rail 3 41, the guide bar mounting plate 42, and the guide bar 43. The front side of the guide bar 43 is bolted to the rack 2 44, and the gear 2 39 meshes with the rack 2 44.

[0060] The lower part of the guide bar 43 is bolted to the side plate 48. The front and rear sides of the side plate 48 are bolted to the guide rail 47. The guide rail 47 is slidably mounted on the guide rail 47. The guide rail 46 is bolted to the mounting plate 45. The top plate 53 is integrally mounted on the top of the mounting plate 45. The housing of the impact drill 50 is integrally mounted with a top frame 52, which is bolted to the mounting plate 53. The mounting plate 45 is bolted to the fastening bracket 49. The middle part of the impact drill 50 is inserted into the fastening bracket 49. The fastening bracket 49 is bolted to the fastening ring 51, which presses against the middle part of the impact drill 50, thereby mounting the impact drill 50 on the mounting plate 45.

[0061] Under the operation of motor 35, gear 2 39 is driven to rotate. Due to the meshing of gear 2 39 and rack 2 44, and the cooperation of track slide 3 40 and guide rail 3 41, guide rail 3 41, guide bar mounting plate 42, and guide bar 43 are driven to move stably up and down longitudinally. With the cooperation of guide rail 47 and track slide 46, the impact drill 50 can move up and down on the guide bar 43, providing conditions for the buffer support mechanism to buffer the action of the impact drill 50.

[0062] See Figure 1 , Figure 2 , Figure 3 , Figure 5 , Figure 6 and Figure 19 Laser rangefinder 2 411 is installed at the lower part of guide bar 43. Laser rangefinder 2 411 is used to measure the distance between it and mounting frame plate 34, thereby detecting the actual longitudinal travel distance of the Z-axis travel mechanism. Reflectors are installed at the positions where the heads of laser rangefinder 1 261 and laser rangefinder 2 411 are aligned with the mounting frame plate 34. A shim is placed on the mounting base of rebar scanner 54 and it is fixed to the bottom of guide bar 43 with bolts. During operation, the mounting base of the 3D scanner can be shimmed with a shim and fixed to the bottom of guide bar 43 with bolts. Lithium battery pack 55 is placed on the side of frame 1.

[0063] See Figure 3 , Figure 4 , Figure 5 , Figure 7 , Figure 10 , Figure 14 and Figure 19 The buffer support mechanism includes a hydraulic buffer 412. The hydraulic buffer 412 has an integrally formed fixed seat 471 on the side of the cylinder body and the fixed seat 471 is bolted to the side plate 48. The bottom of the mounting plate 45 is bolted to the support 472, which is an L-shaped plate. The end of the telescopic rod of the hydraulic buffer 412 is bolted to the support 472.

[0064] During the drilling operation of the impact drill 50, an impact force is generated in the longitudinal direction. However, through the buffering setting of the hydraulic buffer 412 and the cooperation of the guide rail 47 and the track slide 46, the impact force on the three traveling mechanisms can be effectively reduced in the longitudinal direction.

[0065] See Figure 1 , Figure 20 and Figure 21The control mechanism includes a control box 56 placed on the side of the frame 1. An industrial computer 57 is embedded in the front of the control box 56. A transceiver antenna 58 is bolted to the top right side of the control box 56. An insulated pad screw is used to fix a development board 59 to the front of the control box 56. A servo controller 60 is screwed to the rear of the development board 59 inside the control box 56. An integrated relay 61 is screwed to the bottom of the servo controller 60 inside the control box 56.

[0066] The main power input terminals of the integrated relay 61 and the servo controller 60 are connected to the power output terminals of the lithium battery pack 55 via cables. The power control terminals of motor 1 20, motor 2 28 and motor 3 35 are connected to the power control output terminals of the respective servo controllers 60 via cables. The control terminal of the electric chuck 4 and the power terminal of the impact drill 50 are both connected to the power output terminal of the integrated relay 61 via cables.

[0067] The development board 59 is equipped with a distance signal receiving module, a scan signal receiving module, and a wireless signal receiving module. The signal input pin of the distance signal receiving module is connected to the signal output terminals of laser rangefinder 261 and laser rangefinder 411 via signal lines. The distance signal receiving module is used to receive distance signals from laser rangefinder 261 and laser rangefinder 411. After placing a pad on the mounting base of the 3D scanner and fixing it to the bottom of the guide strip 43 with bolts, the signal output line of the 3D scanner is connected to the signal input terminal of the peripheral laptop. The three moving devices drive the 3D scanner to perform a full-range scan of the ground covered by the frame 1. The 3D scanning processing program in the peripheral laptop performs 3D modeling on the acquired ground image and introduces a 3D coordinate system to define the 3D coordinates of each point in the 3D model. The peripheral laptop establishes a wireless transmission protocol with the wireless signal receiving module and sends the 3D spatial model with defined 3D coordinates to the wireless signal receiving module.

[0068] The signal receiving pin of the scanning signal receiving module is connected to the signal output terminal of the rebar scanner 54 via a signal line. The scanning signal receiving module is used to receive data information on the depth, position, diameter and spacing of underground conductors emitted by the rebar scanner 54.

[0069] The scanning signal receiving module transmits to the surface processing module, and the distance signal receiving module, surface processing module, and wireless signal receiving module transmit to the deployment processing module. The surface processing module is used to process the data information of the depth, position, diameter, and spacing of the underground conductor to generate an underground conductor model with a separate coordinate system. During the processing, the data of the depth, position, diameter, and spacing of the underground conductor are obtained by end values, and the simulation is performed in a separate coordinate system according to the end values.

[0070] It is worth noting that the installation positions of the 3D scanner and the rebar scanner 54 remain unchanged each time. Therefore, the distances (q,v,s) and (w,v,m) between the center point of their scanning surfaces and the lower end of the drill bit of the impact drill 50 remain unchanged, and the distance (p,d,z) between the center points of their scanning surfaces remains unchanged. Before scanning, the three travel mechanisms are reset to the same position. When the laser rangefinder 1 261, laser rangefinder 2 411, and laser rangefinder 3 are in the reset state, the distance data QVC obtained remains unchanged.

[0071] The layout processing module transmits and connects to the control and transmission processing module. The layout processing module and the control and transmission processing module transmit and connect to the mapping processing module and the control signal receiving and processing module. The layout processing module transmits and connects to the differential processing module in both directions. The control and transmission processing module transmits and connects to the steering speed control and transmission module 1, the steering speed control and transmission module 2, the steering speed control and transmission module 3, the relay control and transmission module 1, and the relay control and transmission module 2.

[0072] The signal output pin of the mapping processing module is connected to the signal input terminal of the industrial control computer 57 via a signal line. The mapping processing module is used to map the real-time processing information of the deployment processing module and the control and transmission processing module to the industrial control computer 57 for display, thereby enabling the industrial control computer 57 to monitor the real-time working status of the deployment processing module and the control and transmission processing module. The control signal receiving and processing module is used to process and input the control signals issued by the industrial control computer 57 into the deployment processing module and the control and transmission processing module.

[0073] The layout processing module is used to process the three-dimensional information of the ground in the area covered by frame 1 into a stationary three-dimensional space, place the underground conductor model with a separate coordinate system in the stationary three-dimensional space according to its actual position, and perform position calculation to obtain the avoidance parameter quantity.

[0074] In this process, after the industrial control computer 57 issues a ground 3D scanning or underground conductor scanning command to the deployment processing module, a reset procedure is first executed: The deployment processing module compares the distance data CMC obtained in real time from the distance signal receiving module of laser rangefinder 1 261, laser rangefinder 2 411, and laser rangefinder 3 with QVC, and calculates the difference DRP between CMC and QVC. If any of the three items of DRP is zero, no action is taken for that item in the next step; if it is negative, the next step is a clockwise action; if it is positive, the next step is a counterclockwise action. The deployment command guides the control and transmission processing module to convert the command into the corresponding control module and relay control command, until all three items of DRP are zero, and the three operating mechanisms reach the reset state.

[0075] In the 3D scanning operation program, starting from the reset state, the Y-axis movement mechanism is controlled to move to the far left and stop, and the X-axis movement mechanism is controlled to drive the Z-axis movement mechanism to move to the far front and stop. The Z-axis movement mechanism moves down 10 cm and stops. One complete reciprocating motion of the X-axis movement mechanism constitutes one stationary process. After each stationary process is completed, the Y-axis movement mechanism moves 5 cm to the right, and the Z-axis movement mechanism maintains its state until the Y-axis movement mechanism moves to the far right and the X-axis movement mechanism completes its stationary process at that point. After a 3-second delay, the reset program is started.

[0076] In the underground conductor scanning operation program, from the reset state, the Y-axis movement mechanism is controlled to move to the leftmost side and stop, and the X-axis movement mechanism is controlled to drive the Z-axis movement mechanism to move to the frontmost side and stop. The Z-axis movement mechanism moves down 20 cm and stops. One complete reciprocating motion of the X-axis movement mechanism is one stationary process. After each stationary process is completed, the Y-axis movement mechanism moves 5 cm to the right, and the Z-axis movement mechanism maintains its state until the Y-axis movement mechanism moves to the rightmost side and the X-axis movement mechanism completes the stationary process at that point. After a 3-second delay, the reset program is started.

[0077] When the reset program command is issued, the control and input processing module first issues a vacuum suction operation command for the electric chuck 4 to the relay control and input module. After completion, the layout reset action is executed.

[0078] During the reset and scan programs, the control and transmission processing module continues to issue a stop command to the impact drill 50 to the relay control and transmission module 2.

[0079] Furthermore, the travel data t of the X-axis travel mechanism is known for each revolution of motor 1 20; the travel data f of the Y-axis travel mechanism is known for each revolution of motor 28; and the travel data g of the Z-axis travel mechanism is known for each revolution of motor 35. In the reset state of the three travel mechanisms, the drill bit tip of impact drill 50 is aligned with the center of the ground covered by frame 1, with a longitudinal distance of 30 cm from the bottom of frame 1. The reset point is the position of the drill bit tip of impact drill 50 in the reset state. The layout processing module stores the three-dimensional matrix coordinate information of the drill bit tip of impact drill 50 at any number of revolutions of the three motors. The coordinate information includes the three-dimensional distance of the impact drill bit 50 tip relative to the reset point and the corresponding CMC. After the layout processing module and the control and input processing module receive the operating instructions from the industrial control computer 57, and receive the drilling position information, spacing information, and drilling depth information of the impact drill bit 50 tip input by the industrial control computer 57, the layout processing module retrieves the corresponding matching arrangement of continuous action three-dimensional matrix coordinate information and the CMC arrangement of continuous actions from its stored drill bit tip three-dimensional matrix coordinate information database. It calculates the three-dimensional distance between each adjacent action endpoint and the reset point. Specifically, if the distance between one point and the reset point is (a, b, c), the obtained three motor rotation speeds are a / t, b / f, c / g, respectively. If any of a, b, or c is zero, no action is performed in the next step; if it is negative, the next step is a clockwise rotation; if it is positive, the next step is a counter-clockwise rotation. Following this action layout instruction, the control and input processing module converts the information into corresponding control modules and relay control instructions.

[0080] During the construction of the stationary 3D space, the deployment processing module divides the 3D space model acquired by the wireless signal receiving module into 3D domains, eliminating spatial areas not belonging to the three operating mechanisms. The distances (q, v, s) between the center point of the 3D scanner's scanning surface and the lower end point of the impact drill 50 are known; the distances (w, v, m) between the center point of the rebar scanner 54's scanning surface and the lower end point of the impact drill 50 are known; and the distances (p, d, z) between the center points of their scanning surfaces are also known. When placing the underground conductor model with its independent coordinate system into the stationary 3D space according to its actual position, the deployment processing module will perform 3D domaining based on the 3D model with defined 3D coordinates obtained in real-time by the wireless signal receiving module and the surface processing module, and the underground conductor model with its independent coordinate system. The process of benchmarking and matching involves using the same CMC data as the matching basis and (p,d,z) as the source of the difference. After the underground conductor is scanned, the same CMC data is used as the matching basis, and (q,v,s) and (w,v,m) are used as the conditions for the difference calculation. The lower end point of the impact drill 50 is brought into the stationary three-dimensional space after the benchmarking and matching is completed, thereby obtaining the three-dimensional drilling environment space with the lower end point of the impact drill 50 as the action point. In this space, the location domain of the underground conductor model is set as an untouchable area.

[0081] Based on the movement parameters and avoidance parameters in the control signals issued by the industrial control computer 57, the movement parameters are redistributed and formulated into control analog signals and relay control signals with continuous action characteristics.

[0082] The movement parameters include the drilling position information, spacing information, and drilling depth information of the start and end points of the impact drill bit 50. The avoidance parameters are the safe avoidance distances of the lower end point of the impact drill bit relative to the underground conductor model's position domain in the X, Y, and Z axes, as well as the maximum lateral clearance distances in the X and Y axes. If the drilling depth does not exceed the safe avoidance depth in the Z-axis direction, the maximum clearance distance is not configured for that location. If the drilling depth in the area to be drilled from zero lateral clearance to the maximum lateral clearance distance exceeds the safe avoidance distance in the Z-axis direction, the configuration processing module sends a warning message to the industrial control computer 57 via the mapping processing module, indicating that the area cannot be executed, and the system awaits further instructions. The worker re-sets the movement parameters or reselects the installation position via the industrial control computer 57. After completion, the re-distributed movement parameters are brought into the three-dimensional drilling environment space with the lower end of the drill bit of the impact drill 50 as the action point for path planning and distance calculation. Then, the stroke data t, f, and g are brought into the path planning and distance calculation results to obtain the control module signals of motor 1 20, motor 2 28, and motor 3 35 with continuous action characteristics. The relay control signal for the impact drill 50 to run when powered on is set at the module position from the half-stroke downstroke module position to the half-stroke retraction module position of motor 3 35. The relay control signal for the impact drill 50 to stop running when powered off is set at the remaining module position during the retraction and downstroke processes of motor 3 35.

[0083] After the control analog signals and relay control signals with continuous action characteristics are formulated, there is a 20-second delay before the control and transmission processing module gradually issues the control analog signals and relay control signals with continuous action characteristics. This is in the drilling process.

[0084] The differential processing module adds the distance signals from laser rangefinder 1 (261), laser rangefinder 2 (411), and laser rangefinder 3 to the motion parameters of the X-axis, Y-axis, and Z-axis motion mechanisms in real time, and calculates the parameter difference to obtain the differential amount.

[0085] Before the drilling program is executed, the layout processing module processes the coordinates of the lower end point of each impact drill bit in the three-dimensional drilling environment space, which correspond to the corresponding simulated target CMC. During the drilling program execution, the distance signals obtained in real time by laser rangefinder 1 261, laser rangefinder 2 411 and laser rangefinder 3 are compared with the target CMC at this time to calculate the parameter difference, thereby obtaining the compensation amount.

[0086] The real-time addition of the re-distributed motion parameters, the distance signals of laser rangefinder 1 261, laser rangefinder 2 411 and laser rangefinder 3 to the compensation processing module, and receiving the compensation amount, the re-distributed motion parameters, and the remaining control analog signals and relay control signals with continuous action characteristics.

[0087] If any of the three differences is zero, no compensation action will be performed in the next step; if it is negative, the next step will be a forward compensation action; if it is positive, the next step will be a reverse compensation action. The control and transmission processing module is guided to convert the three differences into corresponding control modulus and relay control instructions according to this action deployment instruction, until the differences of the three parameters are all zero.

[0088] It is worth noting that the X-axis and Y-axis compensation processing and actions are all completed before drilling begins, while the Z-axis compensation processing and actions are all completed during the drilling and halfway through the drilling process.

[0089] After the drilling program is completed, the control and transmission processing module sends a valve opening command to the relay control and transmission module 4, and the electric suction cup 4 loses its vacuum gripping of the ground; the distribution processing module and the control and transmission processing module are in standby mode, waiting for the next running command from the industrial control computer 57.

[0090] The control and transmission processing module is used to guide the operation of steering rotary control and transmission module one, steering rotary control and transmission module two, steering rotary control and transmission module three, relay control and transmission module one and relay control and transmission module two in real time according to their categories and continuity, based on the control analog signals and relay control signals with continuous action characteristics of the distribution processing module.

[0091] Steering CNC input module one is used to control the operation of the X-axis travel mechanism, steering CNC input module two is used to control the operation of the Y-axis travel mechanism, steering CNC input module three is used to control the operation of the Z-axis travel mechanism, relay control input module one is used to control the operation of the electric chuck 4, and relay control input module two is used to control the operation of the impact drill 50.

[0092] The signal output pins of steering CNC input modules 1, 2, and 3 are connected to the signal input terminals of servo controller 60 via signal lines. The signal output pins of relay input modules 1 and 2 are connected to the signal input terminals of integrated relay 61 via signal lines. Steering CNC input module 1 is used to control the operation of motor 1 20, steering CNC input module 2 is used to control the operation of motor 2 28, steering CNC input module 3 is used to control the operation of motor 3 35, relay input module 1 is used to control the operation of electric chuck 4, and relay input module 2 is used to control the operation of impact drill 50.

[0093] The entire operation sequence is as follows: the control and transmission processing module sends an instruction to the relay control and transmission module to control the electric suction cup 4 to perform vacuuming. The electric suction cup 4 then attaches to the ground under vacuum, and a reset procedure is initiated. After the reset procedure is completed, a 3D scanner is installed to perform a 3D scanning procedure. Next, a rebar scanner 54 is installed to perform an underground conductor scanning procedure. Then, a layout analysis is performed to obtain control analog signals and relay control signals with continuous action characteristics. The control and transmission processing module controls each control and transmission module to execute the drilling procedure. After the drilling procedure is completed, the control and transmission processing module sends an instruction to the relay control and transmission module to open the valve of the electric suction cup 4.

[0094] The working principle of this embodiment is as follows:

[0095] Equipment placement and stable fixation

[0096] The entire truss intelligent drilling equipment is transferred to the drilling area. After adjusting the frame 1 to the preset construction position, the control mechanism sends an operation command to the electric suction cup 4 through the relay control module. The electric suction cup 4 starts the vacuum adsorption action, and its soft plate surface is closely attached to the smooth floor of the cleanroom. The adsorption force stabilizes the entire frame 1 on the construction ground, avoiding equipment displacement during the drilling process from affecting the drilling accuracy.

[0097] System Reset Calibration

[0098] After the equipment is fixed in place, the control mechanism starts the reset procedure. The distribution processing module receives the distance data collected in real time by laser rangefinder 1 261, laser rangefinder 2 411, and laser rangefinder 3, compares it with the reset state standard value QVC, and calculates the difference DRP. Based on the positive, negative, and zero values ​​of the difference, the control input processing module sends control commands to the corresponding steering rotary control input module to drive motor 1 20, motor 2 28, and motor 3 35 to rotate in the corresponding forward and reverse directions until all three differences are zero, so that the X-axis, Y-axis, and Z-axis travel mechanisms return to the reset state. At this time, the drill bit of impact drill 50 is aligned with the center position of the ground covered by frame 1, completing the system reset calibration.

[0099] 3D spatial modeling of construction area

[0100] After resetting, a 3D scanner is installed at the bottom of guide bar 43. The control mechanism starts the 3D scanning program and controls the Y-axis movement mechanism to move the scanning unit to the leftmost side of frame 1, the X-axis movement mechanism to move the scanning unit to the frontmost side, and the Z-axis movement mechanism to move the scanning unit down to the preset scanning height. Then, the X-axis movement mechanism is controlled to move the scanning unit back and forth throughout the entire process. After each reciprocation, the Y-axis movement mechanism steps to the right a preset distance until the ground scan covering the entire area of ​​frame 1 is completed. The scanned image data is processed by the peripheral device to form a 3D ground space model with 3D coordinates. It is then wirelessly transmitted to the wireless signal receiving module of development board 59, where it is processed into a stationary 3D space by the deployment processing module, thus completing the 3D spatial definition of the construction area.

[0101] Underground conductor scanning and modeling

[0102] After the 3D scan is completed, the rebar scanner 54 is installed and the control mechanism starts the underground conductor scanning program. Following the same path logic as the 3D scan, the three-axis movement mechanism is controlled to drive the rebar scanner 54 to complete the underground scan covering the entire area of ​​frame 1, and collect the depth, diameter, and spacing data of the underground conductors. The data is transmitted to the surface processing module through the scanning signal receiving module and processed to form an underground conductor model with an independent coordinate system.

[0103] Drilling path planning and obstacle avoidance

[0104] The layout processing module uses the same laser ranging and reset data CMC as the matching basis to accurately match and place the underground conductor model into a stationary three-dimensional space. Combined with the fixed position parameters of the drill bit end of the impact drill 50 and the two scanning devices, it constructs a three-dimensional drilling environment space with the drill bit end as the action point, and sets the underground conductor location as an untouchable area. After receiving the drilling position, spacing, depth and other movement parameters issued by the industrial control computer 57, it combines the underground conductor safety avoidance parameters to replan the drilling path. If the drilling area cannot meet the safety avoidance requirements, the industrial control computer 57 issues a warning. After the parameters are manually reset, the planning of a compliant drilling path is completed. The path data is converted into continuous motion control analog signals for the corresponding motors 1 20, 2 8, and 3 35, as well as relay control signals for starting and stopping the impact drill 50.

[0105] Intelligent drilling and real-time positioning compensation

[0106] After path planning is completed, the control mechanism starts the drilling program. The control input processing module sends control analog signals and relay control signals to the corresponding steering rotation control input module and relay control input module according to the preset timing and continuity, driving the three-axis travel mechanism to move the impact drill 50 to the drilling point along the planned path. After reaching the point, the Z-axis travel mechanism drives the impact drill 50 downward. The impact drill 50 starts drilling during the halfway down and stops running during the halfway back up. During the drilling process, the compensation processing module receives the actual running distance data collected by the three laser rangefinders in real time, compares it with the target CMC data of the planned path to calculate the difference, and obtains the compensation amount. The layout processing module corrects the control parameters of the remaining actions in real time according to the compensation amount. The compensation actions of the X-axis and Y-axis are completed before drilling, and the compensation actions of the Z-axis are completed during the halfway down and halfway back up, eliminating the error between the controlled position and the actual position, ensuring the accuracy of the drilling position and depth, and avoiding underground conductors throughout the process.

[0107] Drilling completed and equipment reset

[0108] After the drilling operation at all points is completed, the control and transmission processing module issues a stop command to the impact drill 50 to the relay control and transmission module 2, and at the same time controls the three-axis travel mechanism to return to the reset state; then issues a valve opening command to the electric suction cup 4 to the relay control and transmission module 1 to release the vacuum adsorption state, and the equipment returns to the movable state, waiting for the next construction command.

[0109] During drilling, the longitudinal impact force generated by the impact drill 50 is transmitted to the hydraulic buffer 412 through the sliding engagement of the guide rail 47 and the track slide 46. The hydraulic buffer 412 buffers and dissipates the impact force, reducing the impact vibration on the accuracy of the three-axis travel mechanism and ensuring the stability of equipment operation. When the equipment needs to be disassembled and maintained, flip the locking handle 16 upward to disengage its hook from the hook hole of the locking plate 17, and then flip the pressing handle 14 upward to loosen the hanging ring 15 from the bracket 12. The hanging ring 15 can then be removed from the bracket 12, and the Y-axis, X-axis, and Z-axis travel mechanisms can be quickly removed from the frame 1, realizing convenient disassembly and assembly of the equipment and facilitating on-site transportation and maintenance.

[0110] The above description is merely a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention.

Claims

1. A gantry intelligent drilling apparatus comprising a frame (1), characterized in that: The bottom two sides of the frame (1) are provided with adsorption stabilization mechanisms, which are used to stabilize the frame (1) on the ground by adsorption force. The top two sides of the frame (1) are provided with fixation mechanisms. An X-axis travel mechanism is installed inside the frame (1). A Y-axis travel mechanism is provided on one side of the X-axis travel mechanism. The fixation mechanism is used to disassemble and assemble the Y-axis travel mechanism on the frame (1). A Z-axis travel mechanism is provided on the other side of the X-axis travel mechanism. Laser rangefinders are provided on the upper two sides of the frame (1). The laser rangefinders are used to detect the travel distance of the Y-axis travel mechanism. The Y-axis travel mechanism is used to drive the X-axis travel mechanism and the Z-axis travel mechanism to travel along the Y-axis direction. The X-axis traveling mechanism is used to drive the Z-axis traveling mechanism to travel along the X-axis direction. A laser rangefinder (411) is installed on the Z-axis traveling mechanism. The laser rangefinder (411) is used to detect the traveling distance of the Z-axis traveling mechanism. An impact drill (50) is installed on the Z-axis traveling mechanism through a buffer support mechanism. A rebar scanner (54) is installed on the bottom side of the Z-axis traveling mechanism and near the impact drill (50). The Z-axis traveling mechanism is used to drive the impact drill (50) and the rebar scanner (54) to travel along the Z-axis direction. The buffer support mechanism is used to buffer the drilling process of the impact drill (50). The rebar scanner (54) is used to detect the depth, diameter and spacing of underground conductors. Laser rangefinders (261) are provided on both sides of the X-axis travel mechanism. The laser rangefinders (261) are used to detect the position distance of the Z-axis travel mechanism on the X-axis travel mechanism. On the other side of the frame (1), a control mechanism is provided. The control mechanism is used to receive external commands and control the adsorption stabilization mechanism to perform ground adsorption, control the rebar scanner (54) to scan the ground of the area covered by the frame (1) for underground conductors, combine the definition processing and position compensation processing of the three-dimensional space of the ground of the area covered by the frame (1), and control the X-axis movement mechanism, Y-axis movement mechanism and Z-axis movement mechanism to run automatically, so that the impact drill (50) can drill holes in the ground while avoiding underground conductors.

2. The trussed smart drilling apparatus of claim 1, wherein: The adsorption stabilization mechanism includes a fixed frame (2) sleeved on the bottom rods on both sides of the frame (1) and an electric suction cup (4) installed on the fixed frame (2). Locking bolts (3) are locked on the bottom rods on both sides of the frame (1) and the fixed frame (2). A bending mounting plate (401) is provided on the side of the electric suction cup (4), and the bending mounting plate (401) is installed on the fixed frame (2).

3. The truss intelligent drilling equipment according to claim 2, characterized in that: The limiting mechanism includes guide rails (5) arranged on both sides of the upper part of the frame (1). A track slide is slidably arranged on the guide rail (5). A slider transition block (8) is installed at the bottom of the track slide. A support plate frame (9) is arranged at the lower part of the slider transition block (8). A support frame (18) is arranged between the support plate frames (9). Slide rods (10) are fixedly arranged on both sides of the support plate frame (9) and slide rods (10) slide through the slider transition block (8). The side of the slider transition block (8) passes through... A handle fixing plate (11) is mounted on a bracket (12). A clamp (13) is provided on both sides of the support frame (18). A pressure handle (14) is rotatably connected to one side of the clamp (13). A hanging ring (15) is rotatably provided on the pressure handle (14) and the hanging ring (15) is fitted into the bracket (12). A lock handle (16) is rotatably provided inside the pressure handle (14). A lock plate (17) is extended from one side of the clamp (13) and one end of the lock handle (16) is hooked into the hook hole provided on the lock plate (17). When the handle (14) is pressed down to fit the support frame (18) and one end of the lock handle (16) hooks into the hook hole provided on the lock plate (17), the hanging ring (15) is hooked in and the hanging bracket (12) is tightened.

4. The truss intelligent drilling equipment according to claim 3, characterized in that: The Y-axis travel mechanism includes a mounting plate (19) symmetrically arranged on one side of the support frame (18) and a middle support plate (26) arranged in the middle of one side of the support frame (18). A support shaft seat (32) is installed on one side of the mounting plate (19). A rotating shaft is installed inside the support shaft seat (32). One end of the rotating shaft is connected to a rotating shaft (30) through a coupling two (31). A right-angle commutator (27) is installed on the middle support plate (26). A motor two (28) is installed at the bottom of the right-angle commutator (27), and the rotor shaft of the motor two (28) is connected to the input shaft of the right-angle commutator (27). The output shafts on both sides of the right-angle commutator (27) are connected to one end of the rotating shaft (30) through a coupling one (29). A rack (6) is installed on the upper inner side of the frame (1), and a gear (33) is installed on the other end of the shaft and meshes with the rack (6).

5. The truss intelligent drilling equipment according to claim 4, characterized in that: The X-axis traveling mechanism includes a second guide rail (24) set on the other side of the support frame (18), a second track slide (241) is installed on the second guide rail (24), a bearing seat (25) and a motor (20) are respectively installed on the two mounting plates (19), a support shaft is installed in the bearing seat (25), a synchronous pulley (21) is installed on the rotor shaft and the support shaft of the motor (20), a synchronous belt (22) is installed on the synchronous pulley (21), and the two ends of the synchronous belt (22) are connected by belt clamps (23); Two laser rangefinders (261) are symmetrically mounted on the other side of the support frame (18) and located between the guide rails (24).

6. The truss intelligent drilling equipment according to claim 5, characterized in that: The Z-axis traveling mechanism includes a mounting frame plate (34) mounted on a second track slide (241) and a clamping plate (23). A motor support plate (101) is mounted on the mounting frame plate (34), and a third motor (35) is mounted on the motor support plate (101). The rotor shaft of the third motor (35) passes through the mounting frame plate (34) and is equipped with a second gear (39). The mounting frame plate (34) is equipped with a track slide three (40), the track slide three (40) is equipped with a guide rail three (41), the guide rail three (41) is equipped with a guide bar mounting plate (42), the guide bar mounting plate (42) is equipped with a guide bar (43), the top support plate (102) is installed on the top of the guide rail three (41), the guide bar mounting plate (42) and the guide bar (43), and a rack two (44) is installed on one side of the guide bar (43) and the gear two (39) meshes with the rack two (44). A side fixing plate (48) is installed at the lower part of the guide bar (43). A guide rail four (47) is installed on both sides of the side fixing plate (48). A track slide four (46) is installed on the guide rail four (47). A mounting plate (45) is installed on the track slide four (46), and a mounting top plate (53) is provided on the top of the mounting plate (45). An impact drill (50) is installed on the mounting plate (45). A top frame (52) is installed on the housing of the impact drill (50), and the top frame (52) is installed on the mounting top plate (53). A fastening frame (49) is installed on the mounting plate (45). The fastening frame (49) is inserted into the middle of the impact drill (50). A fastening ring (51) is installed on the fastening frame (49), and the fastening ring (51) presses the middle of the impact drill (50).

7. The intelligent truss drilling equipment according to claim 6, characterized in that: The laser rangefinder (411) is installed at the lower part of the guide bar (43), the rebar scanner (54) is installed at the bottom of the guide bar (43), and a lithium battery pack (55) is provided on the side of the frame (1).

8. The truss intelligent drilling equipment according to claim 7, characterized in that: The buffer support mechanism includes a hydraulic buffer (412), a fixed seat (471) is installed on the side of the hydraulic buffer (412) and the fixed seat (471) is installed on the side plate (48), a support (472) is installed at the bottom of the fixed plate (45) and the end of the telescopic rod of the hydraulic buffer (412) is installed on the support (472).

9. The intelligent truss drilling equipment according to claim 8, characterized in that: The control mechanism includes a control box (56) located on the side of the frame (1). An industrial computer (57) is installed at the front of the control box (56). A transceiver antenna (58) is installed on one side of the top of the control box (56). A development board (59) is installed on one side inside the control box (56). A servo controller (60) is installed inside the control box (56) and on one side of the development board (59). An integrated relay (61) is installed inside the control box (56) and on the lower side of the servo controller (60).

10. The truss intelligent drilling equipment according to any one of claims 1-9, characterized in that: The development board (59) is equipped with a distance signal receiving module, a scanning signal receiving module and a wireless signal receiving module. The distance signal receiving module is used to receive distance signals from laser rangefinder one (261) and laser rangefinder two (411). The wireless signal receiving module is used to receive three-dimensional information of the ground in the area covered by the frame (1) after processing by the peripheral mobile device. The scanning signal receiving module is used to receive data information on the depth, diameter and spacing of underground conductors emitted by the rebar scanner (54). The scanning signal receiving module is transmitted and connected to the surface processing module. The distance signal receiving module, the surface processing module, and the wireless signal receiving module are transmitted and connected to the layout processing module. The surface processing module is used to process the data information of the depth, position, diameter, and spacing of the underground conductor to generate an underground conductor model with a separate coordinate system. The layout processing module is transmitted and connected to the control and transmission processing module. The layout processing module and the control and transmission processing module are transmitted and connected to the mapping processing module and the control signal receiving and processing module. The layout processing module is bidirectionally transmitted and connected to the difference processing module. The control and transmission processing module is transmitted and connected to the steering rotary numerical control transmission module one, the steering rotary numerical control transmission module two, the steering rotary numerical control transmission module three, the relay control transmission module one, and the relay control transmission module two. The mapping processing module is used to map the real-time information processed by the layout processing module and the control input processing module to the industrial control computer (57) for display. The control signal receiving processing module is used to input the control signal issued by the industrial control computer (57) to the layout processing module and the control input processing module. The layout processing module is used to process the three-dimensional information of the ground in the area covered by the frame (1) into a stationary three-dimensional space, place the underground conductor model with a separate coordinate system in the stationary three-dimensional space according to the actual position, and perform position calculation to obtain the avoidance parameter quantity; according to the movement parameter quantity and avoidance parameter quantity in the control signal issued by the industrial control computer (57), the movement parameter quantity is re-laid out, and the re-laid movement parameter quantity is formulated into a control modulus signal and relay control signal with continuous action characteristics; the re-laid movement parameter quantity, the distance signals of laser rangefinder one (261), laser rangefinder two (411) and laser rangefinder three are added to the compensation processing module in real time, and the compensation quantity is re-laid out as movement parameter quantity and re-formulated into the remaining control modulus signal and relay control signal with continuous action characteristics is received; The compensation processing module adds the distance signals from laser rangefinder one (261), laser rangefinder two (411) and laser rangefinder three to the movement parameters of the X-axis movement mechanism, Y-axis movement mechanism and Z-axis movement mechanism in real time, and calculates the parameter difference to obtain the compensation amount; The control and transmission processing module is used to guide the operation of steering rotary control and transmission module one, steering rotary control and transmission module two, steering rotary control and transmission module three, relay control and transmission module one and relay control and transmission module two in real time according to the category and continuity of the control analog signals and relay control signals with continuous action characteristics of the distribution processing module. Steering CNC input module one is used to control the operation of the X-axis travel mechanism, steering CNC input module two is used to control the operation of the Y-axis travel mechanism, steering CNC input module three is used to control the operation of the Z-axis travel mechanism, relay control input module one is used to control the operation of the electric chuck (4), and relay control input module two is used to control the operation of the impact drill (50).

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