Building drilling robot having laser positioning function

Abstract

The present invention relates to the technical field of building drilling robots, and in particular to a building drilling robot having a laser positioning function, comprising an industrial computer and a six-axis robotic arm, and further comprising an expansion anchor assembly, a scanning assembly and a dust removal assembly. The six-axis robotic arm is mounted on one side of the top end of the industrial computer, and the expansion anchor assembly is movably connected to the other side of the top end of the industrial computer; the scanning assembly is mounted on a movable end of the six-axis robotic arm; the dust removal assembly is mounted on the front side of the scanning assembly; the expansion anchor assembly comprises a loading tray, a pneumatic actuator and clamping jaws; the loading tray is mounted on the rear side of the industrial computer; the pneumatic actuator is movably connected to the top end of the loading tray; and the clamping jaws are mounted on the front end of the pneumatic actuator. In the present invention, the pneumatic actuator and the clamping jaws are provided to install and clamp an expansion anchor module, thereby ensuring automatic installation of an expansion anchor after drilling, automatically searching for and positioning a drilling mark, and improving measurement accuracy during drilling.

Description

A laser-guided building drilling robot Technical Field

[0001] This invention relates to the field of building drilling robot technology, and more particularly to a laser-positioned building drilling robot. Background Technology

[0002] During construction, the building industry needs to drill holes in the structure. Traditional drilling methods are mostly manual, which is inefficient, difficult to guarantee accuracy, and poses safety hazards. Therefore, building drilling robots are chosen to improve the automation of drilling operations, meet the construction industry's needs for efficiency and accuracy, reduce long-term operating costs, and improve economic benefits.

[0003] Existing building drilling robots have limited operating range and can only complete a single drilling task. They also require manual installation and installation afterward, which prevents the full realization of the robot's advantages.

[0004] Therefore, to address the issue that the aforementioned building drilling robots can only perform a single drilling task and require manual installation and rigging afterward, thus failing to fully realize the advantages of the robot, a laser-positioned building drilling robot can be designed. Summary of the Invention

[0005] To overcome the problem that building drilling robots can only perform a single drilling task and require manual installation and rigging afterward, thus preventing the full realization of the robot's advantages.

[0006] The technical solution of the present invention is as follows: a laser-positioned building drilling robot, comprising an industrial computer and a six-axis robotic arm; it also includes a detonation assembly, a scanning assembly, and a dust removal assembly. The six-axis robotic arm is mounted on one side of the top of the industrial computer, and the detonation assembly is movably connected to the other side of the top of the industrial computer. The scanning assembly is mounted on the movable end of the six-axis robotic arm, and the dust removal assembly is mounted on the front side of the scanning assembly. The detonation assembly includes a loading plate, a pneumatic actuator, and a gripper. The loading plate is mounted on the rear side of the industrial computer, and the pneumatic actuator is movably connected to the top of the loading plate. The gripper is mounted on the front end of the pneumatic actuator.

[0007] Preferably, the detonator module is installed and gripped by a pneumatic actuator and gripper, thereby ensuring that the detonator is automatically installed after drilling. It can automatically find and locate the drilling mark, and the photo captured by the camera at the end of the robotic arm is sent to the vision recognition system to identify the mark, thus improving the measurement accuracy during drilling.

[0008] Preferably, the pneumatic actuator is provided with a telescopic arm at its top, and a detonating gun is installed at the telescopic end of the telescopic arm. The bottom end of the detonating gun is movably connected between the grippers. A quick-change connector is provided at the top of the detonating gun, and a detonating module is provided on the left side of the top of the industrial computer.

[0009] Preferably, the scanning assembly includes a mounting bracket, a support frame, a shock absorber, a scanning module, a camera, and a 3D scanner, with the mounting bracket mounted on the movable end of the six-axis robotic arm.

[0010] Preferably, a support frame is provided on the rear side of the top of the mounting bracket, a shock absorber is provided on the top of the support frame, and a scanning module is installed on the top of the shock absorber.

[0011] Preferably, a camera is installed on one side of the scanning module, and a 3D scanner is installed on the other side of the scanning module.

[0012] Preferably, the dust removal assembly includes a telescopic arm II, a suction cup, brush bristles, a vacuum cleaner, a quick-change connector II, a drill gun, a fixed frame, casters, and support legs, with the telescopic arm II located on the front side of the support frame.

[0013] Preferably, the telescopic arm 2 is equipped with a suction cup at its telescopic end, and the suction cup has bristles arranged symmetrically at its center. The air inlet of the bristles is connected to a vacuum cleaner through a connecting pipe.

[0014] Preferably, a quick-change connector 2 is installed on the front of the top of the industrial computer, and the output end of the quick-change connector 2 is connected to a drill gun. Fixing frames are installed on both the left and right sides of the bottom of the industrial computer. Universal wheels are provided on both the front and rear sides of the bottom of the fixing frames. Support legs are installed at the bottom of the fixing frames and are located between the universal wheels.

[0015] The beneficial effects of this invention are:

[0016] 1. The pneumatic actuator and gripper are used to install and hold the detonator module, ensuring automatic installation of the detonator after drilling. The pneumatic actuator provides mechanical power to the gripper, which can automatically find and locate the drilling mark. The image captured by the camera at the end of the robotic arm is sent to the vision recognition system to identify the marking symbol (usually a cross symbol). Once the mark is found, its spatial coordinate information is extracted by a 3D scanner for further processing. The scanner can obtain the drilling depth information in real time, and the shock absorber converts large high-frequency vibrations into small low-frequency vibrations, thereby improving the measurement accuracy during drilling. Attached Figure Description

[0017] Figure 1 shows a first three-dimensional structural schematic diagram of the laser-positioned building drilling robot of the present invention;

[0018] Figure 2 shows a three-dimensional structural diagram of the laser-positioned building drilling robot blasting component of the present invention;

[0019] Figure 3 shows a three-dimensional structural schematic diagram of the laser positioning building drilling robot scanning component of the present invention;

[0020] Figure 4 shows a first three-dimensional structural schematic diagram of the dust removal component of the laser-positioned building drilling robot of the present invention;

[0021] Figure 5 shows a second three-dimensional structural schematic diagram of the dust removal component of the laser-positioned building drilling robot of the present invention;

[0022] Figure 6 shows a partial three-dimensional structural diagram of the laser-positioned building drilling robot of the present invention, which is part A in Figure 1.

[0023] Figure 7 shows a schematic diagram of the working structure of the laser-positioned building drilling robot of the present invention.

[0024] Explanation of reference numerals in the attached diagram: 1. Industrial computer; 2. Six-axis robotic arm; 301. Loading tray; 302. Pneumatic actuator; 303. Gripper; 304. Telescopic arm one; 305. Detonating gun; 306. Quick-change connector one; 307. Detonating module; 401. Mounting bracket; 402. Support frame; 403. Shock absorber; 404. Scanning module; 405. Camera; 406. 3D scanner; 501. Telescopic arm two; 502. Suction cup; 503. Brush; 504. Vacuum cleaner; 505. Quick-change connector two; 506. Drill gun; 507. Fixing frame; 508. Caster wheel; 509. Support leg. Detailed Implementation

[0025] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0026] Please refer to Figures 1-7. This invention provides an embodiment: a laser-positioned building drilling robot, including an industrial computer 1 and a six-axis robotic arm 2; it also includes a detonation assembly, a scanning assembly, and a dust removal assembly. The six-axis robotic arm 2 is mounted on one side of the top of the industrial computer 1, and the detonation assembly is movably connected to the other side of the top of the industrial computer 1. The scanning assembly is mounted on the movable end of the six-axis robotic arm 2, and the dust removal assembly is mounted on the front side of the scanning assembly. The detonation assembly includes a loading plate 301, a pneumatic actuator 302, and a gripper 303. The loading plate 301 is mounted on the rear side of the industrial computer 1, and the pneumatic actuator 302 is movably connected to the top of the loading plate 301. The gripper 303 is mounted on the front end of the pneumatic actuator 302.

[0027] Please refer to Figures 2-3. In this embodiment, the pneumatic actuator 302 has a telescopic arm 304 at its top end. A detonating gun 305 is installed at the telescopic end of the telescopic arm 304, and the bottom end of the detonating gun 305 is movably connected to the grippers 303. A quick-connect coupling 306 is provided at the top end of the detonating gun 305. A detonating module 307 is provided on the left side of the top end of the industrial computer 1. The scanning assembly includes a mounting frame 401, a support frame 402, a shock absorber 403, a scanning module 404, a camera 405, and a 3D scanner 406. The six-axis robotic arm 2 has a mounting frame 401 installed at its movable end. A support frame 402 is provided on the rear side of the top end of the mounting frame 401. A shock absorber 403 is provided on the top end of the support frame 402. A scanning module 404 is installed on the top end of the shock absorber 403. A camera 405 is provided on one side inside the scanning module 404, and a 3D scanner 406 is installed on the other side inside the scanning module 404. Example

[0028] The scanning module 404 automatically locates and positions the drilling mark. The image captured by the camera 405 at the end of the six-axis robotic arm 2 is sent to the industrial computer 1 to identify the mark. Once the mark is found, the spatial coordinate information is extracted by the 3D scanner 406 for further processing. At the same time, during drilling, the 3D scanner 406 can obtain the drilling depth information in real time. The vibration generated by the drill bit during drilling is converted by the shock absorber 403, thereby improving the measurement accuracy during drilling. After drilling is completed, the six-axis robotic arm 2 removes the drill gun 506 through the quick-change connector 306 and replaces the detonator module 307. The six-axis robotic arm 2 positions a detonator on the loading plate 301 according to the preset program. By activating the pneumatic actuator 302, the gripper 303 is tightened to pick up the corresponding detonator. After picking up the detonator, the six-axis robotic arm 2 drags the detonator module 307 to the drilling site. At this time, the detonator is fixed at the drilling site by the gripper 303 and the telescopic arm 304. The detonator is detonated by impact with the detonator gun 305 until the installation is completed.

[0029] Please refer to Figures 4-6. In this embodiment, the dust removal assembly includes a telescopic arm 501, a suction cup 502, brush bristles 503, a vacuum cleaner 504, a quick-change connector 505, a drill rig 506, a mounting frame 507, casters 508, and support legs 509. The telescopic arm 501 is located on the front side of the support frame 402. The telescopic end of the telescopic arm 501 is equipped with a suction cup 502. Brush bristles 503 are symmetrically arranged inside the suction cup 502. The air inlet of 503 is connected to a vacuum cleaner 504 via a connecting pipe; a quick-change connector 2 505 is installed on the front of the top of the industrial computer 1, and the output end of the quick-change connector 2 505 is connected to a drill rig 506; a mounting bracket 507 is installed on both the left and right sides of the bottom of the industrial computer 1, and casters 508 are provided on both the front and rear sides of the bottom of the mounting bracket 507; a support leg 509 is installed at the bottom of the mounting bracket 507, and the support leg 509 is located between the casters 508. Example

[0030] Before the drill bit is started, the suction cup 502 is pressed tightly against the wall surface by the telescopic arm 501 and remains in contact with the wall surface throughout the drilling process. When the drill bit is started, the vacuum cleaner 504 is turned on, and a vacuum negative pressure is formed in the suction cup 502 through the connecting pipe. The dust cut by the drill bit is carried into the vacuum cleaner 504 with the negative pressure air. At the same time, the drill bit continues to feed, and the dust adhering to the drill bit is carried off by the bristles 503 due to the strong vibration of the drill bit.

[0031] During operation, the robot starts, and the 3D scanner 406 begins scanning the wall, sending the scanned image to the industrial computer 1. The industrial computer 1 uses a vision recognition system to locate the drilling mark and obtains the 3D coordinates of the mark through the 3D scanner 406. These 3D coordinates are used by the attitude calculation system to calculate the motion trajectory of the robotic arm. The six-axis robotic arm 2 moves the drill rig 506 to the mark, and the drill rig 506 starts, providing cutting force to the wall. The six-axis robotic arm 2 moves the drill rig 506 to the mark, and the 3D scanner 406 obtains the drilling data in real time. Hole depth information; simultaneously, the dust removal component operates to remove dust generated during drilling, the drill bit is withdrawn, and the six-axis robotic arm 2 automatically replaces the detonator 305; the six-axis robotic arm 2 moves to the detonator loading mechanism, where the detonator 305 automatically picks up the detonator, and the motion trajectory of the six-axis robotic arm 2 is calculated by the attitude calculation system based on the size of the detonator 305; the six-axis robotic arm 2 moves the detonator 305 to the drilling site, and the same steps are performed to continue the operation. The drilling operation ends, and the robot moves to the next drilling marker position until all drilling operations are completed.

[0032] Through the above steps, the drilling markers can be automatically located and captured by the camera 405 at the end of the six-axis robotic arm 2. The photos are sent to the vision recognition system to identify the markers, thereby improving the measurement accuracy during drilling. This solves the problem that building drilling robots can only complete a single drilling task and require manual installation and tearing afterward, which prevents the full realization of the robot's advantages.

[0033] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention.

Claims

1. A laser-positioned building drilling robot, comprising an industrial computer (1) and a six-axis robotic arm (2); characterized in that: It also includes a detonation assembly, a scanning assembly and a dust removal assembly. A six-axis robotic arm (2) is installed on one side of the top of the industrial computer (1), and a detonation assembly is movably connected to the other side of the top of the industrial computer (1). A scanning assembly is installed at the movable end of the six-axis robotic arm (2), and a dust removal assembly is installed on the front side of the scanning assembly. The detonation assembly includes a loading plate (301), a pneumatic actuator (302) and a gripper (303). A loading plate (301) is installed on the rear side of the industrial computer (1), and a pneumatic actuator (302) is movably connected to the top of the loading plate (301). A gripper (303) is installed at the front end of the pneumatic actuator (302).

2. The laser-positioned building drilling robot according to claim 1, characterized in that: The pneumatic actuator (302) is provided with a telescopic arm (304) at the top. The telescopic end of the telescopic arm (304) is equipped with a detonator (305), and the bottom end of the detonator (305) is movably connected between the grippers (303). The top of the detonator (305) is provided with a quick-change connector (306), and the left side of the top of the industrial computer (1) is provided with a detonation module (307).

3. The laser-positioned building drilling robot according to claim 1, characterized in that: The scanning components include a mounting bracket (401), a support frame (402), a shock absorber (403), a scanning module (404), a camera (405), and a 3D scanner (406), with the mounting bracket (401) mounted on the movable end of the six-axis robotic arm (2).

4. The laser-positioned building drilling robot according to claim 3, characterized in that: A support frame (402) is provided on the rear side of the top of the mounting bracket (401), a shock absorber (403) is provided on the top of the support frame (402), and a scanning module (404) is installed on the top of the shock absorber (403).

5. The laser-positioned building drilling robot according to claim 1, characterized in that: A camera (405) is installed on one side inside the scanning module (404), and a 3D scanner (406) is installed on the other side inside the scanning module (404).

6. The laser-positioned building drilling robot according to claim 4, characterized in that: The dust removal assembly includes a telescopic arm (501), a suction cup (502), a brush (503), a vacuum cleaner (504), a quick-change connector (505), a drill (506), a fixed frame (507), a caster wheel (508), and a support leg (509). The telescopic arm (501) is provided on the front side of the support frame (402).

7. The laser-positioned building drilling robot according to claim 5, characterized in that: The telescopic arm 2 (501) is equipped with a suction cup (502) at its telescopic end. The suction cup (502) is symmetrically arranged with bristles (503) inside. The air inlet of the bristles (503) is connected to a vacuum cleaner (504) through a connecting pipe.

8. The laser-positioned building drilling robot according to claim 1, characterized in that: The industrial computer (1) is equipped with a quick-change connector 2 (505) on the front side of the top. The output end of the quick-change connector 2 (505) is connected to a drill gun (506). The industrial computer (1) is equipped with a fixed frame (507) on both the left and right sides of the bottom. The fixed frame (507) is equipped with casters (508) on both the front and rear sides of the bottom. The fixed frame (507) is equipped with a support leg (509) at the bottom, and the support leg (509) is located between the casters (508).

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