CN109108333A - The unmanned intelligent drilling machine in cylindrical surface - Google Patents
The unmanned intelligent drilling machine in cylindrical surface Download PDFInfo
- Publication number
- CN109108333A CN109108333A CN201811205666.5A CN201811205666A CN109108333A CN 109108333 A CN109108333 A CN 109108333A CN 201811205666 A CN201811205666 A CN 201811205666A CN 109108333 A CN109108333 A CN 109108333A
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- Prior art keywords
- electric drill
- workpiece
- department
- drilling machine
- cylindrical surface
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- 238000005553 drilling Methods 0.000 title claims abstract description 31
- 230000007246 mechanism Effects 0.000 claims abstract description 46
- 230000000007 visual effect Effects 0.000 claims abstract description 20
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 12
- 238000000034 method Methods 0.000 claims abstract description 8
- 238000012544 monitoring process Methods 0.000 claims abstract description 7
- 238000004458 analytical method Methods 0.000 claims abstract description 6
- 230000003028 elevating effect Effects 0.000 claims abstract description 6
- 238000013507 mapping Methods 0.000 claims abstract description 4
- 229910000831 Steel Inorganic materials 0.000 claims description 4
- 239000010959 steel Substances 0.000 claims description 4
- 238000009434 installation Methods 0.000 claims description 3
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims description 2
- 229910052802 copper Inorganic materials 0.000 claims description 2
- 239000010949 copper Substances 0.000 claims description 2
- 238000003466 welding Methods 0.000 claims description 2
- 241001074085 Scophthalmus aquosus Species 0.000 claims 1
- 238000005096 rolling process Methods 0.000 claims 1
- 238000012545 processing Methods 0.000 abstract description 10
- 238000003672 processing method Methods 0.000 description 2
- 102000008579 Transposases Human genes 0.000 description 1
- 108010020764 Transposases Proteins 0.000 description 1
- 230000009172 bursting Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 238000002955 isolation Methods 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
- 230000014616 translation Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23B—TURNING; BORING
- B23B41/00—Boring or drilling machines or devices specially adapted for particular work; Accessories specially adapted therefor
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Earth Drilling (AREA)
- Drilling And Boring (AREA)
Abstract
The present invention relates to a kind of unmanned intelligent drilling machines in cylindrical surface.The equipment includes pedestal, longitudinal traveling mechanism, rotating mechanism, electric drill elevating mechanism, visual identifying system, workpiece clamping mechanism, control system and monitoring system, longitudinal traveling mechanism is to take motor by department to realize longitudinal walking by driving screw, and rotating mechanism is taken motor driven worm and gear and made vision system and electric drill around workpiece rotation by taking charge of.Visual identifying system carries out mapping analysis to the coordinate of workpiece upper screwed hole and is accurately positioned, while collected data feedback is returned control system, drives electric drill drill precise holes by control system.In entire boring procedure, operator need to only carry out simply lifting workpiece, be remotely operated between dedicated operations by operation handle using video monitoring, realize that operator is isolated with processing site, greatly reduce security risk.Simultaneous processing precision and processing efficiency greatly improve.
Description
Technical field
Present invention is mainly applied to the remote machines of the fastening screw hole of certain special cylindrical body product to add, and in particular to a kind of
The unmanned intelligent drilling machine in cylindrical surface, is able to achieve the man-machine isolation in dangerous post.
Background technique
After the populated bursting charge of multiple components of certain special cylindrical body product, several components are connected through a screw thread dress
It is fitted on together, connection screw thread loosens product in flight course in the sky in order to prevent.It needs after several components are tightened, processing stops
Dynamic threaded hole, and upper limit screw guarantee that product all parts in flight course do not unclamp, because in processing fastening screw hole
When, all parts all fill full explosive, and therefore, drilling post is high-risk post, and the requirement on machining accuracy of device to hole is very high, together
When to revolving speed control require it is very tight, in process, workpiece temperature cannot be excessively high.Original processing method be workpiece is pushed into it is explosion-proof
Between, it is helped surely by an operator, another operator operates small drilling machine and bores designation hole.This original backwardness of processing method,
Precision and efficiency are all very low, while operative employee contacts with product zero distance, there is very big security risk, do not meet safe life
It produces, people-oriented principles and policies.
Summary of the invention
To solve the above problems, spy of the present invention proposes a kind of unmanned intelligent drilling machine in cylindrical surface, the drilling machine is using intelligence
Equipment looks for hole to position automatically using robot vision identifying system and servo-actuating device, and automatic by a series of servo mechanisms
It realizes drilling, while process is monitored with multiple cameras.
The drilling machine includes pedestal 1, longitudinal traveling mechanism 2, rotating mechanism 3, electric drill elevating mechanism 4, visual identifying system
5, workpiece clamping mechanism 6, control system 8 and monitoring system,
The pedestal 1 installs linear guide 9 and ball screw 10, lengthwise rows by square steel tube and steel plate welding forming, impact faces
Mechanism 2 is walked 9 on the guide rail of pedestal, can be moved on the base along guide rail 9
The longitudinal traveling mechanism 2 takes motor I 14, sliding block 15, reduction gearbox 12 including support base 11, reduction gearbox 12, screw 13, department
On support base 11, on 12 output gear of reduction gearbox, sliding block 15 is mounted on support base 11 screw 13；Department takes motor I
14 on reduction gearbox, and department takes motor 14 and screw 13 is driven to rotate, and passes through ball screw 10 and the sliding block on support base 11
15 move longitudinal traveling mechanism by guide rail of the parameter of setting on pedestal；
The rotating mechanism 3 takes motor II 20, hollow shaft 21, turntable including rotating seat 16, worm gear 17, worm screw 18, bearing 19, department
22, for worm gear 17 in hollow shaft 21, turntable 22 is fixed on one end of hollow shaft 21, and hollow shaft 21 is mounted on rotation by bearing 19
On transposase 11 6, worm screw 18 takes motor II 20 with department and connect on rotating seat 16, when department, which takes motor II 20, to work, department's clothes
Motor II 20 drives worm screw 18 to rotate, and worm screw 18 drives worm gear 17 to rotate, and worm gear 17 drives hollow shaft 21 and turntable 22 to rotate；
The electric drill elevating mechanism 4 takes motor 24, electric drill 25 including slide unit I 23, lifting department,
Lifting department takes motor 24 in slide unit fixing seat, and lifting department takes motor 24 by moving down on screw rod driving slide unit platen
It is dynamic,
Electric drill 25 is mounted on the platen of slide unit I 23, and drill bit is taken motor 26 and driven by taking charge of.When lifting department takes the work of motor 24
Drive I bedplate moving of slide unit to realize electric drill 25 go up and down,
The visual identifying system 5 includes specialized camera 27, and light source 28, slide unit II 29, specialized camera 27 is mounted on slide unit II 29
On, high-precision industrial robot vision system carries out mapping analysis to the coordinate of workpiece upper screwed hole, is imaged using precise vision
And software package, exploitation design, collected data feedback is returned control system 8 by identifying system, to reach pinpoint work
With；
The workpiece clamping mechanism 6 includes upper semi-circle snap ring 30 and lower half circle snap ring 31, and arc-shaped copper billet 32 is separately mounted to
In the Inner arc of upper semi-circle snap ring and lower half circle snap ring, upper semi-circle snap ring and lower half circle snap ring are connected by hinge and rapid latch 33
It connects, and firmly lock ring lives workpiece, to fix workpiece 7；
The control system 8 includes servo-driver, PLC control system, PC host computer arithmetic system, HMI and control button,
Middle servo-driver is used for the control that walks to progress high-precisions such as drilling rotation translations, PLC control system, for carrying out to equipment
Integrated control, PC host computer arithmetic system, for being controlled to vision system acquisition, identification, analysis, and with device talk.HMI and
Control button etc., for operation to be configured and controlled to product；
In entire boring procedure, after operator need to only carry out the simple installation of workpiece 7, remotely operated in special operation room
Equipment, the unmanned intelligent drilling machine in cylindrical surface and workpiece to be processed 7 it is special it is explosion-proof between, automatic recognition system 5 is automatically to workpiece 7
The coordinate of upper screwed hole carries out mapping analysis, to be accurately positioned, and collected data feedback is returned control system, same to time control
System drive electric drill processed drills to workpiece 7, realizes separate men from machines, and operator only needs simply to manipulate the button and hand on musical instrument table cabinet
Handle.Greatly reduce security risk.Simultaneous processing precision greatly improves；
The unmanned intelligent drilling machine in cylindrical surface has two sets of identical longitudinal traveling mechanisms 2, rotating mechanism 3, electric drills 4, visual identity
System 5, two sets of longitudinal traveling mechanisms 2, rotating mechanism 3, electric drill 4, visual identifying system 5 can simultaneously independent operation, do not do mutually
It relates to, realization drills simultaneously from workpiece both ends, greatly improves drilling efficiency；
Workpiece 7 is fixed when the unmanned intelligent drilling machine work in cylindrical surface, rotating mechanism 3, electric drill 25, visual identifying system 5,
Rotation department, which takes, to rotate under the driving of motor 20 around workpiece 7, and rotating mechanism 3 is identical with the axle center of round piece 7；Visual identifying system
5, electric drill 25 is all mounted on turntable 22, visual identifying system 5, electric drill 25 axle center on same section and be mutually perpendicular to,
Intersection point is on the axle center of workpiece 7；
Driving of the visual identifying system 5 in longitudinal traveling mechanism 2 and rotating mechanism 3 when the unmanned intelligent drilling machine in cylindrical surface drills
Under, it is overlapped the coordinate origin of visual identifying system 5 with the threaded hole center of circle, then rotating mechanism 3, which is rotated by 90 °, makes electric drill axle center
It is overlapped with threaded hole axle center.Guarantee the precision and accuracy of drilling.
In entire boring procedure, operator need to only carry out simply lifting workpiece this equipment, be existed using video monitoring
It is remotely operated between dedicated operations by operation handle, realizes that operator is isolated with processing site, it is hidden to greatly reduce safety
Suffer from.Simultaneous processing precision and processing efficiency greatly improve.
Detailed description of the invention
The unmanned intelligent drilling machine assembly in the cylindrical surface Fig. 1,
Fig. 2 pedestal,
Fig. 3 longitudinal traveling mechanism,
Fig. 4 rotating mechanism,
Fig. 5 electric drill elevating mechanism,
Fig. 6 visual identifying system,
Fig. 7 clamp system.
Specific embodiment
The course of work of the unmanned intelligent drilling machine in cylindrical surface is as follows:
1 dress workpiece
1. the trolley equipped with workpiece 7 is slid into drilling room together,
2. opening half-round clamping ring；
3. toggling workpiece 7 with suspender belt, and workpiece 7 is lifted on the half-round clamping ring of clamp system with crane,
Half-round clamping ring is shut, and is locked with quick-locking mechanism；
2 drillings
1. operator, which is observed by video and passes through handle, is moved quickly to hole site to be drilled for visual identifying system.Start vision
Identifying system, system can be quickly found out the hole to be processed.It realizes and is accurately positioned；
2. starting rotary servovalve motor, worm gear mechanism is driven, so that drill bit is automatically aligned to the hole that will be bored, while passing through drill bit
Whether the video monitoring system of position observes drill bit again and (also and do not start rotation) disengaging screw hole smooth, locks after determining, starting
Drill bit, starting feeding, completes drilling process；
Drill bit feeding is equipped with machinery positioning and automatic spacing, double control drilling depth；
3. being equally repeatedly performed the processing in next hole；
3 unloading workpiece
After all holes are drilled as required, workpiece 7 is lifted on tooling trolley using crane.Workpiece 7 is released into drilling room.
Claims (5)
1. the unmanned intelligent drilling machine in cylindrical surface is looked for using smart machine using visual identifying system and servo-actuating device automatically
Hole positioning, and drilling is realized automatically by a series of servo mechanisms, while being monitored using monitoring system to process, it is special
Sign is that drilling machine includes pedestal (1), longitudinal traveling mechanism (2), rotating mechanism (3), electric drill elevating mechanism (4), visual identity
System (5), workpiece clamping mechanism (6), control system (8) and monitoring system,
The pedestal (1) installs linear guide (9) by square steel tube and steel plate welding forming, impact faces, and ball screw (10) is indulged
It is mobile along guide rail (9) on the base to walking mechanism (2) on the guide rail of pedestal (9)；
The longitudinal traveling mechanism (2) include support base (11), reduction gearbox (12), screw (13), department take motor I (14), sliding block
(15), reduction gearbox (12) is on support base (11), and screw (13) is on reduction gearbox (12) output gear, sliding block (15) installation
On support base (11)；Department takes motor I (14) on reduction gearbox, and department takes motor I (14) driving screw (13) rotation, passes through rolling
Ballscrew (10) and the sliding block (15) on support base (11) move guide rail of the longitudinal traveling mechanism on pedestal；
The rotating mechanism (3) include rotating seat (16), worm gear (17), worm screw (18), bearing (19), department take motor II (20),
Hollow shaft (21), turntable (22), for worm gear (17) on hollow shaft (21), turntable (22) is fixed on one end of hollow shaft (21),
Worm screw (18) takes motor II (20) with department and connect on rotating seat (16),
When department takes motor II (20) work, department takes motor II (20) and drives worm screw (18) rotation, and worm screw (18) drives worm gear
(17) it rotates, worm gear (17) drives hollow shaft (21) and turntable (22) rotation；
The electric drill elevating mechanism (4) includes that slide unit I (23), lifting department take motor (24), electric drill (25), and electric drill (25) is mounted on
On slide unit I (23), electric drill takes motor (26) driving by taking charge of；Lifting department takes motor (24) and drives slide unit I to drive electric drill to go up and down；
The visual identifying system (5) includes specialized camera (27), light source (28), slide unit II (29), specialized camera (27) installation
On slide unit II (29), high-precision industrial robot vision system carries out mapping analysis to the coordinate of workpiece upper screwed hole, identification
Collected data feedback is gone back to control system (8) by system, to have the function that positioning；
The workpiece clamping mechanism (6) includes upper semi-circle snap ring (30) and lower half circle snap ring (31), arc-shaped copper billet (32) point
It is not mounted in the Inner arc of upper semi-circle snap ring and lower half circle snap ring, upper semi-circle snap ring and lower half circle snap ring are by hinge and quickly
(33) connection is latched, and firmly lock ring lives workpiece, to fix workpiece (7).
2. the unmanned intelligent drilling machine in cylindrical surface according to claim 1, which is characterized in that the control system (8) includes
Servo-driver, PLC control system, PC host computer arithmetic system, HMI and control button, wherein servo-driver is used for brill
The capable control that walks in high precision of hole rotary flat shift-in,
PLC control system is used to carry out integrated control to equipment,
PC host computer arithmetic system is used for vision system acquisition, identification, analysis, and is controlled with device talk,
HMI and control button to product for being configured and controlling operation.
3. the unmanned intelligent drilling machine in cylindrical surface according to claim 1, which is characterized in that the hollow shaft (21) passes through axis
(19) are held to be mounted on rotating seat (16).
4. the unmanned intelligent drilling machine in cylindrical surface according to claim 1, which is characterized in that the longitudinal traveling mechanism (2),
Rotating mechanism (3), electric drill (4), visual identifying system (5) have identical two sets, two sets of longitudinal traveling mechanisms (2), rotation
Rotation mechanism (3), electric drill (4), visual identifying system (5) can simultaneously independent operation, it is non-interference.
5. the unmanned intelligent drilling machine in cylindrical surface according to claim 1, which is characterized in that the visual identifying system (5),
Electric drill (25) is all mounted on turntable (22), and visual identifying system (5), the axle center of electric drill (25) are on same section and mutually vertical
Directly, intersection point is on the axle center of workpiece (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811205666.5A CN109108333B (en) | 2018-10-16 | 2018-10-16 | Unmanned intelligent drilling machine for cylindrical surface |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811205666.5A CN109108333B (en) | 2018-10-16 | 2018-10-16 | Unmanned intelligent drilling machine for cylindrical surface |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109108333A true CN109108333A (en) | 2019-01-01 |
| CN109108333B CN109108333B (en) | 2024-03-19 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811205666.5A Active CN109108333B (en) | 2018-10-16 | 2018-10-16 | Unmanned intelligent drilling machine for cylindrical surface |
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| Country | Link |
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| CN (1) | CN109108333B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111774599A (en) * | 2020-06-30 | 2020-10-16 | 浙江中控太阳能技术有限公司 | Heliostat girder processing equipment |
| CN114472959A (en) * | 2021-12-28 | 2022-05-13 | 赵忠源 | Industrial robot and use method thereof |
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| CN106513763A (en) * | 2016-11-07 | 2017-03-22 | 山东恒祥机械有限公司 | Cylinder body drilling equipment |
| CN208991802U (en) * | 2018-10-16 | 2019-06-18 | 湘潭方棱聚氨酯机器有限公司 | The unmanned intelligent drilling machine in cylindrical surface |
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2018
- 2018-10-16 CN CN201811205666.5A patent/CN109108333B/en active Active
Patent Citations (6)
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|---|---|---|---|---|
| CN202512009U (en) * | 2012-04-10 | 2012-10-31 | 无锡国盛精密模具有限公司 | Biological chip microarrayer based on machine vision positioning |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111774599A (en) * | 2020-06-30 | 2020-10-16 | 浙江中控太阳能技术有限公司 | Heliostat girder processing equipment |
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| CN114472959B (en) * | 2021-12-28 | 2023-10-13 | 十月传奇(盐城)科技有限公司 | Industrial robot and method of use thereof |
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| CN109108333B (en) | 2024-03-19 |
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