WO2024067727A1 - 钻孔方法及钻孔设备 - Google Patents

钻孔方法及钻孔设备 Download PDF

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Publication number
WO2024067727A1
WO2024067727A1 PCT/CN2023/122165 CN2023122165W WO2024067727A1 WO 2024067727 A1 WO2024067727 A1 WO 2024067727A1 CN 2023122165 W CN2023122165 W CN 2023122165W WO 2024067727 A1 WO2024067727 A1 WO 2024067727A1
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WO
WIPO (PCT)
Prior art keywords
drilling
drill bit
preset
impact drill
water
Prior art date
Application number
PCT/CN2023/122165
Other languages
English (en)
French (fr)
Inventor
丘邦超
李沛中
柯晓鸿
杨猛
Original Assignee
广州明珞装备股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
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Application filed by 广州明珞装备股份有限公司 filed Critical 广州明珞装备股份有限公司
Publication of WO2024067727A1 publication Critical patent/WO2024067727A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B28—WORKING CEMENT, CLAY, OR STONE
    • B28D—WORKING STONE OR STONE-LIKE MATERIALS
    • B28D1/00—Working stone or stone-like materials, e.g. brick, concrete or glass, not provided for elsewhere; Machines, devices, tools therefor
    • B28D1/14—Working stone or stone-like materials, e.g. brick, concrete or glass, not provided for elsewhere; Machines, devices, tools therefor by boring or drilling
    • B28D1/146—Tools therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B28—WORKING CEMENT, CLAY, OR STONE
    • B28D—WORKING STONE OR STONE-LIKE MATERIALS
    • B28D7/00—Accessories specially adapted for use with machines or devices of the preceding groups

Definitions

  • the present application relates to the technical field of equipment installation, and in particular to a drilling method and drilling equipment.
  • a drilling method comprising the following steps:
  • the water drill moves to the coordinate position and performs drilling.
  • the step of drilling the installation area according to the coordinate information includes:
  • a preset drilling trajectory is generated according to the coordinates of each preset drilling position, so that the impact drill moves along the preset drilling trajectory and drills each preset drilling position in turn.
  • the step of moving the impact drill along the preset drilling trajectory and drilling each of the preset drilling locations in sequence includes:
  • the first moving mechanism drives the impact drill bit to move to a first preset distance from the preset drilling position
  • the first feeding mechanism drives the impact drill bit to move to a position aligned with the preset drilling position
  • the impact drill bit performs drilling processing on the preset drilling position.
  • the step includes:
  • the step includes:
  • the step includes:
  • the step of moving the water drill to the coordinate position and drilling a hole comprises:
  • the second moving mechanism of the water drill drilling machine drives the water drill head to move to a second preset distance from the coordinate position
  • the second feeding mechanism of the water drill punch drives the water drill head to move to a position aligned with the coordinate position
  • the water drill head drills holes at the coordinate positions to obtain installation holes.
  • the step of moving the water drill to the coordinate position and drilling a hole further includes:
  • the water supply flow rate of the water drill head is detected, and if the water supply flow rate is less than or equal to a preset flow rate value, a warning message is issued.
  • a drilling device comprising:
  • a coordinate recognition element wherein the coordinate recognition element is used to obtain coordinate information of the installation area
  • An impact drill comprising a first moving mechanism and an impact drill bit rotatably arranged on the first moving mechanism, the first moving mechanism being electrically connected to the coordinate identification element, the impact drill bit being used to perform drilling processing on the installation area according to the coordinate information;
  • a state detection element the state detection element is electrically connected to the coordinate recognition element, and the state detection element is used to detect the current working state of the impact drill bit during the drilling process;
  • a water drill punch, the water drill punch is electrically connected to the coordinate recognition element;
  • the coordinate identification element sends the coordinate position of the current drilling part to the water drill punch, so that the water drill punch moves to the coordinate position and drills.
  • the impact drill further includes a first navigation element, and the coordinate identification element and the first moving mechanism are both electrically connected to the first navigation element.
  • the impact drill punch also includes a first feeding mechanism, which is arranged on the first moving mechanism, the first feeding mechanism is electrically connected to the coordinate identification element, and the first feeding mechanism is transmission-connected to the impact drill bit to drive the impact drill bit to move in the horizontal plane and the vertical direction.
  • the state detection element is configured as a feed speed detection element, which is used to detect the feed speed of the impact drill bit, and when the feed speed detection element detects that the feed speed of the impact drill bit is less than or equal to a preset feed speed value, it is determined that the current working state of the impact drill bit is inconsistent with the preset working state.
  • the state detection element is configured as a pressure detection element, and the pressure detection element is connected to the impact drill bit to detect the axial pressure of the impact drill bit, and when the pressure detection element detects that the axial pressure of the impact drill bit is greater than or equal to a preset pressure value, it is determined that the current working state of the impact drill bit is inconsistent with the preset working state.
  • the state detection element is configured as a drilling depth detection element, which is used to detect the drilling depth of the impact drill bit, and when the drilling depth detection element detects that the drilling depth of the impact drill bit remains constant and is less than a preset depth value, it is determined that the current working state of the impact drill bit is inconsistent with the preset working state.
  • the water drill punch includes a second moving mechanism and a water drill head rotatably disposed on the second moving mechanism, the coordinate identification element is electrically connected to the second moving mechanism, and the water drill head is used to drill a hole at the coordinate position to obtain an installation hole.
  • the water drill further includes a second navigation element, and the coordinate identification element and the second moving mechanism are both electrically connected to the second navigation element.
  • the water drill punch also includes a second feeding mechanism, which is arranged on the second moving mechanism, the second navigation element and the coordinate identification element are electrically connected to the second feeding mechanism, and the second feeding mechanism is transmission-connected to the water drill head to drive the water drill head to move in the horizontal plane and the vertical direction.
  • the coordinate identification element sends the coordinate position of the current drilling part to any one of the water drill punches, so that the corresponding water drill punch moves to the coordinate position and drills to obtain an installation hole.
  • the coordinate identification element identifies the coordinate information of the installation area after selecting a suitable reference point in the installation area, thereby establishing a corresponding coordinate system.
  • the drilling device further comprises:
  • a water supply mechanism used for supplying water to the water drill head
  • a flow detection element used for detecting the water supply flow of the water supply mechanism
  • a warning element used for issuing a warning message when the water supply flow rate is less than or equal to a preset flow rate value
  • the flow detection element is electrically connected to the warning element.
  • the drilling method and drilling equipment of the above-mentioned embodiment after acquiring the coordinate information of the installation area through the coordinate recognition element, enables the first moving mechanism to drive the impact drill bit to drill the installation area according to the coordinate information.
  • the state detection element is used to detect the current working state of the impact drill bit during the drilling process.
  • the coordinate position of the current drilling part is sent to the water drill punch, so that the water drill punch moves to the coordinate position and drills to obtain the installation hole.
  • the entire drilling process does not require human participation, and the drilling efficiency is high.
  • FIG1 is a schematic flow chart of a drilling method according to an embodiment
  • FIG2 is a schematic flow chart of a drilling method according to another embodiment
  • FIG3 is a schematic flow chart of a drilling method according to another embodiment
  • FIG4 is a schematic flow chart of a drilling method according to another embodiment
  • FIG5 is a schematic flow chart of a drilling method according to another embodiment
  • FIG6 is a schematic flow chart of a drilling method according to another embodiment
  • FIG7 is a schematic flow chart of a drilling method according to another embodiment
  • FIG8 is a schematic structural diagram of an impact drill punch of a drilling device according to an embodiment
  • FIG9 is a schematic structural diagram of the water drill drilling machine of the drilling device of FIG8 from one perspective;
  • FIG. 10 is a schematic structural diagram of the water drill drilling machine of the drilling device of FIG. 8 from another perspective.
  • a drilling method which can drill holes in a concrete floor with pre-embedded steel bars to facilitate the installation of large-scale automation equipment.
  • the drilling method includes at least the following steps:
  • S100 obtaining coordinate information of the installation area.
  • it is first necessary to determine the installation area of the large-scale automation equipment, so as to obtain the coordinate information of the installation area using the coordinate recognition element, so as to facilitate the positioning and guidance of subsequent drilling, making the drilling more accurate and efficient.
  • the coordinate identification element is set in the area above the concrete floor by means of snap-on, plug-in or screw-on. By selecting a suitable reference point in the installation area and identifying the coordinate information of the installation area, a corresponding coordinate system can be established.
  • the installation area of large-scale automation equipment can refer to the area covered by various installation holes of large-scale automation equipment during the installation process, or it can refer to the projection area of large-scale automation equipment on the concrete floor.
  • the first moving mechanism 110 of the impact drill 100 moves according to the coordinate information, thereby driving the impact drill bit 120 to move, and then using the impact drill bit 120 to drill holes in the installation area to obtain installation holes for installing large-scale automation equipment.
  • step S200 it includes: S210, obtaining the coordinates of each preset drilling position according to the coordinate information.
  • the coordinate recognition element obtains the coordinates of the preset drilling positions that need to be drilled in various places in the installation area, that is, the coordinate recognition element identifies the coordinate position of each preset drilling position in the coordinate system.
  • S220 generating a preset drilling trajectory according to the coordinates of each preset drilling position, so that the impact drill moves along the preset drilling trajectory and drills each preset drilling position in turn.
  • the first moving mechanism 110 of the impact drill 100 is guided by the coordinate recognition element to move and stop along the preset drilling trajectory during the drilling process, so as to use the impact drill bit 120 rotatably arranged on the first moving mechanism 110 to drill each preset drilling position in turn, avoid missing holes, and optimize and shorten the moving path of the first moving mechanism 110, thereby improving the drilling efficiency of the impact drill 100.
  • the coordinate information of the installation area can also be directly obtained through the corresponding factory drawings to obtain the coordinates of each preset drilling position.
  • a coordinate system may be established with the length direction of the installation area as the horizontal axis and the width direction of the installation area as the vertical axis, and the coordinates of each preset drilling location are the position of a point in the coordinate system.
  • step S220 the following steps are included: S221, the first moving mechanism drives the impact drill bit to move to a first preset distance from a preset drilling position.
  • the first moving mechanism 110 moves along the preset drilling trajectory and synchronously drives the first feeding mechanism 130 and the impact drill bit 120 to move, and when the impact drill bit 120 moves to the first preset distance from a preset drilling position, the first moving mechanism 110 stops moving.
  • the first feeding mechanism drives the impact drill bit to move to a position aligned with the preset drilling position.
  • the impact drill bit performs drilling processing on the preset drilling position.
  • the impact drill bit 120 is further driven to move on the horizontal plane by the movement of the first feeding mechanism 130 until the impact drill bit 120 and the preset drilling position are aligned with each other in the vertical direction, that is, the central axis of the impact drill bit 120 and the central axis of the preset drilling position coincide with each other, and then the impact drill bit 120 is used to perform drilling processing on the preset drilling position.
  • the impact drill bit 120 Since the motion accuracy of the first moving mechanism 110 is relatively low, the impact drill bit 120 is driven to a first preset distance from the preset drilling position by the first moving mechanism 110 and then stops, and then the impact drill bit 120 is further driven to align with the preset drilling position in the vertical direction by the first feeding mechanism 130 with extremely high motion accuracy, which can greatly improve the motion accuracy of the impact drill bit 120, so that the impact drill bit 120 can accurately drill the preset drilling position and avoid drilling deviation.
  • the current working state of the impact drill bit during the drilling process is detected, and when it is detected that the current working state of the impact drill bit is inconsistent with the preset working state, the coordinate position of the current drilling part is sent to the water drill punch. In this way, the current working state of the impact drill bit 120 during the drilling process is detected in real time by the state detection element.
  • the impact drill bit 120 If it is detected that the current working state of the impact drill bit 120 is consistent with the preset working state, it means that the impact drill bit 120 is in a normal drilling state; if it is detected that the current working state of the impact drill bit 120 is inconsistent with the preset working state, that is, the impact drill bit 120 is in an abnormal drilling state, and the coordinate position of the preset drilling part being drilled is sent to the water drill punch 200 by the coordinate recognition element.
  • the impact drill bit 120 when the impact drill bit 120 is used to drill a concrete floor with embedded steel bars, when the impact drill bit 120 does not encounter the steel bars, the impact drill bit 120 can drill normally and is in a normal drilling state until the impact drill bit 120 drills to a preset depth to obtain an installation hole; when the impact drill bit 120 encounters steel bars, the impact drill bit 120 will be restricted by the steel bars and is in an abnormal drilling state. At this time, the impact drill bit 120 cannot drill to the preset depth to obtain a steel bar hole.
  • the coordinate position may be the coordinate of a point generated by projecting the central axis of the steel bar hole onto the installation area.
  • step S300 it includes S310a, detecting the feed speed of the impact drill bit.
  • the feed speed detection element is used to detect the feed speed of the impact drill bit during the drilling process.
  • S320a when the feed speed of the impact drill bit is less than or equal to the preset feed speed value, it is determined that the current working state of the impact drill bit is inconsistent with the preset working state.
  • the feed speed detected by the feed speed detection element is sharply reduced and is less than or equal to the preset feed speed value, so that it can be determined that the current working state of the impact drill bit 120 is inconsistent with the preset working state, that is, it can be determined that the impact drill bit 120 encounters a steel bar and is in an abnormal drilling state, and then the coordinate recognition element can be used to send the coordinate position of the preset drilling position being drilled to the water drill punching machine 200.
  • step S300 it includes S310b, detecting the axial pressure of the impact drill bit.
  • the axial pressure of the impact drill bit during the drilling process is detected by the pressure detection element.
  • S320b when the axial pressure of the impact drill bit is greater than or equal to the preset pressure value, it is determined that the current working state of the impact drill bit is inconsistent with the preset working state.
  • the axial pressure detected by the pressure detection element increases sharply and is greater than or equal to the preset pressure value under the resistance of the steel bar, so that it can be determined that the current working state of the impact drill bit 120 is inconsistent with the preset working state, that is, it can be determined that the impact drill bit 120 encounters a steel bar and is in an abnormal drilling state, and then the coordinate position of the preset drilling position being drilled can be sent to the water drill punching machine 200 using the coordinate recognition element.
  • step S300 it includes S310c, detecting the drilling depth of the impact drill bit.
  • the drilling depth detection element is used to detect the drilling depth of the impact drill bit during the drilling process.
  • S320c when the drilling depth of the impact drill bit remains constant and is less than the preset depth value, it is determined that the current working state of the impact drill bit is inconsistent with the preset working state.
  • the impact drill bit 120 encounters steel bars during the drilling process, the impact drill bit 120 will not be able to continue to go deeper and stay in place due to the resistance of the steel bars, causing the drilling depth detected by the drilling depth detection element to remain constant and less than the preset depth value, so that it can be determined that the current working state of the impact drill bit 120 is inconsistent with the preset working state, that is, it can be determined that the impact drill bit 120 encounters steel bars and is in an abnormal drilling state, and then the coordinate position of the preset drilling part being drilled can be sent to the water drill using the coordinate recognition element. Hole machine 200.
  • Whether the current working state of the impact drill bit 120 is consistent with the preset working state can be accurately determined by detecting at least one parameter of the rotation speed, axial pressure, and drilling depth of the impact drill bit 120 .
  • the water drill punch moves to the coordinate position and drills.
  • the second moving mechanism 210 of the water drill punch 200 automatically drives the water drill head 220 to move to the coordinate position according to the coordinate position sent by the coordinate recognition element to further grind and drill the steel bar hole at the coordinate position to penetrate the steel bar, and finally complete the entire drilling to obtain the installation hole, that is, after the water drill head 220 drills through the steel bar, it can continue to drill downward until the installation hole of normal depth is obtained, which can effectively improve the drilling efficiency.
  • step S400 it includes: S410, the second moving mechanism of the water drill punch drives the water drill head to move to the second preset distance from the coordinate position.
  • the second moving mechanism 210 moves and synchronously drives the second feeding mechanism 230 and the water drill head 220 to move, and when the water drill head 220 moves to the second preset distance from the coordinate position, the second moving mechanism 210 stops moving.
  • the second feeding mechanism of the water drill punch drives the water drill head to move to a position aligned with the coordinate position.
  • the water drill head drills a hole at the coordinate position to obtain a mounting hole.
  • the movement of the second feeding mechanism 230 is further utilized to drive the water drill head 220 to move on the horizontal plane until the water drill head 220 and the coordinate position are aligned with each other in the vertical direction, that is, the central axis of the water drill head 220 passes through the coordinate position, and then the water drill head 220 is used to further drill the coordinate position, that is, the water drill head 220 is used to further drill the steel bar hole, so that the water drill head 220 can continue to drill downwards after penetrating the steel bar until a mounting hole of normal depth is obtained.
  • the water drill head 220 is driven by the second moving mechanism 210 to stop at the second preset distance from the coordinate position, and then the water drill head 220 is further driven by the second feeding mechanism 230 with extremely high movement accuracy to align with the coordinate position in the vertical direction, which can greatly improve the movement accuracy of the water drill head 220, so that the water drill head 220 can accurately drill the steel bar hole further and avoid drilling deviation.
  • step S420 it also includes: S421, supplying water to the water drill head.
  • the water supply mechanism 240 is used to supply water to the water drill head 220 so that the water drill head 220 can smoothly grind the steel bar and penetrate the steel bar.
  • S422 the water supply flow of the water drill head is detected, and if the water supply flow is less than or equal to the preset flow value, a warning message is issued. In this way, the water supply flow of the water supply mechanism 240 is detected by the flow detection element.
  • the flow detection element When the flow detection element detects that the water supply flow is greater than the preset flow value, it indicates that the water supply mechanism 240 is in a normal water supply state; when the flow detection element detects that the water supply flow is less than or equal to the preset flow value, it indicates that the water supply mechanism 240 is blocked or lacks water and is in an abnormal water supply state, so that the flow detection element sends a trigger signal to the warning element, so that the warning element sends a warning signal to the outside to remind the operator to perform maintenance or risk investigation in time to avoid damage caused by insufficient water supply to the water drill head 220.
  • the drilling method of the above embodiment has at least the following advantages: 1.
  • the entire drilling process can be completed without manual operation, and the drilling can be performed quickly with high drilling efficiency.
  • the impact drill bit can be accurately moved to the preset drilling position for drilling, and the water drill bit can be accurately moved to the coordinate position for drilling without drilling deviation; 3. It ensures that the water drill bit can drill continuously and reliably to avoid poor drilling or damage caused by blockage.
  • a drilling device including a coordinate recognition element (not shown), an impact drill 100 , a state detection element (not shown) and a water drill 200 .
  • the coordinate recognition element may be a visual recognition system, a radar recognition system or other element capable of acquiring coordinate information of the installation area.
  • the coordinate recognition element can be used to acquire coordinate information of the installation area, which facilitates the positioning and guidance of subsequent drilling, making drilling more accurate and efficient.
  • the impact drill 100 includes a first moving mechanism 110 and an impact drill bit 120 rotatably disposed on the first moving mechanism 110.
  • the first moving mechanism 110 is electrically connected to the coordinate recognition element, and the impact drill bit 120 is used to drill holes in the installation area according to the coordinate information.
  • the coordinate recognition element acquires the coordinates of the preset drilling locations that need to be drilled at various locations in the installation area, that is, the coordinate recognition element recognizes the coordinate position of each preset drilling location in the coordinate system; the coordinate recognition element guides the first moving mechanism 110 of the impact drill 100 to move and stop along the preset drilling trajectory during the drilling process, so as to utilize
  • the impact drill bit 120 rotatably arranged on the first moving mechanism 110 can drill holes in each preset drilling position in turn to avoid missing holes. It can also optimize and shorten the moving path of the first moving mechanism 110 and improve the drilling efficiency of the impact drill 100.
  • the first moving mechanism 110 may be a wheeled moving frame or a crawler moving frame, etc., which can drive the impact drill bit 120 to move.
  • the impact drill bit 120 is rotatably connected to the first moving mechanism 110 by means of a bearing connection or the like, and can reciprocate in a vertical direction relative to the first moving mechanism 110, so that the impact drill bit 120 can move downward relative to the first moving mechanism 110 and rotate to impact drill holes in the concrete floor.
  • the impact drill bit 120 may be a hollow drill bit or other element capable of drilling holes in a concrete floor.
  • the entire impact drill punch 100 can be in the form of an AGV (Automated Guided Vehicle) cart with an impact drill bit 120.
  • AGV Automated Guided Vehicle
  • the impact drill 100 also includes a first navigation element (not shown).
  • the coordinate identification element and the first moving mechanism 110 are both electrically connected to the first navigation element.
  • the first navigation element is used to navigate the movement of the first moving mechanism 110, so that the first moving mechanism 110 can accurately move and stop along the preset drilling trajectory obtained by the coordinate identification element, ensuring that the first moving mechanism 110 can accurately drive the impact drill bit 120 to move to the preset drilling position for drilling.
  • the first navigation element may be a laser tracker, a laser radar, a GPS (Global Positioning System), a visual system, or other element capable of navigating the movement of the first mobile mechanism 110.
  • the first navigation element may be arranged on the first mobile mechanism 110 by screwing or snapping.
  • the impact drill 100 further includes a first feeding mechanism 130.
  • the first feeding mechanism 130 is arranged on the first moving mechanism 110, so that under the navigation of the first navigation element, the first moving mechanism 110 can drive the first feeding mechanism 130 and the impact drill bit 120 to move synchronously and accurately; the first feeding mechanism 130 is electrically connected to the coordinate recognition element, and the first feeding mechanism 130 is transmission-connected to the impact drill bit 120 to drive the impact drill bit 120 to move in the horizontal plane and the vertical direction. In this way, the first moving mechanism 110 moves along the preset drilling trajectory and synchronously drives the first feeding mechanism 130 and the impact drill bit 120 to move.
  • the first moving mechanism 110 stops moving, and the movement of the first feeding mechanism 130 is further used to drive the impact drill bit 120 to move on the horizontal plane until the impact drill bit 120 and the preset drilling position are aligned with each other in the vertical direction, that is, the central axis of the impact drill bit 120 coincides with the central axis of the preset drilling position, and then the impact drill bit 120 is used to drill the preset drilling position.
  • the first moving mechanism 110 Since the movement accuracy of the first moving mechanism 110 is relatively low, the first moving mechanism 110 is used to drive the impact drill bit 120 to a first preset distance from a preset drilling position and then stop, and then the first feeding mechanism 130 with extremely high movement accuracy drives the impact drill bit 120 to further move it to be aligned with the preset drilling position in the vertical direction, which can greatly improve the movement accuracy of the impact drill bit 120, so that the impact drill bit 120 can accurately drill the preset drilling position and avoid drilling deviation.
  • the first feeding mechanism 130 may be a three-way feeding shaft or other structure capable of driving the impact drill bit 120 to move accurately in the horizontal and vertical directions.
  • the first preset distance may be flexibly designed or adjusted according to actual use requirements.
  • the impact drill punch 100 may also include a driving mechanism for driving the impact drill bit 120 to rotate, a dust collection mechanism for collecting dust during the drilling process, an upper cabinet, a limiting mechanism for limiting and guiding the impact drill bit 120, a protective cover, a distribution box and other components. Since they may belong to the existing technology, they will not be described here.
  • the state detection element can be set on the impact drill punch 100, and the state detection element is electrically connected to the coordinate identification element.
  • the state detection element is used to detect the current working state of the impact drill bit 120 during the drilling process to determine whether the current working state of the impact drill bit 120 is consistent with the preset working state.
  • the state detection element detects the current working state of the impact drill bit 120 by detecting parameters such as the rotation speed, axial pressure, and drilling depth of the impact drill bit 120 to determine whether the current working state of the impact drill bit 120 matches the preset working state.
  • the state detection element is set as a feed speed detection element (not shown), and the feed speed detection element is used to detect the feed speed of the impact drill bit 120. In this way, the impact drill bit 120 detects the feed speed of a preset drilling portion. During the drilling process, when the feed speed detection element detects that the feed speed of the impact drill bit 120 is less than or equal to the preset feed speed value, it is determined that the current working state of the impact drill bit 120 is inconsistent with the preset working state.
  • the feed speed detection element can be an element such as a rotation speed sensor, a displacement sensor, etc. that can detect the feed speed of the impact drill bit 120.
  • the feed speed detection element can be set on the side of the impact drill bit 120 to detect the feed speed of the impact drill bit 120 during the drilling process.
  • the feed speed of the impact drill bit 120 is sharply reduced and is less than or equal to the preset feed speed value due to the resistance of the steel bars.
  • the preset feed speed value can be flexibly designed or adjusted according to the actual drilling situation.
  • the state detection element is configured as a pressure detection element (not shown).
  • the pressure detection element is connected to the impact drill bit 120 to detect the axial pressure of the impact drill bit 120.
  • the impact drill bit 120 drills a preset drilling position.
  • the pressure detection element detects that the axial pressure of the impact drill bit 120 is greater than or equal to the preset pressure value, it is determined that the current working state of the impact drill bit 120 is inconsistent with the preset working state.
  • the pressure detection element can be an element such as a pressure sensor that can detect the axial pressure of the impact drill bit 120.
  • the pressure detection element can be set at the top of the impact drill bit 120 to detect the axial pressure of the impact drill bit 120 during the drilling process.
  • the axial pressure of the impact drill bit 120 can be obtained by detecting the elastic force of the spring at the top of the impact drill bit 120.
  • the preset pressure value can be flexibly designed or adjusted according to the actual drilling situation.
  • the state detection element is configured as a drilling depth detection element (not shown), and the drilling depth detection element is utilized to detect the drilling depth of the impact drill bit 120.
  • the impact drill bit 120 drills a preset drilling location.
  • the drilling depth detection element detects that the drilling depth of the impact drill bit 120 remains constant and is less than a preset depth value, it is determined that the current working state of the impact drill bit 120 is inconsistent with the preset working state.
  • the drilling depth detection element can be an element such as a distance sensor that can detect the drilling depth of the impact drill bit 120.
  • the drilling depth detection element can be set at the top of the impact drill bit 120, and the drilling depth during the drilling process can be detected by detecting the height difference between the impact drill bit 120 and the concrete floor. For example, the drilling depth is obtained by detecting the downward displacement of the drill bit of the impact drill bit 120 from the concrete floor through the drilling depth detection element.
  • the preset depth value can be the depth value of the installation hole, that is, it can meet the normal depth value required for the installation of large-scale automation equipment.
  • the preset depth value can be flexibly designed or adjusted according to actual installation requirements.
  • the water drill punch 200 is electrically connected to the coordinate identification element.
  • the coordinate identification element sends the coordinate position of the current drilling position to the water drill punch 200, so that the water drill punch 200 can move to the coordinate position to drill a hole to obtain an installation hole. That is, after the water drill punch 200 obtains the coordinate position of the steel bar hole, it can move to the location of the steel bar hole to further grind and drill the steel bar hole to penetrate the steel bar, and finally complete the entire drilling to obtain the installation hole.
  • the water drill punch 200 includes a second moving mechanism 210 and a water drill head 220 rotatably disposed on the second moving mechanism 210.
  • the coordinate identification element is electrically connected to the second moving mechanism 210, and the water drill head 220 is used to drill holes at the coordinate position to obtain installation holes.
  • the second moving mechanism 210 of the water drill punch 200 automatically drives the water drill head 220 to move to the coordinate position according to the coordinate position sent by the coordinate identification element to further grind and drill the steel bar hole at the coordinate position to penetrate the steel bar, and finally complete the entire drilling to obtain the installation hole, that is, after the water drill head 220 drills through the steel bar, it can continue to drill downward until a normal depth of the installation hole is obtained, which can effectively improve the drilling efficiency.
  • the second mobile mechanism 210 may be a wheeled mobile frame or a crawler mobile frame, etc., which can drive the water drill head 220 to move.
  • the water drill head 220 is rotatably connected to the second mobile mechanism 210 by means of a bearing connection or the like and can reciprocate in a vertical direction relative to the second mobile mechanism 210, so that the water drill head 220 can move downward relative to the second mobile mechanism 210 and rotate to grind and drill the steel bar.
  • the water drill head 220 can be an existing component capable of grinding and drilling steel bars.
  • the water drill head 220 can also be Hollow structure.
  • the entire water drill drilling machine 200 can be in the form of an AGV (Automated Guided Vehicle) cart with a water drill head 220.
  • AGV Automated Guided Vehicle
  • the water drill 200 also includes a second navigation element (not shown).
  • the coordinate recognition element and the second mobile mechanism 210 are both electrically connected to the second navigation element.
  • the second navigation element is used to navigate the movement of the second mobile mechanism 210, so that the second mobile mechanism 210 can move and stop accurately, ensuring that the second mobile mechanism 210 can drive the water drill head 220 to accurately move to the coordinate position for drilling.
  • the second navigation element may be a laser tracker, a laser radar, a GPS (Global Positioning System), a visual system, or other element capable of navigating the movement of the second mobile mechanism 210.
  • the second navigation element may be provided on the second mobile mechanism 210 by screwing or snapping.
  • the water drill 200 further includes a second feeding mechanism 230.
  • the second feeding mechanism 230 is arranged on the second moving mechanism 210, and the second navigation element and the coordinate identification element are both electrically connected to the second feeding mechanism 230, so that under the navigation of the second navigation element, the second moving mechanism 210 can drive the second feeding mechanism 230 and the water drill head 220 to move synchronously and accurately.
  • the second feeding mechanism 230 is connected to the water drill head 220 in a transmission manner to drive the water drill head 220 to move in the horizontal plane and in the vertical direction.
  • the water drill head 220 is driven to move on the horizontal plane by the movement of the second feeding mechanism 230 until the water drill head 220 and the coordinate position are aligned with each other in the vertical direction, that is, the central axis of the water drill head 220 passes through the coordinate position, and then the water drill head 220 is used to further drill the coordinate position, that is, the water drill head 220 is used to further drill the steel bar hole, so that the water drill head 220 can continue to drill downwards after penetrating the steel bar until a mounting hole of normal depth is obtained.
  • the water drill head 220 Since the movement accuracy of the second moving mechanism 210 is low, the water drill head 220 is driven to the second preset distance from the coordinate position by the second moving mechanism 210 and then stopped, and then the water drill head 220 is further driven to align with the coordinate position in the vertical direction by the second feeding mechanism 230 with extremely high movement accuracy, which can greatly improve the movement accuracy of the water drill head 220, so that the water drill head 220 can accurately drill the steel bar hole further and avoid drilling deviation.
  • the second feeding mechanism 230 may be a three-way feeding shaft or other structure capable of driving the water drill head 220 to move accurately in the horizontal and vertical directions.
  • the second preset distance may be flexibly designed or adjusted according to actual use requirements.
  • the water drill drilling machine 200 may also include a driving mechanism for driving the water drill head 220 to rotate, a water collector for collecting water during the drilling process, a limiting mechanism for limiting and guiding the water drill head 220, a protective cover, a distribution box and other components. Since they may belong to the existing technology, they will not be repeated here.
  • the water drill 200 further includes a water supply mechanism 240, a flow detection element (not shown) and a warning element (not shown).
  • the water supply mechanism 240 is used to supply water to the water drill head 220, so that the water drill head 220 can smoothly grind and punch through the steel bar by using the water supply mechanism 240;
  • the flow detection element is used to detect the water supply flow of the water supply mechanism 240, and the flow detection element is electrically connected to the warning element. In this way, the water supply flow of the water supply mechanism 240 is detected by using a flow detection element.
  • the flow detection element detects that the water supply flow is greater than a preset flow value, it indicates that the water supply mechanism 240 is in a normal water supply state; when the flow detection element detects that the water supply flow is less than or equal to a preset water pressure value, it indicates that the water supply mechanism 240 is blocked or lacks water and is in an abnormal water supply state, so that the flow detection element sends a trigger signal to the warning element, causing the warning element to send a warning signal to the outside to remind the operator to perform maintenance or risk investigation in time to avoid damage caused by insufficient water supply to the water drill head 220.
  • the water supply mechanism 240 includes a water supply pipe, one end of which is connected to the water drill head 220, and the other end of which is connected to a water source such as a water tank.
  • the water pressure detection element can be a water pressure sensor or other element capable of detecting water pressure.
  • the water pressure detection element is arranged in the water supply pipe by plugging or snapping to detect the water supply flow rate.
  • a filter or other filtering component can also be arranged in the water supply pipe.
  • the warning element may be a buzzer or other element that can emit sound warning information, or a warning light or other element that can emit optical warning information.
  • the warning element may be fixed on the water drill 200 by plugging or screwing.
  • At least two water drill punches 200 are electrically connected to the coordinate recognition element, and when the state If the state detection component detects that the current working state of the impact drill bit 120 is inconsistent with the preset working state, the coordinate recognition component sends the coordinate position of the current drilling position to any water drill punch 200, so that the corresponding water drill punch 200 moves to the coordinate position and drills to obtain the installation hole. In this way, when one of the water drill punches 200 is drilling a steel bar hole and another steel bar hole appears, another water drill punch 200 can be moved to the later steel bar hole to drill, thereby improving the drilling efficiency.
  • the electrical connection can be achieved by wired connection such as data cable, or by wireless connection such as Bluetooth transmission, as long as the signal interaction can be achieved.
  • the drilling device of the above-mentioned embodiment obtains the coordinate information of the installation area through the coordinate identification element, so that the first moving mechanism 110 drives the impact drill bit 120 to drill the installation area according to the coordinate information.
  • the state detection element is used to detect the current working state of the impact drill bit 120 during the drilling process.
  • the state detection element detects that the current working state of the impact drill bit 120 is inconsistent with the preset working state, it means that the impact drill bit 120 encounters steel bars during drilling and cannot complete the drilling process normally, so that the coordinate identification element sends the coordinate position of the current drilling part to the water drill punch 200, and then the water drill punch 200 moves to the coordinate position and drills to obtain the installation hole, so that the entire drilling process does not require human participation and the drilling efficiency is high.
  • first and second are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as “first” and “second” may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality” is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.
  • the terms “installed”, “connected”, “connected”, “fixed” and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined.
  • installed can be a fixed connection, a detachable connection, or an integral connection
  • it can be a mechanical connection or an electrical connection
  • it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined.
  • the specific meanings of the above terms in this application can be understood according to specific circumstances.
  • a first feature being “above” or “below” a second feature may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium.
  • a first feature being “above”, “above” or “above” a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature.
  • a first feature being “below”, “below” or “below” a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.
  • an element can be directly on another element or there can be a centered element.
  • an element can be directly connected to another element or there may be a centered element at the same time.
  • the two can be fixed in a detachable connection mode or fixed in a non-detachable connection mode, as long as power transmission can be achieved, such as socketing, snap-on, integral molding fixation, welding, etc., which can be achieved in the prior art and will not be repeated here.
  • connection relationship or positional relationship of elements although not explicitly described, the connection relationship and positional relationship are interpreted as including an error range, which should be within the acceptable deviation range of a specific value determined by those skilled in the art. For example, “approximately”, “approximately” or “substantially” may mean within one or more standard deviations, which are not limited here.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Mining & Mineral Resources (AREA)
  • Earth Drilling (AREA)
  • Processing Of Stones Or Stones Resemblance Materials (AREA)

Abstract

本申请涉及一种钻孔方法及钻孔设备。钻孔设备通过坐标识别元件对安装区域的坐标信息进行获取后，使得第一移动机构带动冲击钻钻头根据坐标信息对安装区域进行钻孔处理，同时，在冲击钻钻头进行钻孔时利用状态检测元件对钻孔过程中的冲击钻钻头的当前工作状态进行检测，当状态检测元件检测到冲击钻钻头的当前工作状态与预设工作状态不一致时，则表示冲击钻钻头钻孔时遇到钢筋而无法正常完成钻孔处理，从而使得坐标识别元件向水钻打孔机发送当前钻孔部位的坐标位置，进而使得水钻打孔机移动至坐标位置并进行钻孔以得到安装孔，使得整个钻孔过程不需人工进行参与，钻孔效率高。

Description

钻孔方法及钻孔设备 技术领域
本申请涉及设备安装技术领域，特别是涉及一种钻孔方法及钻孔设备。
发明背景
大型自动化设备通常采用地脚螺栓固定在混凝土地面上，因此，需要利用冲击钻打孔机在混凝土地面上钻出较多的安装孔以便于大型自动化设备进行安装固定。由于混凝土地面通常采取预埋钢筋的方式进行制得，冲击钻打孔机在钻孔过程中存在遇到钢筋的情况，即会出现钢筋孔(钢筋孔是指冲击钻打孔机在钻孔过程中遇到预埋钢筋而未打孔至正常深度时所呈现的孔洞，其中，钢筋孔的深度小于安装孔的深度)，导致冲击钻打孔机无法单独完成打孔任务。传统的方式为人工操作水钻打孔机移动至钢筋孔处进行进一步钻孔，由于大型自动化设备进行安装所需要的孔位较多，可达上千个，在进行钢筋孔的进一步钻孔时不仅需要人工再次进行孔位的对准，而且需要耗费较多时间寻找钢筋孔的位置，整体的钻孔效率较低。
发明内容
基于此，有必要针对钻孔效率较低的问题，提供一种钻孔方法及钻孔设备。
其技术方案如下：
一方面，提供了一种钻孔方法，包括以下步骤：
获取安装区域的坐标信息；
根据所述坐标信息对所述安装区域进行钻孔处理；
对钻孔过程中的冲击钻钻头的当前工作状态进行检测，当检测到所述冲击钻钻头的当前工作状态与预设工作状态不一致，则向水钻打孔机发送当前钻孔部位的坐标位置；
所述水钻打孔机移动至所述坐标位置并进行钻孔。
下面进一步对技术方案进行说明：
在其中一个实施例中，根据所述坐标信息对所述安装区域进行钻孔处理的步骤中，包括：
根据所述坐标信息获取各个预设钻孔部位的坐标；
根据各个所述预设钻孔部位的坐标生成预设钻孔轨迹，使冲击钻打孔机沿所述预设钻孔轨迹移动并依次对各个所述预设钻孔部位进行钻孔处理。
在其中一个实施例中，冲击钻打孔机沿所述预设钻孔轨迹移动并依次对各个所述预设钻孔部位进行钻孔处理的步骤中，包括：
第一移动机构带动冲击钻钻头移动至距离所述预设钻孔部位第一预设距离处；
第一进给机构带动所述冲击钻钻头移动至与所述预设钻孔部位对准的位置；
所述冲击钻钻头对所述预设钻孔部位进行钻孔处理。
在其中一个实施例中，对钻孔过程中的冲击钻钻头的当前工作状态进行检测，当检测到所述冲击钻钻头的当前工作状态与预设工作状态不一致的步骤中，包括：
对所述冲击钻钻头的转速进行检测；
当所述冲击钻钻头的转速小于或等于预设转速值时，则判定所述冲击钻钻头的当前工作状态与预设工作状态不一致。
在其中一个实施例中，对钻孔过程中的冲击钻钻头的当前工作状态进行检测，当检测到所述冲击钻钻头的当前工作状态与预设工作状态不一致的步骤中，包括：
对所述冲击钻钻头的轴向压力进行检测；
当所述冲击钻钻头的轴向压力大于或等于预设压力值时，则判定所述冲击钻钻头的当前工作状态与预设工作状态不一致。
在其中一个实施例中，对钻孔过程中的冲击钻钻头的当前工作状态进行检测，当检测到所述冲击钻钻头的当前工作状态与预设工作状态不一致的步骤中，包括：
对所述冲击钻钻头的钻孔深度进行检测；
当所述冲击钻钻头的钻孔深度保持恒定且小于预设深度值时，则判定所述冲击钻钻头的当前工作状态与预设工作状态不一致。
在其中一个实施例中，所述水钻打孔机移动至所述坐标位置并进行钻孔的步骤中，包括：
所述水钻打孔机的第二移动机构带动水钻头移动至距离所述坐标位置第二预设距离处；
所述水钻打孔机的第二进给机构带动所述水钻头移动至与所述坐标位置对准的位置；
所述水钻头对所述坐标位置进行钻孔以得到安装孔。
在其中一个实施例中，所述水钻打孔机移动至所述坐标位置并进行钻孔的步骤中，还包括：
对所述水钻头进行供水；
对所述水钻头的供水流量进行检测，若所述供水流量小于或等于预设流量值，则发出警示信息。
另一方面，提供了一种钻孔装置，包括：
坐标识别元件，所述坐标识别元件用于获取安装区域的坐标信息；
冲击钻打孔机，所述冲击钻打孔机包括第一移动机构及可转动设置于所述第一移动机构的冲击钻钻头，所述第一移动机构与所述坐标识别元件电性连接，所述冲击钻钻头用于根据所述坐标信息对所述安装区域进行钻孔处理；
状态检测元件，所述状态检测元件与所述坐标识别元件电性连接，所述状态检测元件用于对钻孔过程中的所述冲击钻钻头的当前工作状态进行检测；
水钻打孔机，所述水钻打孔机与所述坐标识别元件电性连接；
其中，当所述状态检测元件检测到所述冲击钻钻头的当前工作状态与预设工作状态不一致，所述坐标识别元件向所述水钻打孔机发送当前钻孔部位的坐标位置，使所述水钻打孔机移动至所述坐标位置并进行钻孔。
在其中一个实施例中，所述冲击钻打孔机还包括第一导航元件，所述坐标识别元件及所述第一移动机构均与所述第一导航元件电性连接。
在其中一个实施例中，所述冲击钻打孔机还包括第一进给机构，所述第一进给机构设置于所述第一移动机构，所述第一进给机构与所述坐标识别元件电性连接，且所述第一进给机构与所述冲击钻钻头传动连接，以带动所述冲击钻钻头在水平面及竖直方向上移动。
在其中一个实施例中，所述状态检测元件设置为进给速度检测元件，所述进给速度检测元件用于对所述冲击钻钻头的进给速度进行检测，且当所述进给速度检测元件检测到所述冲击钻钻头的进给速度小于或等于预设进给速度值时，则判定所述冲击钻钻头的当前工作状态与预设工作状态不一致。
在其中一个实施例中，所述状态检测元件设置为压力检测元件，所述压力检测元件与所述冲击钻钻头连接以对所述冲击钻钻头的轴向压力进行检测，且当所述压力检测元件检测到所述冲击钻钻头的轴向压力大于或等于预设压力值时，则判定所述冲击钻钻头的当前工作状态与预设工作状态不一致。
在其中一个实施例中，所述状态检测元件设置为钻孔深度检测元件，所述钻孔深度检测元件用于对所述冲击钻钻头的钻孔深度进行检测，且当所述钻孔深度检测元件检测到所述冲击钻钻头的钻孔深度保持恒定且小于预设深度值时，则判定所述冲击钻钻头的当前工作状态与预设工作状态不一致。
在其中一个实施例中，所述水钻打孔机包括第二移动机构及可转动设置于所述第二移动机构的水钻头，所述坐标识别元件与所述第二移动机构电性连接，所述水钻头用于对所述坐标位置处进行钻孔以得到安装孔。
在其中一个实施例中，所述水钻打孔机还包括第二导航元件，所述坐标识别元件及所述第二移动机构均与所述第二导航元件电性连接。
在其中一个实施例中，所述水钻打孔机还包括第二进给机构，所述第二进给机构设置于所述第二移动机构，所述第二导航元件及所述坐标识别元件均与所述第二进给机构电性连接，且所述第二进给机构与所述水钻头传动连接，以带动所述水钻头在水平面及竖直方向上移动。
在其中一个实施例中，所述水钻打孔机至少为两个，至少两个所述水钻打孔机均与所述坐标识别元件电性连接，并且，当所述状态检测元件检测到所述冲击钻钻头的当前工作状态与预设工作状态不一致，则所述坐标识别元件向任意一个所述水钻打孔机发送当前钻孔部位的坐标位置，使对应的所述水钻打孔机移动至所述坐标位置并进行钻孔以得到安装孔。
在其中一个实施例中，所述坐标识别元件通过在所述安装区域选取一个合适的参考点后对所述安装区域进行所述坐标信息的识别，从而能够建立相应的坐标系。
在其中一个实施例中，所述钻孔装置，还包括：
供水机构，用于对所述水钻头进行供水；
流量检测元件，用于对所述供水机构的供水流量进行检测；
警示元件，用于在所述供水流量小于或等于预设流量值时，发出警示信息；
其中，所述流量检测元件与所述警示元件电性连接。
上述实施例的钻孔方法及钻孔设备，通过坐标识别元件对安装区域的坐标信息进行获取后，使得第一移动机构带动冲击钻钻头根据坐标信息对安装区域进行钻孔处理，同时，在冲击钻钻头进行钻孔时利用状态检测元件对钻孔过程中的冲击钻钻头的当前工作状态进行检测，当状态检测元件检测到冲击钻钻头的当前工作状态与预设工作状态不一致时，向水钻打孔机发送当前钻孔部位的坐标位置，进而使得水钻打孔机移动至坐标位置并进行钻孔以得到安装孔。整个钻孔过程不需人工进行参与，钻孔效率高。
附图简要说明
构成本申请的一部分的附图用来提供对本申请的进一步理解，本申请的示意性实施例及其说明用于解释本申请，并不构成对本申请的不当限定。
为了更清楚地说明本申请实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为一个实施例的钻孔方法的流程示意图；
图2为另一个实施例的钻孔方法的流程示意图；
图3为再一个实施例的钻孔方法的流程示意图；
图4为又一个实施例的钻孔方法的流程示意图；
图5为又一个实施例的钻孔方法的流程示意图；
图6为又一个实施例的钻孔方法的流程示意图；
图7为又一个实施例的钻孔方法的流程示意图；
图8为一个实施例的钻孔装置的冲击钻打孔机的结构示意图；
图9为图8的钻孔装置的水钻打孔机一视角下的结构示意图；
图10为图8的钻孔装置的水钻打孔机另一视角下的结构示意图。
附图标记说明：
100、冲击钻打孔机；110、第一移动机构；120、冲击钻钻头；130、第一进给机构；200、水钻打孔机；210、第二移动机构；220、水钻头；230、第二进给机构；240、供水机构。
实施本发明的方式
为使本申请的上述目的、特征和优点能够更加明显易懂，下面结合附图对本申请的具体实施方式做详细的说明。在下面的描述中阐述了很多具体细节以便于充分理解本申请。但是本申请能够以很多不同于在此描述的其它方式来实施，本领域技术人员可以在不违背本申请内涵的情况下做类似改进，因此本申请不受下面公开的具体实施例的限制。
在一个实施例中，提供了一种钻孔方法，能够对预埋有钢筋的混凝土地面进行钻孔以便于对大型自动化设备进行安装。
如图1和图8所示，其中，钻孔方法至少包括以下步骤：
S100、获取安装区域的坐标信息。进行大型自动化设备的安装时，首先需要确定大型自动化设备的安装区域，从而利用坐标识别元件对该安装区域的坐标信息进行获取，便于对后续的钻孔进行定位与导向，使得钻孔更加准确和高效。
在一个实施例中，坐标识别元件采用卡接、插接或螺接等方式设置在混凝土地面的上方区域，通过在安装区域选取一个合适的参考点后对该安装区域进行坐标信息的识别，从而能够建立相应的坐标系。
当然，在实际打孔过程中，还可以直接通过相应的厂房图纸获得安装区域的坐标信息。
大型自动化设备的安装区域可以是指大型自动化设备在安装过程中的各个安装孔所覆盖的区域，也可以是指大型自动化设备在混凝土地面上的投影区域。
S200、根据坐标信息对安装区域进行钻孔处理。如此，冲击钻打孔机100的第一移动机构110根据坐标信息移动，从而带动着冲击钻钻头120移动，进而利用冲击钻钻头120在安装区域进行钻孔处理以得到用于安装大型自动化设备的安装孔。
如图2和图8所示，在一个实施例中，在步骤S200中，包括：S210、根据坐标信息获取各个预设钻孔部位的坐标。如此，坐标识别元件对安装区域内各处需要进行钻孔的预设钻孔部位的坐标进行获取，即坐标识别元件对各个预设钻孔部位在坐标系内的坐标位置进行识别。S220、根据各个预设钻孔部位的坐标生成预设钻孔轨迹，使冲击钻打孔机沿预设钻孔轨迹移动并依次对各个预设钻孔部位进行钻孔处理。如此，通过坐标识别元件引导冲击钻打孔机100的第一移动机构110在钻孔过程中沿预设钻孔轨迹移动和停止，以利用可转动设置于第一移动机构110上的冲击钻钻头120依次对各个预设钻孔部位进行钻孔，避免出现漏打孔，也能优化和缩短第一移动机构110的移动路径，提高冲击钻打孔机100的钻孔效率。
当然，在实际打孔过程中，还可以直接通过相应的厂房图纸获得安装区域的坐标信息以获得各个预设钻孔部位的坐标。
可选地，在实际钻孔过程中，可以以安装区域的长度方向为横轴，以安装区域的宽度方向为纵轴进行坐标系的建立，各个预设钻孔部位的坐标则为该坐标系内某个点的位置。
如图3和图8所示，在一个实施例中，在步骤S220中，包括：S221、第一移动机构带动冲击钻钻头移动至距离预设钻孔部位第一预设距离处。如此，在第一导航元件的导航作用下，第一移动机构110沿预设钻孔轨迹移动而同步带动第一进给机构130和冲击钻钻头120移动，当冲击钻钻头120移动至与某一预设钻孔部位第一预设距离时，第一移动机构110停止移动。 S222、第一进给机构带动冲击钻钻头移动至与预设钻孔部位对准的位置。S223、冲击钻钻头对预设钻孔部位进行钻孔处理。如此，进一步利用第一进给机构130的移动而带动冲击钻钻头120在水平面上移动，直至冲击钻钻头120与预设钻孔部位在竖直方向上相互对准，即冲击钻钻头120的中心轴线与预设钻孔部位的中心轴线相互重合，再利用冲击钻钻头120对该预设钻孔部位进行钻孔处理。由于第一移动机构110的运动精度较低，因此，利用第一移动机构110将冲击钻钻头120带动至距离预设钻孔部位第一预设距离处即停止，再通过运动精度极高的第一进给机构130带动冲击钻钻头120进一步移动至与预设钻孔部位在竖直方向上相互对准，能够极大的提升冲击钻钻头120的运动精度，使得冲击钻钻头120能够准确地对预设钻孔部位进行钻孔，避免出现钻孔偏差。
S300、对钻孔过程中的冲击钻钻头的当前工作状态进行检测，当检测到冲击钻钻头的当前工作状态与预设工作状态不一致，则向水钻打孔机发送当前钻孔部位的坐标位置。如此，利用状态检测元件对冲击钻钻头120在钻孔过程中的当前工作状态进行实时地检测，若检测到冲击钻钻头120的当前工作状态与预设工作状态一致，则表示冲击钻钻头120处于正常钻孔状态；若检测到冲击钻钻头120的当前工作状态与预设工作状态不一致，即冲击钻钻头120处于异常钻孔状态，从而利用坐标识别元件将正在进行钻孔的预设钻孔部位的坐标位置发送至水钻打孔机200。
实际钻孔过程中，利用冲击钻钻头120对预埋有钢筋的混凝土地面进行钻孔处理时，当冲击钻钻头120未遇到钢筋时，冲击钻钻头120能够正常进行钻孔而处于正常钻孔状态，直至冲击钻钻头120钻孔至预设深度而得到安装孔；当冲击钻钻头120遇到钢筋时，冲击钻钻头120会被钢筋所抵触限制而处于异常钻孔状态，此时，冲击钻钻头120无法钻孔至预设深度而得到钢筋孔。
可以理解的是，坐标位置可以是钢筋孔的中心轴线在安装区域上投影产生的点的坐标。
在一个实施例中，如图4、图8和图9所示，在步骤S300中，包括S310a、对冲击钻钻头的进给速度进行检测。如此，利用进给速度检测元件对钻孔过程中的冲击钻钻头的进给速度进行检测。S320a、当冲击钻钻头的进给速度小于或等于预设进给速度值时，则判定冲击钻钻头的当前工作状态与预设工作状态不一致。如此，冲击钻钻头120钻孔过程中若遇到钢筋，在钢筋的抵触作用下，导致进给速度检测元件检测到的进给速度急剧减小而小于或等于预设进给速度值，从而可以判定冲击钻钻头120的当前工作状态与预设工作状态不一致，即可以判定冲击钻钻头120遇到钢筋而处于异常钻孔状态，进而可以利用坐标识别元件将正在进行钻孔的预设钻孔部位的坐标位置发送至水钻打孔机200。
在另一个实施例中，如图5、图8和图9所示，在步骤S300中，包括S310b、对冲击钻钻头的轴向压力进行检测。如此，利用压力检测元件对钻孔过程中的冲击钻钻头的轴向压力进行检测。S320b、当冲击钻钻头的轴向压力大于或等于预设压力值时，则判定冲击钻钻头的当前工作状态与预设工作状态不一致。如此，冲击钻钻头120钻孔过程中若遇到钢筋，在钢筋的抵触作用下，导致压力检测元件检测到的轴向压力急剧增大而大于或等于预设压力值，从而可以判定冲击钻钻头120的当前工作状态与预设工作状态不一致，即可以判定冲击钻钻头120遇到钢筋而处于异常钻孔状态，进而可以利用坐标识别元件将正在进行钻孔的预设钻孔部位的坐标位置发送至水钻打孔机200。
在又一个实施例中，如图6、图8和图9所示，在步骤S300中，包括S310c、对冲击钻钻头的钻孔深度进行检测。如此，利用钻孔深度检测元件对钻孔过程中的冲击钻钻头的钻孔深度进行检测。S320c、当冲击钻钻头的钻孔深度保持恒定且小于预设深度值时，则判定冲击钻钻头的当前工作状态与预设工作状态不一致。如此，冲击钻钻头120钻孔过程中若遇到钢筋，在钢筋的抵触作用下，会使得冲击钻钻头120无法继续深入而停留在原处，导致钻孔深度检测元件检测到的钻孔深度保持恒定且小于预设深度值，从而可以判定冲击钻钻头120的当前工作状态与预设工作状态不一致，即可以判定冲击钻钻头120遇到钢筋而处于异常钻孔状态，进而可以利用坐标识别元件将正在进行钻孔的预设钻孔部位的坐标位置发送至水钻打 孔机200。
可以通过对冲击钻钻头120的转速、轴向压力、钻孔深度中的至少一个参数进行检测以准确的判断冲击钻钻头120的当前工作状态是否与预设工作状态一致。
S400、水钻打孔机移动至坐标位置并进行钻孔。如此，水钻打孔机200的第二移动机构210根据坐标识别元件发送来的坐标位置，从而自动带动水钻头220移动至该坐标位置处以对该坐标位置处的钢筋孔进一步进行研磨钻孔而打穿钢筋，并最终完成整个钻孔而得到安装孔，即水钻头220钻穿钢筋后可以继续向下钻孔直至得到正常深度的安装孔，能够有效提升钻孔效率。
如图2和图9所示，在一个实施例中，在步骤S400中，包括：S410、水钻打孔机的第二移动机构带动水钻头移动至距离坐标位置第二预设距离处。如此，根据坐标位置，在第二导航元件的导航作用下，第二移动机构210移动而同步带动第二进给机构230和水钻头220移动，当水钻头220移动至与坐标位置距离第二预设距离时，第二移动机构210停止移动。S420、水钻打孔机的第二进给机构带动水钻头移动至与坐标位置对准的位置。S430、水钻头对坐标位置进行钻孔以得到安装孔。如此，进一步利用第二进给机构230的移动而带动水钻头220在水平面上移动，直至水钻头220与坐标位置在竖直方向上相互对准，即水钻头220的中心轴线穿过坐标位置，再利用水钻头220对该坐标位置进行进一步钻孔处理，即利用水钻头220对钢筋孔进行进一步钻孔处理，从而使得水钻头220打穿钢筋后可以继续向下钻孔直至得到正常深度的安装孔。由于第二移动机构210的运动精度较低，因此，利用第二移动机构210将水钻头220带动至距离坐标位置第二预设距离处即停止，再通过运动精度极高的第二进给机构230带动水钻头220进一步移动至与坐标位置在竖直方向上相互对准，能够极大的提升水钻头220的运动精度，使得水钻头220能够准确地对钢筋孔进一步进行钻孔，避免出现钻孔偏差。
在一个实施例中，如图7和图10所示，在步骤S420中，还包括：S421、对水钻头进行供水。如此，利用供水机构240对水钻头220进行供水以使得水钻头220能够顺畅的对钢筋进行研磨而打穿钢筋。S422、对水钻头的供水流量进行检测，若供水流量小于或等于预设流量值，则发出警示信息。如此，利用流量检测元件对供水机构240的供水流量进行检测，当流量检测元件检测到供水流量大于预设流量值时，则表示供水机构240处于正常供水状态；当流量检测元件检测到供水流量小于或等于预设流量值时，则表示供水机构240堵塞或缺水而处于异常供水状态，从而使得流量检测元件向警示元件发出触发信号，使得警示元件对外发出警示信号以提醒操作人员及时进行维护或风险排查，避免因水钻头220供水不足而造成损坏。
上述实施例的钻孔方法，至少具有以下优点：1、整个钻孔过程不需人工进行操作即可完成，能够快速的进行钻孔，钻孔效率高。2、冲击钻钻头能够准确地移动至预设钻孔部位进行钻孔、水钻头能够准确地移动至坐标位置处进行钻孔，不会出现钻孔偏差；3、保证水钻头能够持续、可靠地进行钻孔，避免因堵塞造成的钻孔不良或损坏。
如图8至图9所示，在一个实施例中，还提供了一种钻孔装置，包括坐标识别元件(未图示)、冲击钻打孔机100、状态检测元件(未图示)及水钻打孔机200。
其中，坐标识别元件可以是视觉识别系统、雷达识别系统或其他能够对安装区域的坐标信息进行获取的元件。利用坐标识别元件能够对安装区域的坐标信息进行获取，便于对后续的钻孔进行定位与导向，使得钻孔更加准确和高效。
其中，冲击钻打孔机100包括第一移动机构110及可转动设置于第一移动机构110的冲击钻钻头120。并且，第一移动机构110与坐标识别元件电性连接，冲击钻钻头120用于根据坐标信息对安装区域进行钻孔处理。
可选地，坐标识别元件对安装区域内各处需要进行钻孔的预设钻孔部位的坐标进行获取，即坐标识别元件对各个预设钻孔部位在坐标系内的坐标位置进行识别；通过坐标识别元件引导冲击钻打孔机100的第一移动机构110在钻孔过程中沿预设钻孔轨迹移动和停止，以利用 可转动设置于第一移动机构110上的冲击钻钻头120依次对各个预设钻孔部位进行钻孔，避免出现漏打孔，也能优化和缩短第一移动机构110的移动路径，提高冲击钻打孔机100的钻孔效率。
其中，第一移动机构110可以是轮式移动车架或履带式移动车架等能够带动冲击钻钻头120进行移动的结构。并且，冲击钻钻头120与第一移动机构110采取轴承连接等方式进行转动连接并能够相对第一移动机构110沿竖直方向往复移动，从而使得冲击钻钻头120能够相对第一移动机构110向下运动并转动以对混凝土地面进行冲击钻孔。
其中，冲击钻钻头120可以是空心钻头等能够对混凝土地面进行钻孔处理的元件。
可选地，整个冲击钻打孔机100可以为带冲击钻钻头120的AGV(Automated Guided Vehicle，自动导引运输车)小车的形式。
进一步地，冲击钻打孔机100还包括第一导航元件(未图示)。其中，坐标识别元件及第一移动机构110均与第一导航元件电性连接。如此，利用第一导航元件对第一移动机构110的移动进行导航，使得第一移动机构110能够准确地沿坐标识别元件获取的预设钻孔轨迹移动和停止，保证第一移动机构110能够准确地带动冲击钻钻头120移动至预设钻孔部位进行钻孔处理。
其中，第一导航元件可以是激光跟踪仪、激光雷达、GPS(Global Positioning System，全球定位系统)、视觉系统等能够为第一移动机构110的移动进行导航的元件。第一导航元件可以采取螺接或卡接等方式设置在第一移动机构110上。
如图8所示，更进一步地，冲击钻打孔机100还包括第一进给机构130。其中，第一进给机构130设置于第一移动机构110，从而在第一导航元件的导航作用下，使得第一移动机构110能够带动第一进给机构130和冲击钻钻头120同步准确地移动；第一进给机构130与坐标识别元件电性连接，并且，第一进给机构130与冲击钻钻头120传动连接，以带动冲击钻钻头120在水平面及竖直方向上移动。如此，第一移动机构110沿预设钻孔轨迹移动而同步带动第一进给机构130和冲击钻钻头120移动，当冲击钻钻头120移动至与某一预设钻孔部位距离第一预设距离时，第一移动机构110停止移动，进一步利用第一进给机构130的移动而带动冲击钻钻头120在水平面上移动，直至冲击钻钻头120与预设钻孔部位在竖直方向上相互对准，即冲击钻钻头120的中心轴线与预设钻孔部位的中心轴线相互重合，再利用冲击钻钻头120对该预设钻孔部位进行钻孔处理。由于第一移动机构110的运动精度较低，因此，利用第一移动机构110将冲击钻钻头120带动至距离预设钻孔部位第一预设距离处即停止，再通过运动精度极高的第一进给机构130带动冲击钻钻头120进一步移动至与预设钻孔部位在竖直方向上相互对准，能够极大的提升冲击钻钻头120的运动精度，使得冲击钻钻头120能够准确地对预设钻孔部位进行钻孔，避免出现钻孔偏差。
其中，第一进给机构130可以是三向进给轴或其他能够带动冲击钻钻头120在水平方向和竖直方向进行准确的运动的结构。第一预设距离可以根据实际使用需要进行灵活的设计或调整。
冲击钻打孔机100还可以包括驱动冲击钻钻头120转动的驱动机构、用于对钻孔过程中进行吸尘的吸尘机构、上位机柜、对冲击钻钻头120进行限位与导向的限位机构、保护罩、配电箱等部件，由于其可以属于现有技术，在此不再赘述。
其中，状态检测元件可以设置在冲击钻打孔机100上，状态检测元件与坐标识别元件电性连接，通过状态检测元件以对钻孔过程中的冲击钻钻头120的当前工作状态进行检测以判断冲击钻钻头120的当前工作状态是否与预设工作状态一致。
其中，状态检测元件对冲击钻钻头120的当前工作状态的检测，可以通过对冲击钻钻头120的转速、轴向压力、钻孔深度等参数进行检测以判断冲击钻钻头120的当前工作状态是否与预设工作状态相匹配。
在一个实施例中，状态检测元件设置为进给速度检测元件(未图示)，利用进给速度检测元件对冲击钻钻头120的进给速度进行检测，如此，冲击钻钻头120对某一个预设钻孔部 位进行钻孔过程中，当进给速度检测元件检测到冲击钻钻头120的进给速度小于或等于预设进给速度值时，则判定冲击钻钻头120的当前工作状态与预设工作状态不一致。
其中，进给速度检测元件可以为转速传感器、位移传感器等能够对冲击钻钻头120的进给速度进行检测的元件。进给速度检测元件可以设置在冲击钻钻头120的侧部以对冲击钻钻头120钻孔过程中的进给速度进行检测。并且，当冲击钻钻头120钻孔过程中遇到钢筋时，在钢筋的抵触作用下，使得冲击钻钻头120的进给速度急剧减小而小于或等于预设进给速度值。而且，预设进给速度值可以根据实际钻孔情况进行灵活的设计或调整。
在另一个实施例中，状态检测元件设置为压力检测元件(未图示)。压力检测元件与冲击钻钻头120连接以对冲击钻钻头120的轴向压力进行检测，如此，冲击钻钻头120对某一个预设钻孔部位进行钻孔，当压力检测元件检测到冲击钻钻头120的轴向压力大于或等于预设压力值时，则判定冲击钻钻头120的当前工作状态与预设工作状态不一致。
其中，压力检测元件可以为压力传感器等能够对冲击钻钻头120的轴向压力进行检测的元件。压力检测元件可以设置在冲击钻钻头120的顶部以对冲击钻钻头120钻孔过程中的轴向压力进行检测，例如，通过检测冲击钻钻头120的顶部的弹簧的弹力以得到冲击钻钻头120的轴向压力。并且，当冲击钻钻头120钻孔过程中遇到钢筋时，在钢筋的抵触作用下，使得冲击钻钻头120受到的轴向压力急剧增大而大于或等于预设压力值。而且，预设压力值可以根据实际钻孔情况进行灵活的设计或调整。
在又一个实施例中，状态检测元件设置为钻孔深度检测元件(未图示)，利用钻孔深度检测元件对冲击钻钻头120的钻孔深度进行检测，如此，冲击钻钻头120对某一个预设钻孔部位进行钻孔，当钻孔深度检测元件检测到冲击钻钻头120的钻孔深度保持恒定且小于预设深度值时，则判定冲击钻钻头120的当前工作状态与预设工作状态不一致。
其中，钻孔深度检测元件可以为距离传感器等能够对冲击钻钻头120的钻孔深度进行检测的元件。钻孔深度检测元件可以设置在冲击钻钻头120的顶部，通过检测与混凝土地面之间的高度差以对钻孔过程中的钻孔深度进行检测，例如，通过钻孔深度检测元件检测冲击钻钻头120的钻头部位从混凝土地面处的向下位移从而得到钻孔深度。并且，当冲击钻钻头120钻孔过程中遇到钢筋时，在钢筋的抵触作用下，冲击钻钻头120无法继续钻孔而导致钻孔深度保持恒定，并且保持恒定的钻孔深度小于预设深度值，其中，预设深度值可以是安装孔的深度值，即能够满足大型自动化设备安装所需的正常深度值。而且，预设深度值可以根据实际安装需求进行灵活的设计或调整。
其中，水钻打孔机200与坐标识别元件电性连接，如此，当状态检测元件检测到冲击钻钻头120的当前工作状态与预设工作状态不一致，则坐标识别元件向水钻打孔机200发送当前钻孔部位的坐标位置，从而使得水钻打孔机200能够移动至该坐标位置处进行钻孔以得到安装孔，也即水钻打孔机200获取到钢筋孔的坐标位置后能够移动至钢筋孔所在处以对钢筋孔进一步进行研磨钻孔而打穿钢筋，并最终完成整个钻孔而得到安装孔。
如图9及图10所示，在一个实施例中，水钻打孔机200包括第二移动机构210及可转动设置于第二移动机构210的水钻头220。其中，坐标识别元件与第二移动机构210电性连接，水钻头220用于对坐标位置处进行钻孔以得到安装孔。如此，水钻打孔机200的第二移动机构210根据坐标识别元件发送来的坐标位置，从而自动带动水钻头220移动至该坐标位置处以对该坐标位置处的钢筋孔进一步进行研磨钻孔而打穿钢筋，并最终完成整个钻孔而得到安装孔，即水钻头220钻穿钢筋后可以继续向下钻孔直至得到正常深度的安装孔，能够有效提升钻孔效率。
其中，第二移动机构210可以是轮式移动车架或履带式移动车架等能够带动水钻头220进行移动的结构。并且，水钻头220与第二移动机构210采取轴承连接等方式进行转动连接并能够相对第二移动机构210沿竖直方向往复移动，从而使得水钻头220能够相对第二移动机构210向下运动并转动以对钢筋进行研磨钻孔。
其中，水钻头220可以现有的能够对钢筋进行研磨钻孔的元件，水钻头220还可以采取 空心结构。
可选地，整个水钻打孔机200可以为带水钻头220的AGV(Automated Guided Vehicle，自动导引运输车)小车的形式。
进一步地，水钻打孔机200还包括第二导航元件(未图示)。其中，坐标识别元件及第二移动机构210均与第二导航元件电性连接。如此，利用第二导航元件对第二移动机构210的移动进行导航，使得第二移动机构210能够准确地移动和停止，保证第二移动机构210能够带动水钻头220准确地移动至坐标位置处进行钻孔。
其中，第二导航元件可以是激光跟踪仪、激光雷达、GPS(Global Positioning System，全球定位系统)、视觉系统等能够为第二移动机构210的移动进行导航的元件。第二导航元件可以采取螺接或卡接等方式设置在第二移动机构210上。
如图9及图10所示，更进一步地，水钻打孔机200还包括第二进给机构230。其中，第二进给机构230设置于第二移动机构210，第二导航元件及坐标识别元件均与第二进给机构230电性连接，从而在第二导航元件的导航作用下，使得第二移动机构210能够带动第二进给机构230和水钻头220同步准确地移动。并且，第二进给机构230与水钻头220传动连接，以带动水钻头220在水平面及竖直方向上移动。如此，利用第二进给机构230的移动而带动水钻头220在水平面上移动，直至水钻头220与坐标位置在竖直方向上相互对准，即水钻头220的中心轴线穿过坐标位置，再利用水钻头220对该坐标位置进行进一步钻孔处理，即利用水钻头220对钢筋孔进行进一步钻孔处理，从而使得水钻头220打穿钢筋后可以继续向下钻孔直至得到正常深度的安装孔。由于第二移动机构210的运动精度较低，因此，利用第二移动机构210将水钻头220带动至距离坐标位置第二预设距离处即停止，再通过运动精度极高的第二进给机构230带动水钻头220进一步移动至与坐标位置在竖直方向上相互对准，能够极大的提升水钻头220的运动精度，使得水钻头220能够准确地对钢筋孔进一步进行钻孔，避免出现钻孔偏差。
其中，第二进给机构230可以是三向进给轴或其他能够带动水钻头220在水平方向和竖直方向进行准确的运动的结构。第二预设距离可以根据实际使用需要进行灵活的设计或调整。
水钻打孔机200还可以包括驱动水钻头220转动的驱动机构、用于对钻孔过程中进行集水的集水器、对水钻头220进行限位与导向的限位机构、保护罩、配电箱等部件，由于其可以属于现有技术，在此不再赘述。
如图10所示，在一个实施例中，水钻打孔机200还包括供水机构240、流量检测元件(未图示)及警示元件(未图示)。其中，供水机构240用于对水钻头220进行供水，从而利用供水机构240对水钻头220进行供水以使得水钻头220能够顺畅的对钢筋进行研磨而打穿钢筋；流量检测元件用于对供水机构240的供水流量进行检测，流量检测元件与警示元件电性连接。如此，利用流量检测元件对供水机构240的供水流量进行检测，当流量检测元件检测到供水流量大于预设流量值时，则表示供水机构240处于正常供水状态；当流量检测元件检测到供水流量小于或等于预设水压值时，则表示供水机构240堵塞或缺水而处于异常供水状态，从而使得流量检测元件向警示元件发出触发信号，使得警示元件对外发出警示信号以提醒操作人员及时进行维护或风险排查，避免因水钻头220供水不足而造成损坏。
其中，供水机构240包括供水管，供水管的一端与水钻头220连接，供水管的另一端与水箱等水源连接。水压检测元件可以为水压传感器等能够对水压进行检测的元件，水压检测元件采取插接或卡接等方式设置在供水管内以对供水流量进行检测。当然，为了避免供水管发生堵塞，还可以在供水管中设置过滤器等过滤部件。
其中，警示元件可以为蜂鸣器等能够发出声音类警示信息的元件，也可以为警示灯等能够发出光学类警示信息的元件。警示元件可以采取插接或螺接等方式固设在水钻打孔机200上。
并且，考虑到水钻打孔机200对钢筋进行研磨打穿所耗费的时间较长，水钻打孔机200可以至少为两个。其中，至少两个水钻打孔机200均与坐标识别元件电性连接，并且，当状 态检测元件检测到冲击钻钻头120的当前工作状态与预设工作状态不一致，则坐标识别元件向任意一个水钻打孔机200发送当前钻孔部位的坐标位置，使对应的水钻打孔机200移动至坐标位置并进行钻孔以得到安装孔。如此，当其中一个水钻打孔机200正在对钢筋孔进行钻孔而又出现一个钢筋孔时，则可使得另外一个水钻打孔机200移动至后出现的钢筋孔处进行钻孔，从而能够提高钻孔效率。
电性连接可以采取数据线等有线连接的方式实现，也可以采取蓝牙传输等无线连接的方式实现，只需满足能够实现信号的交互即可。
上述实施例的钻孔装置，通过坐标识别元件对安装区域的坐标信息进行获取后，使得第一移动机构110带动冲击钻钻头120根据坐标信息对安装区域进行钻孔处理，同时，在冲击钻钻头120进行钻孔时利用状态检测元件对钻孔过程中的冲击钻钻头120的当前工作状态进行检测，当状态检测元件检测到冲击钻钻头120的当前工作状态与预设工作状态不一致时，则表示冲击钻钻头120钻孔时遇到钢筋而无法正常完成钻孔处理，从而使得坐标识别元件向水钻打孔机200发送当前钻孔部位的坐标位置，进而使得水钻打孔机200移动至坐标位置并进行钻孔以得到安装孔，使得整个钻孔过程不需人工进行参与，钻孔效率高。
需要说明的是，“某体”、“某部”可以为对应“构件”的一部分，即“某体”、“某部”与该“构件的其他部分”一体成型制造；也可以与“构件的其他部分”可分离的一个独立的构件，即“某体”、“某部”可以独立制造，再与“构件的其他部分”组合成一个整体。本申请对上述“某体”、“某部”的表达，仅是其中一个实施例，为了方便阅读，而不是对本申请的保护的范围的限制，只要包含了上述特征且作用相同应当理解为是本申请等同的技术方案。
需要说明的是，本申请“单元”、“组件”、“机构”、“装置”所包含的构件亦可灵活进行组合，即可根据实际需要进行模块化生产，以方便进行模块化组装。本申请对上述构件的划分，仅是其中一个实施例，为了方便阅读，而不是对本申请的保护的范围的限制，只要包含了上述构件且作用相同应当理解是本申请等同的技术方案。
在本申请的描述中，需要理解的是，术语“中心”、“纵向”、“横向”、“长度”、“宽度”、“厚度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”、“顺时针”、“逆时针”、“轴向”、“径向”、“周向”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本申请和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制。本申请中使用的术语“和/或”包括一个或多个相关的所列项目的任意的和所有的组合。
此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括至少一个该特征。在本申请的描述中，“多个”的含义是至少两个，例如两个，三个等，除非另有明确具体的限定。
在本申请中，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”、“固定”等术语应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或成一体；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系，除非另有明确的限定。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本申请中的具体含义。
在本申请中，除非另有明确的规定和限定，第一特征在第二特征“上”或“下”可以是第一和第二特征直接接触，或第一和第二特征通过中间媒介间接接触。而且，第一特征在第二特征“之上”、“上方”和“上面”可是第一特征在第二特征正上方或斜上方，或仅仅表示第一特征水平高度高于第二特征。第一特征在第二特征“之下”、“下方”和“下面”可以是第一特征在第二特征正下方或斜下方，或仅仅表示第一特征水平高度小于第二特征。
需要说明的是，当元件被称为“固定于”、“设置于”、“固设于”或“安设于”另一 个元件，它可以直接在另一个元件上或者也可以存在居中的元件。当一个元件被认为是“连接”另一个元件，它可以是直接连接到另一个元件或者可能同时存在居中元件。进一步地，当一个元件被认为是“固定传动连接”另一个元件，二者可以是可拆卸连接方式的固定，也可以不可拆卸连接的固定，能够实现动力传递即可，如套接、卡接、一体成型固定、焊接等，在现有技术中可以实现，在此不再累赘。当元件与另一个元件相互垂直或近似垂直是指二者的理想状态是垂直，但是因制造及装配的影响，可以存在一定的垂直误差。本文所使用的术语“垂直的”、“水平的”、“左”、“右”以及类似的表述只是为了说明的目的，并不表示是唯一的实施方式。本文所使用的术语“和/或”包括一个或多个相关的所列项目的任意的和所有的组合。
还应当理解的是，在解释元件的连接关系或位置关系时，尽管没有明确描述，但连接关系和位置关系解释为包括误差范围，该误差范围应当由本领域技术人员所确定的特定值可接受的偏差范围内。例如，“大约”、“近似”或“基本上”可以意味着一个或多个标准偏差内，在此不作限定。
以上实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。
以上实施例仅表达了本申请的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对申请专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本申请构思的前提下，还可以做出若干变形和改进，这些都属于本申请的保护范围。因此，本申请专利的保护范围应以所附权利要求为准。

Claims (20)

  1. 一种钻孔方法，包括：
    获取安装区域的坐标信息；
    根据所述坐标信息对所述安装区域进行钻孔处理；
    对钻孔过程中的冲击钻钻头的当前工作状态进行检测，当检测到所述冲击钻钻头的当前工作状态与预设工作状态不一致，则向水钻打孔机发送当前钻孔部位的坐标位置；
    所述水钻打孔机移动至所述坐标位置并进行钻孔。
  2. 根据权利要求1所述的钻孔方法，其中，根据所述坐标信息对所述安装区域进行钻孔处理的步骤中，包括：
    根据所述坐标信息获取各个预设钻孔部位的坐标；
    根据各个所述预设钻孔部位的坐标生成预设钻孔轨迹，使冲击钻打孔机沿所述预设钻孔轨迹移动并依次对各个所述预设钻孔部位进行钻孔处理。
  3. 根据权利要求2所述的钻孔方法，其中，冲击钻打孔机沿所述预设钻孔轨迹移动并依次对各个所述预设钻孔部位进行钻孔处理的步骤中，包括：
    第一移动机构带动冲击钻钻头移动至距离所述预设钻孔部位第一预设距离处；
    第一进给机构带动所述冲击钻钻头移动至与所述预设钻孔部位对准的位置；
    所述冲击钻钻头对所述预设钻孔部位进行钻孔处理。
  4. 根据权利要求1至3中任一项所述的钻孔方法，其中，对钻孔过程中的冲击钻钻头的当前工作状态进行检测，当检测到所述冲击钻钻头的当前工作状态与预设工作状态不一致的步骤中，包括：
    对所述冲击钻钻头的转速进行检测；
    当所述冲击钻钻头的转速小于或等于预设转速值时，则判定所述冲击钻钻头的当前工作状态与预设工作状态不一致。
  5. 根据权利要求1至3中任一项所述的钻孔方法，其中，对钻孔过程中的冲击钻钻头的当前工作状态进行检测，当检测到所述冲击钻钻头的当前工作状态与预设工作状态不一致的步骤中，包括：
    对所述冲击钻钻头的轴向压力进行检测；
    当所述冲击钻钻头的轴向压力大于或等于预设压力值时，则判定所述冲击钻钻头的当前工作状态与预设工作状态不一致。
  6. 根据权利要求1至3中任一项所述的钻孔方法，其中，对钻孔过程中的冲击钻钻头的当前工作状态进行检测，当检测到所述冲击钻钻头的当前工作状态与预设工作状态不一致的步骤中，包括：
    对所述冲击钻钻头的钻孔深度进行检测；
    当所述冲击钻钻头的钻孔深度保持恒定且小于预设深度值时，则判定所述冲击钻钻头的当前工作状态与预设工作状态不一致。
  7. 根据权利要求1至6中任一项所述的钻孔方法，其中，所述水钻打孔机移动至所述坐标位置并进行钻孔的步骤中，包括：
    所述水钻打孔机的第二移动机构带动水钻头移动至距离所述坐标位置第二预设距离处；
    所述水钻打孔机的第二进给机构带动所述水钻头移动至与所述坐标位置对准的位置；
    所述水钻头对所述坐标位置进行钻孔以得到安装孔。
  8. 根据权利要求7所述的钻孔方法，其中，所述水钻打孔机移动至所述坐标位置并进行钻孔的步骤中，还包括：
    对所述水钻头进行供水；
    对所述水钻头的供水流量进行检测，若所述供水流量小于或等于预设流量值，则发出警示信息。
  9. 一种钻孔装置，包括：
    坐标识别元件，所述坐标识别元件用于获取安装区域的坐标信息；
    冲击钻打孔机，所述冲击钻打孔机包括第一移动机构及可转动设置于所述第一移动机构的冲击钻钻头，所述第一移动机构与所述坐标识别元件电性连接，所述冲击钻钻头用于根据所述坐标信息对所述安装区域进行钻孔处理；
    状态检测元件，所述状态检测元件与所述坐标识别元件电性连接，所述状态检测元件用于对钻孔过程中的所述冲击钻钻头的当前工作状态进行检测；
    水钻打孔机，所述水钻打孔机与所述坐标识别元件电性连接；
    其中，当所述状态检测元件检测到所述冲击钻钻头的当前工作状态与预设工作状态不一致，所述坐标识别元件向所述水钻打孔机发送当前钻孔部位的坐标位置，使所述水钻打孔机移动至所述坐标位置并进行钻孔。
  10. 根据权利要求9所述的钻孔装置，其中，所述冲击钻打孔机还包括第一导航元件，所述坐标识别元件及所述第一移动机构均与所述第一导航元件电性连接。
  11. 根据权利要求10所述的钻孔装置，其中，所述冲击钻打孔机还包括第一进给机构，所述第一进给机构设置于所述第一移动机构，所述第一进给机构与所述坐标识别元件电性连接，且所述第一进给机构与所述冲击钻钻头传动连接，以带动所述冲击钻钻头在水平面及竖直方向上移动。
  12. 根据权利要求8至11中任一项所述的钻孔装置，其中，所述状态检测元件设置为进给速度检测元件，所述进给速度检测元件用于对所述冲击钻钻头的进给速度进行检测，且当所述进给速度检测元件检测到所述冲击钻钻头的进给速度小于或等于预设进给速度值时，则判定所述冲击钻钻头的当前工作状态与预设工作状态不一致。
  13. 根据权利要求8至11中任一项所述的钻孔装置，其中，所述状态检测元件设置为压力检测元件，所述压力检测元件与所述冲击钻钻头连接以对所述冲击钻钻头的轴向压力进行检测，且当所述压力检测元件检测到所述冲击钻钻头的轴向压力大于或等于预设压力值时，则判定所述冲击钻钻头的当前工作状态与预设工作状态不一致。
  14. 根据权利要求8至11中任一项所述的钻孔装置，其中，所述状态检测元件设置为钻孔深度检测元件，所述钻孔深度检测元件用于对所述冲击钻钻头的钻孔深度进行检测，且当所述钻孔深度检测元件检测到所述冲击钻钻头的钻孔深度保持恒定且小于预设深度值时，则判定所述冲击钻钻头的当前工作状态与预设工作状态不一致。
  15. 根据权利要求8至14中任一项所述的钻孔装置，其中，所述水钻打孔机包括第二移动机构及可转动设置于所述第二移动机构的水钻头，所述坐标识别元件与所述第二移动机构电性连接，所述水钻头用于对所述坐标位置处进行钻孔以得到安装孔。
  16. 根据权利要求15所述的钻孔装置，其中，所述水钻打孔机还包括第二导航元件，所述坐标识别元件及所述第二移动机构均与所述第二导航元件电性连接。
  17. 根据权利要求16所述的钻孔装置，其中，所述水钻打孔机还包括第二进给机构，所述第二进给机构设置于所述第二移动机构，所述第二导航元件及所述坐标识别元件均与所述第二进给机构电性连接，且所述第二进给机构与所述水钻头传动连接，以带动所述水钻头在水平面及竖直方向上移动。
  18. 根据权利要求8至17任一项所述的钻孔装置，其中，所述水钻打孔机至少为两个，至少两个所述水钻打孔机均与所述坐标识别元件电性连接，并且，当所述状态检测元件检测到所述冲击钻钻头的当前工作状态与预设工作状态不一致，则所述坐标识别元件向任意一个所述水钻打孔机发送当前钻孔部位的坐标位置，使对应的所述水钻打孔机移动至所述坐标位置并进行钻孔以得到安装孔。
  19. 根据权利要求8至18任一项所述的钻孔装置，其中，所述坐标识别元件通过在所述安装区域选取一个合适的参考点后对所述安装区域进行所述坐标信息的识别，从而建立相应的坐标系。
  20. 根据权利要求8至19任一项所述的钻孔装置，其中，还包括：
    供水机构，用于对所述水钻头进行供水；
    流量检测元件，用于对所述供水机构的供水流量进行检测；
    警示元件，用于在所述供水流量小于或等于预设流量值时，发出警示信息；
    其中，所述流量检测元件与所述警示元件电性连接。
PCT/CN2023/122165 2022-09-30 2023-09-27 钻孔方法及钻孔设备 WO2024067727A1 (zh)

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