CN209111089U - A kind of intelligent drilling robot of anti-cable winds - Google Patents

Abstract

The utility model discloses a kind of intelligent drilling robot of anti-cable winds and its application methods, belong to robotic technology field.It includes chassis, power and running gear, vision and control device, drilling equipment and dust-extraction unit.The intelligent drilling robot of the anti-cable winds integrates bionics techniques, the communication technology, control technology, sensing technology, Video Supervision Technique, ambient enviroment can be identified, and the completion boring work of independent completion as requested, work efficiency is high, without manual control, it can be achieved that intelligent drilling；And the winding that can prevent cable, avoiding working continuously to drilling robot impacts, and abrasion cable is avoided to cause safety accident.

Description

A kind of intelligent drilling robot of anti-cable winds

Technical field

The utility model belongs to robotic technology field, drills more specifically to a kind of intelligence of anti-cable winds Robot.

Background technique

Robot (Robot) is the automatic installations for executing work, and intelligent robot is generally acknowledged that at least to have Three elements: first is that element is felt, for recognizing ambient conditions；Second is that kinematicchain element, acts making a response property of the external world； Third is that thinking element, perceptually the obtained information of element, is thought deeply and is acted out using which type of.Feel that element includes that can feel Know the contact type sensor of the non-contact sensors such as vision, close, distance and energy perception, pressure sensation, tactile etc.；Its function can It is grown up to be a useful person with utilization such as video camera, imaging sensor, ultrasonic wave biography, laser, conductive rubber, piezoelectric element, pneumatic element, row The electromechanics component such as Cheng Kaiguan is realized.Kinematicchain element refers to that intelligent robot needs the mobile mechanism of a trackless channel type, To adapt to the different geographical environment such as level land, ramp；Its function can be by wheel, crawler belt, stabilizer blade, sucker, air cushion etc. Mobile mechanism completes；Real-time control is carried out to mobile mechanism during the motion, this control not only will include position Control, but also to there is dynamics control, position to mix control, expansion and contraction control etc. with dynamics.Thinking deeply element is in three elements Key, include judgement, logic analysis, understanding etc. activity；These activities are substantially an information process, And computer is then the important means for completing this treatment process.

In actual production manufacturing process, often bore operation is carried out to ground such as warehouse, workshops.Carrying out expanding screw When keyhole bore operation, currently used boring method is that bore operation is carried out by man-hour manually hand-held drilling tool, and manual work exists Many problems, be mainly reflected in two aspects: one side cost of labor is higher, increases very big financial burden, another party to enterprise Dough figurine work, which drills, is difficult to ensure the uniform specification in each hole, during bore operation, needs constantly to move hand according to operation needs Arm realizes the drilling needs of each station, be easy to cause the manpower tired.There are working conditions by existing automatic drilling machine people It is unstable, it is mobile inconvenient, it not can be reduced the problem of human resources are put into, so it is more superior anti-to need to provide a kind of performance The intelligent drilling robot of cable winds.

Through retrieving, Chinese Patent Application No. 201810644897.X, the applying date is a kind of " automatic drill of 2018.06.21 Hole robot " comprising pedestal, the two sides side wall of pedestal, which is fixed by the connecting rod, is connected with auxiliary support apparatus, pedestal Upside side wall be fixedly connected with telescopic sleeving rod, telescopic sleeving rod is fixedly connected with horizontally disposed fixation far from one end of pedestal Bar, the both ends of fixed link are equipped with installation cavity, and the both ends of fixed link are equipped with the drilling rod being vertically arranged, and the lower end of two drilling rods It is fixedly connected to drill bit, two drilling rods run through installation cavity setting, and the both ends of two drilling rods extend through the upper of fixed link Lower two sides side wall is arranged, and is rotatably connected to the first bull stick in two installation cavitys, one end of two the first bull sticks runs through fixed The side side wall of bar is arranged.The automatic drilling machine man-hour placement status is stablized, conveniently moving, is easy to use；But it should be certainly Dynamic drilling robot also needs manually to be manipulated, and cannot independently realize that automatic drilling works, and realizes intelligent drilling.

For another example Chinese Patent Application No. is 201710143757.X, and the applying date is a kind of " packaged type of 2017.03.12 Drilling robot " comprising the first steering engine bottom surface of pedestal, punching mechanical arm, four wheels, punching mechanical arm is mounted on pedestal The first steering engine fixing seat inside, the 4th steering engine of wheel is mounted on inside the third steering engine fixing seat of pedestal；Iron plate Storage tray Be a left side have rectangular recess cuboid, set on plank to the left there are four iron plate store bore, under it Face is equipped with iron plate Storage tray support plate；Wheel is set to support bigger weight by the first wheel and the double wheel designs of Second wheel Amount；Drive the rotation of rotating circular disk that three the first drill bit, the second drill bit and third drill bit drill bits can be made to turn by third steering engine It moves to realize and beat different holes；Perforation tilt angle is adjusted by the second steering engine, allows to the plank for inclined-plane Punching, realizes multifunction.The packaged type drilling robot can realize comprehensive drilling motion；But need manual control Or monitoring, ambient enviroment cannot be identified, cannot independently realize that automatic drilling works, realize intelligent drilling.

During drilling robot is worked continuously, the working time is longer, needs external power supply, the cable of external power supply by In drilling robot movement often there is a phenomenon where winding, cause drilling robot operation difficult, long-time service can also be ground Cable is damaged, cable is made to leak electricity, safety accident occurs.

Summary of the invention

1. to solve the problems, such as

Aiming at the problem that existing drilling robot cannot prevent cable winds, the utility model provides a kind of anti-cable winds Intelligent drilling robot, intelligent drilling robot collection bionics techniques, the communication technology, control technology, biography of the anti-cable winds Sense technology, Video Supervision Technique can identify ambient enviroment in one, and the completion drillman of independent completion as requested Make, work efficiency is high, without manual control, it can be achieved that intelligent drill, and can prevent the winding of cable, avoid to drilling machine Device people, which works continuously, to be impacted, and abrasion cable is avoided to cause safety accident.

2. technical solution

To solve the above-mentioned problems, technical solution used by the utility model is as follows:

A kind of intelligent drilling robot of anti-cable winds of the utility model, including chassis, the chassis are equipped with Outer shield, the outer shield are fastened on chassis on the whole；The outer shield top is connected with cable guide component, described Cable guide component includes guide groove and sleeve, the guide groove and sleeve connection, and can along with it is circumferential at sleeve connection 360 ° of rotations；

Power and running gear comprising power supply and walking component, the power supply are mounted on chassis, the walking Component is electrically connected to a power source and is fixed on chassis surrounding；

Vision and control device comprising industrial camera and electric box, the industrial camera, electric box respectively with power supply Electrical connection, and industrial camera and electric box are electrically connected, the industrial camera is mounted on the opposite two sides of outer shield, electric box It is mounted on chassis；

Drilling equipment comprising lead screw and power head, the lead screw are mounted on chassis, and power head is connect with lead screw, Lead screw and power head are electrically connected with electric box respectively.

As the preferred scheme of the utility model, which is characterized in that the outer shield is equipped with headlamp, lifting lug, protection Column and receiving cavity, the headlamp be mounted on outer shield be equipped with industrial camera opposite two sides, headlamp with Power electric connection, the lifting lug are set to outer shield top surface, and the protective fence is placed in the opposite two sides of outer shield, and two Side is the two sides for being equipped with headlamp, and the receiving cavity is set to outer shield and is different from being provided with the two sides of protective fence.

As the preferred scheme of the utility model, which is characterized in that the outer shield four corners are symmetrically connected with anti-skidding Supporting leg, anti-skid rubber cushion is equipped under the anti-skidding supporting leg working condition with ground contact position, and anti-skidding supporting leg is multiple pipe fitting sets Knot, can be flexible along pipe fitting noose direction.

As the preferred scheme of the utility model, which is characterized in that be additionally provided with dust cover, clump weight on the chassis And bit change-over supporting leg, the dust cover are fastened on the outside of drilling equipment, it is anti-that the clump weight is placed in outer shield two sides On the inside of guardrail, the bit change-over supporting leg includes mounting portion and support portion, and bit change-over supporting leg is placed in receiving cavity, installation Portion can load and unload installation in receiving cavity.

As the preferred scheme of the utility model, the walking component includes Mecanum wheel, the Mecanum Wheel is mounted on chassis surrounding.

As the preferred scheme of the utility model, the vision and control device further include display, pneumatics cabinet with And control button, the display and pneumatics cabinet are electrically connected to a power source respectively, display and control button are mounted on outside Shield side, and side is installed, industrial camera is installed, control button is electrically connected with electric box, and electric box is electrically connected with pneumatics cabinet It connects, pneumatics cabinet and anti-skidding supporting leg and bit change-over supporting leg are electrically connected.

It further include dust exhaust apparatus as the preferred scheme of the utility model, the dust exhaust apparatus includes collecting box, described Collecting box and pneumatics cabinet be electrically connected, dust suction is equipped with inside collecting box and is pumped, collecting box bottom end opens up at drilling equipment There is suction inlet.

As the preferred scheme of the utility model, the electric box includes embeded processor, the industrial camera Including bore point identification a CCD and CCD that tracks, the embeded processor respectively with power supply, bore point identification a CCD, track CCD with And display electrical connection, the brill point identification CCD are electrically connected with power supply and the CCD that tracks respectively.

3. beneficial effect

Compared with the prior art, the utility model has the following beneficial effects:

(1) the intelligent drilling robot of a kind of anti-cable winds of the utility model, including chassis, power and walking dress It sets, vision and control device, drilling equipment and dust exhaust apparatus, the intelligent bionical skill of drilling robot collection of the anti-cable winds Art, the communication technology, control technology, sensing technology, Video Supervision Technique are in one；Ambient enviroment can be identified, base area Face shifts to an earlier date mounted colour band, mark point in ground colour band is identified by vision and control system, with power and running gear So that robot is moved to mark point, bore operation is carried out to mark point using drilling equipment, dust exhaust apparatus is by bore operation process In the dust of generation collect and be uniformly processed, chassis is used to install above-mentioned apparatus；Work efficiency is high, is not necessarily to manual control, Intelligent drilling can be achieved；

(2) the intelligent drilling robot of a kind of anti-cable winds of the utility model, chassis are equipped with outer shield, outer shield It is fastened on chassis on the whole, outer shield is used to install the correlation machine part of the intelligent drilling robot of anti-cable winds, simultaneously Part inside outer shield is spaced apart with the external world, part is formed and is protected；

(3) the intelligent drilling robot of a kind of anti-cable winds of the utility model, outer shield be equipped with headlamp, lifting lug, Protective fence and receiving cavity, headlamp are mounted on the opposite two sides that outer shield is equipped with industrial camera, headlamp and electricity Source electrical connection, headlamp provide bright environment for industrial camera work, industrial camera are made to be in preferable work at work In environment；Lifting lug is set to outer shield top surface, and lifting lug is used for the intelligent drilling robot of the mobile anti-cable winds of loop wheel machine, or to brill When head is replaced, the intelligent drilling robot of anti-cable winds is sling, bit change-over supporting leg is propped；Protective fence is placed in outer shield Opposite two sides, and two sides are the two sides for being equipped with headlamp, in practical work process, the intelligence of anti-cable winds is bored When hole robot and barrier are collided, avoid damaging the intelligent drilling robot inner body of anti-cable winds with And the intelligent drilling robot of the anti-cable winds of damage is whole, needs to be arranged protective fence and is protected；Receiving cavity is set to outer Shield is different from being provided with the two sides of protective fence, and receiving cavity replaces supporting leg for receiving drill bit, can protect bit change-over supporting leg It the injury such as is not collided, extends the service life of bit change-over supporting leg；

(4) a kind of intelligent drilling robot of anti-cable winds of the utility model, outer shield four corners are symmetrically connected with Anti-skidding supporting leg is equipped with anti-skid rubber cushion under anti-skidding supporting leg working condition with ground contact position, and anti-skidding supporting leg is multiple pipe fitting nooses, Can be flexible along pipe fitting noose direction, when the intelligent drilling robot of anti-cable winds carries out boring work, it is ensured that machine People integrally has certain stability；Outer shield top is connected with cable guide component, cable guide component include guide groove and Sleeve, guide groove and sleeve connection, and can be rotated along with circumferential 360 ° at sleeve connection, the intelligent bored machine of anti-cable winds People needs to be attached using the connecting part of cable and the intelligent drilling robot of anti-cable winds when using external power supply, In robot moving process, orientation moment of cable easily occurs winding, kink, causes to cable variation, cable occurs Damage, using guide groove, when robot and cable orientation change, cable is constantly in guide groove, and guide groove occurs Rotation, avoids the damage of cable；

(5) the intelligent drilling robot of a kind of anti-cable winds of the utility model is provided with dust cover, counterweight on chassis Block and bit change-over supporting leg, dust cover is fastened on the outside of drilling equipment, so that drilling equipment is in a more closed ring Within the border, the dust that generates and other building wastes are to other inside the intelligent drilling robot of anti-cable winds when avoiding drilling Component causes to be stained；Clump weight is placed on the inside of the protective fence of outer shield two sides, when clump weight is for accepting protective fence and object collision The impact force of generation reduces the deformation extent of protective fence, keeps the structure and dimensionally stable of outer shield entirety；Bit change-over supporting leg Including mounting portion and support portion, bit change-over supporting leg is placed in receiving cavity, and mounting portion can load and unload installation in receiving cavity, by It is excessively close with ground distance in drill bit, it when carrying out bit change-over, needs to prop in robot, bit change-over supporting leg can be used Pneumatic control manually controls, easy to use, simple easily to implement；

(6) the intelligent drilling robot of a kind of anti-cable winds of the utility model, power and running gear include power supply With walking component, power supply is mounted on chassis, and walking component is electrically connected to a power source and is fixed on chassis surrounding, and walking component includes Mecanum wheel, Mecanum wheel is compact-sized, and movement is a kind of omni-directional wheel, 4 wheels are combined, Ke Yigeng flexibly Flexible and convenient realization all-around mobile；

(7) the intelligent drilling robot of a kind of anti-cable winds of the utility model, vision and control device include industry Camera, electric box, display, pneumatics cabinet and control button, industrial camera are that vision and control device collect environmental information, Electric box provides control basis for the intelligent drilling robot of anti-cable winds, and display shows the intelligence drilling of anti-cable winds The working condition of robot and manipulator want the relevant information known, pneumatics cabinet is anti-skidding supporting leg, bit change-over supporting leg And collecting box provides gas source, control button is used to that relevant parameter and mould to be arranged to the intelligent drilling robot of anti-cable winds Formula, and the intelligent drilling robot work of the anti-cable winds of control；

(8) the intelligent drilling robot of a kind of anti-cable winds of the utility model, drilling equipment includes lead screw and power Head, lead screw there are three freedom degree, respectively can in X direction, Y-direction and Z-direction it is mobile, the mobile shifting for driving power head of lead screw It is dynamic, the orientation of motivation of adjustment head；Power head is connect with electric box, receives the control of electric box, and power head free end end is equipped with Drill bit, power head can control the working condition of drill bit；

(9) the intelligent drilling robot of a kind of anti-cable winds of the utility model, dust exhaust apparatus include a collecting box, It is equipped with dust suction inside collecting box to pump, collecting box bottom end offers suction inlet, the dust that boring procedure generates at drilling equipment It is pumped by dust suction and pressure is provided, entered in collecting box by suction inlet, complete the collection work of dust, guarantee that drilling equipment has one Good working environment, reduces power head and lead screw is stained as caused by dust, improves its service life；

(10) a kind of application method of the intelligent drilling robot of anti-cable winds of the utility model, by connecting power supply, The initialization of parameter covers previous data, starts vision and control device identifies ambient enviroment, defence line The intelligent drilling robot of cable winding tracks, and finds boring point and plans walking path, after identifying boring point Boring work is carried out, at one after the completion of boring point, by automatic identification, identifies next place's boring point, completing boring work is Into standby mode, intelligent boring work is realized by the intelligent drilling robot with anti-cable winds, in the course of work It is easy to use without human intervention；

(11) the structure design of the utility model is reasonable, easily fabricated, and application method is convenient easy-to-use, simple to operation.

Detailed description of the invention

The technical solution of the utility model is described in further detail below with reference to drawings and examples, still It should be known that these attached drawings are designed for task of explanation, therefore not as the restriction of the scope of the utility model.In addition,

Unless otherwise indicated, these attached drawings are meant only to conceptually to illustrate structure construction described herein, without will be according to Ratio is drawn.

Fig. 1 is the overall structure diagram that the utility model installs outer shield；

Fig. 2 is that the utility model dismantles outer shield and removes the schematic diagram of internal structure of bit change-over supporting leg；

Fig. 3 is the bit change-over leg structure schematic diagram of the utility model；

Fig. 4 is the utility model collecting box structural schematic diagram；

Fig. 5 is the utility model sighting device hardware composition schematic diagram；

Fig. 6 is the utility model overall logic schematic diagram；

Fig. 7 is that the utility model tracks logical schematic；

Fig. 8 is that the utility model bores point recognition logic schematic diagram；

Connection schematic diagram of the Fig. 9 between the utility model chassis and each device.

In attached drawing:

100, chassis；110, outer shield；111, headlamp；112, lifting lug；113, protective fence；114, receiving cavity；120, Anti-skidding supporting leg；121, anti-skid rubber cushion；130, cable guide component；131, guide groove；132, sleeve；140, dust cover；150, Clump weight；160, bit change-over supporting leg；161, mounting portion；162, support portion；

200, power and running gear；210, power supply；220, walking component；221, Mecanum wheel；

300, vision and control device；310, industrial camera；320, display；330, electric box；340, pneumatics cabinet； 350, control button；

400, drilling equipment；410, lead screw；420, power head；

500, dust exhaust apparatus；510, collecting box；511, suction inlet.

Specific embodiment

Hereafter to the detailed description of the exemplary embodiment of the utility model with reference to attached drawing, which forms the one of description Part has been shown as example the enforceable exemplary embodiment of the utility model in the figure.Although these exemplary realities Example is applied to be described in sufficient detail so that those skilled in the art can implement the utility model, it is to be understood that it can be realized His embodiment and can various changes can be made to the utility model in the case where not departing from the spirit and scope of the utility model.Hereafter Required the scope of the utility model is not limited to the more detailed description of the embodiments of the present invention, and only The description of the characteristics of in order to be illustrated and not limit to the utility model and feature, to propose to execute the utility model Best mode, and it is sufficient to make those skilled in the art that can implement the utility model.Therefore, the scope of the utility model only by Appended claims limit.

Hereafter the detailed description of the utility model and example embodiment are more fully understood in combination with attached drawing, wherein this reality It is identified with novel element and feature by appended drawing reference.

Embodiment 1

As shown in figs. 1-4 and 9, the intelligent drilling robot of a kind of anti-cable winds of the utility model embodiment Including chassis 100, power and running gear 200, vision and control device 300, drilling equipment 400 and dust exhaust apparatus 500.Bottom Disk 100 is for accepting power and running gear 200, vision and control device 300, drilling equipment 400 and dust exhaust apparatus 500.

Chassis 100 includes outer shield 110, anti-skidding supporting leg 120, cable guide component 130, dust cover 140, clump weight 150 And bit change-over supporting leg 160；Installation of the chassis 100 for various parts in the intelligent drilling robot of anti-cable winds, rises To the effect of base frame.

Outer shield 110 is fastened on chassis 100 on the whole, and outer shield 110 is used to install the intelligent drilling machine of anti-cable winds The correlation machine part of device people, while the part of 110 the inside of outer shield is spaced apart with the external world, part is formed and is protected.

Outer shield 110 is equipped with headlamp 111, lifting lug 112, protective fence 113 and receiving cavity 114, and headlamp 111 is installed The opposite two sides of industrial camera 310 are equipped on outer shield 110, headlamp 111 is electrically connected with power supply 210, headlamp 111 Bright environment is provided for the work of industrial camera 310, makes industrial camera 310 at work in preferable working environment.It hangs Ear 112 is set to 110 top surface of outer shield, and lifting lug 112 is used for the intelligent drilling robot of the mobile anti-cable winds of loop wheel machine, or to brill When head is replaced, the intelligent drilling robot of anti-cable winds is sling, bit change-over supporting leg 160 is propped.Protective fence 113 is placed in The opposite two sides of outer shield 110, and two sides are the two sides for being equipped with headlamp 111, in practical work process, anti-cable When the intelligent drilling robot and barrier of winding are collided, avoid zero inside the intelligent drilling robot to anti-cable winds The intelligent drilling robot that part damaged and damaged anti-cable winds is whole, needs to be arranged protective fence 113 and is protected.Hold Cavity 114 of receiving is set to outer shield 110 and is different from being provided with the two sides of protective fence 113, and receiving cavity 114 is used for receiving drill bit more Supporting leg 160 is changed, bit change-over supporting leg 160 can be protected the injury such as not collided, extends the service life of bit change-over supporting leg 160.

Anti-skidding supporting leg 120 is symmetrically connect with 110 four corners of outer shield, under anti-skidding 120 working condition of supporting leg with ground face contact Place is equipped with anti-skid rubber cushion 121, and anti-skidding supporting leg 120 is multiple pipe fitting nooses, can be flexible along pipe fitting noose direction, twines in anti-cable Around intelligent drilling robot carry out boring work when, it is ensured that robot integrally has certain stability.

Cable guide component 130 is connect with 110 top of outer shield, and cable guide component 130 includes guide groove 131 and sleeve 132, guide groove 131 is connect with sleeve 132, and can be rotated along circumferential 360 ° with 132 junction of sleeve.The intelligence of anti-cable winds Drilling robot needs the wiring of the intelligent drilling robot using cable Yu anti-cable winds when using external power supply 210 Place is attached, and in robot moving process, winding, kink easily occur variation, cable occurs for orientation moment of cable, Cable is damaged, using guide groove 131, when robot and cable orientation change, cable is constantly in guide groove In 131, guide groove 131 is rotated, and avoids the damage of cable.

Dust cover 140 is fastened on 400 outside of drilling equipment, so that drilling equipment 400 is in a more closed environment It is interior, avoid the dust generated when drilling and other building wastes to other portions inside the intelligent drilling robot of anti-cable winds Part causes to be stained.

Clump weight 150 is placed in the inside of 110 two sides protective fence of outer shield 113, clump weight 150 for accept protective fence 113 with The impact force that object generates when bumping against reduces the deformation extent of protective fence 113, the structure and shape for keeping outer shield 110 whole Stablize.

Bit change-over supporting leg 160 includes mounting portion 161 and support portion 162, and bit change-over supporting leg 160 is placed in receiving cavity In 114, mounting portion 161 can load and unload installation in receiving cavity 114, since drill bit is excessively close with ground distance, carry out drill bit more It when changing, needs to prop in robot, bit change-over supporting leg 160 can be used pneumatic control or manually control.

Power and running gear 200 include power supply 210 and walking component 220, and power supply 210 is mounted on chassis 100, are walked Component 220 is electrically connected with power supply 210 and is fixed on 100 surrounding of chassis, and walking component 220 includes Mecanum wheel 221, Mai Kena Nurse wheel 221 is located in the principle of the centre wheel of wheel shaft on wheel periphery there are many one, these angled all cinctures Axis is transformed into the wheel steering force of a part above one wheel normal force.Direction and speed by respective wheel, these The final synthesis of power generates a resultant force vector on the direction of any requirement to ensure that this platform in final resultant force It can be moved freely through on the direction of vector, the direction without changing wheel itself.It diagonally distributes on its wheel rim many small Roller, therefore wheel can be with horizontal sliding.The bus of small roller is very special, each when wheel is around fixed wheel arbor rotation The envelope of small roller is cylindrical surface, so the wheel being capable of continuously rolls forward.Compact-sized, movement is a kind of complete flexibly Azimuth handwheel, 4 wheels are combined, can be with more flexible convenient realization all-around mobile.

Vision and control device 300 include industrial camera 310, electric box 330, display 320, pneumatics cabinet 340 and Control button 350, industrial camera 310, electric box 330, display 320 and pneumatics cabinet 340 are electrically connected with power supply 210 respectively It connects, and industrial camera 310 and electric box 330 are electrically connected, industrial camera 310 is mounted on the opposite two sides of outer shield 110；Electrically Case 330 is mounted on chassis 100, and electric box 330 is electrically connected with pneumatics cabinet 340；Display 320 and control button 350 are pacified Mounted in 110 side of outer shield, and side is installed, industrial camera 310 is installed；Pneumatics cabinet 340 and anti-skidding supporting leg 120 and drill bit Supporting leg 160 is replaced to be electrically connected；Control button 350 is electrically connected with electric box 330.Industrial camera 310 is vision and control device 300 collect environmental information, and electric box 330 provides control basis for the intelligent drilling robot of anti-cable winds, and display 320 is aobvious Show that the working condition of the intelligent drilling robot of anti-cable winds and manipulator want the relevant information known, pneumatics cabinet 340 provide gas source for anti-skidding supporting leg 120, bit change-over supporting leg 160 and collecting box 510, and control button 350 is used for anti-cable The relevant parameter of intelligent drilling robot setting and mode of winding, and the intelligent bored machine of the anti-cable winds of control are artificial Make.

Electric box 330 includes embeded processor, and industrial camera 310 includes boring the point identification CCD and CCD that tracks, insertion Formula processor identifies a CCD with power supply 210, brill point respectively, track CCD and the electrical connection of display 320, bores an identification CCD and distinguishes It is electrically connected with power supply 210 and the CCD that tracks.

Drilling equipment 400 includes lead screw 410 and power head 420, lead screw 410 there are three freedom degree, respectively can in X direction, Y Direction and Z-direction are mobile, and (X-direction is perpendicular to 113 place rectilinear direction of protective fence, and Y-direction is is parallel to 113 institute of protective fence In rectilinear direction, Z-direction is vertical short transverse), the mobile movement for driving power head 420 of lead screw 410, motivation of adjustment head 420 Orientation；Power head 420 is connect with electric box 330, receives the control of electric box 330, and 420 free end end of power head, which is equipped with, bores Head, power head 420 can control the working condition of drill bit.

Dust exhaust apparatus 500 includes a collecting box 510, is equipped with dust suction inside collecting box 510 and pumps, 510 bottom end of collecting box is leaned on Suction inlet 511 is offered at nearly drilling equipment 400, the dust that boring procedure generates is pumped by dust suction and provides pressure, by suction inlet 511 enter in collecting box 510, complete the collection work of dust, guarantee that drilling equipment 400 has a good working environment, subtract Few power head 420 and lead screw 410 are stained as caused by dust, improve its service life.

A kind of application method of the intelligent drilling robot of anti-cable winds, comprising the following steps:

S1, connection power supply 210, the intelligent drilling robot parameter initialization of anti-cable winds；

S2, starting vision and control device 300；

S3, anti-cable winds intelligent drilling robot track, find guide path；

S4, it is corrected using CCD is tracked to path has been found, determines run trace；

S5, anti-cable winds intelligent drilling robot run to setting bore position, using bore point identification CCD to drilling Position is identified；

S6, it identifies bore position, starts drilling equipment 400,420 position of motivation of adjustment head and identify bore position one It causes, carries out boring work, can not identify bore position, then return step S3 is continued operation；

S7, drilling terminate, and continue next place's boring work or power cut-off, close power supply 210.

In step S2-S4 specifically includes the following steps:

A1, anti-cable winds intelligent drilling robot track parameter initialization；

B1, the anti-cable winds of starting intelligent drilling robot track function；

C1, infrared sensor incude guide path；

D1, the guide path sensed is calibrated using infrared sensor；

E1, the path incuded is calibrated using CCD is tracked；

F1, the CCD that tracks calibrate route generation deviation, and then testing calibration, the CCD that tracks calibrate route not to return step c1 again Deviate, the intelligent drilling robot of anti-cable winds is walked along straight line；

G1, track end, and the intelligent drilling robot for closing anti-cable winds tracks function.

In step S2 and step S6 specifically includes the following steps:

The intelligent drilling robot drilling parameter initialization of a2, anti-cable winds；

The intelligent drilling robot boring point identification function of b2, the anti-cable winds of starting；

C2, point identification CCD detection boring point is bored；

D2, output boring point central coordinate of circle；

400 pairs of e2, drilling equipment setting boring point drillings；

F2, drilling meet the requirements the intelligent drilling robot drilling parameter initialization of then anti-cable winds, carry out next Boring point drilling, drilling are unsatisfactory for requiring then 400 redrilling of drilling equipment；

G2, drilling terminate, and close the intelligent drilling robot drilling function of anti-cable winds.

Intelligent drilling robot collection bionics techniques, the communication technology, the control skill of a kind of anti-cable winds of the utility model Art, sensing technology, Video Supervision Technique are in one；Ambient enviroment can be identified, mounted colour band is shifted to an earlier date according to ground, Mark point in ground colour band is identified by vision and control system, so that robot is moved to mark with power and running gear 200 Remember point, bore operation is carried out to mark point using drilling equipment 400, dust exhaust apparatus 500 is by the generation during bore operation Dust, which collects, to be uniformly processed.Work efficiency is high, is not necessarily to manual control, it can be achieved that intelligent drilling.

A kind of application method of the intelligent drilling robot of anti-cable winds of the utility model passes through connection power supply 210, The initialization of parameter covers previous data, starts vision and control device 300 identifies ambient enviroment, prevent The intelligent drilling robot of cable winds tracks, and finds boring point and plans walking path, identifies boring point After carry out boring work, at one after the completion of boring point, by automatic identification, identify next place's boring point, complete boring work Enter standby mode, intelligent boring work, the course of work are realized by the intelligent drilling robot with anti-cable winds In be not necessarily to human intervention, it is easy to use.

Embodiment 2

The intelligent drilling robot planform and its application method of the present embodiment and the anti-cable winds of embodiment 1 are basic It is identical, the difference is that the utility model is explained further, and support is provided to the utility model.

Intelligent drilling robot collection bionics techniques, the communication technology, the control skill of a kind of anti-cable winds of the utility model Art, sensing technology, Video Supervision Technique can shift to an earlier date mounted colour band according to ground, pass through vision system and control in one Mark point in system identification ground colour band, makes drill bit automatic identification mark point and is automatically performed bore operation, can bore every time multiple Hole for the expansion bolt.

Chassis 100 is mainly formed using the good Metal Material Welding of steel plate or other intensity, 221 installation position of Mecanum wheel It is very high to set required precision, therefore by the way of wheel is installed again after chassis 100 is welded, it is complete using the disposable clamping of lathe At the processing of installation fit dimension, it is ensured that the required precision of installation.

Outer shield 110 is using sheet metal component bending and is welded, it is ensured that the appearance of structural strength and entirety.

Anti-skidding supporting leg 120 mainly completes expanding-contracting action using rectangular tube or round tube or other easily fabricated pipe sockets, Mating surface needs to process milling and puts down between adjacent two pipe, reduces frictional force when mutually sliding, provides gas source using pneumatics cabinet 340, The expanding-contracting action of supporting leg is completed, supporting leg bottom is equipped with anti-skid rubber cushion 121, improves the firm working performance of supporting leg.

Cable guide device is mainly made of guide groove 131 and sleeve 132, and graphite self-lubricating copper sheathing can be used in sleeve 132, It can be used for a long time and not need to add butter lubrication, it can be achieved that 360 ° of rotations.

Bit change-over supporting leg 160 is using rectangular tube or round tube or other easily fabricated pipes as supporting element, bottom peace Equipped with anti-skid rubber cushion 121, work is propped or collapsed using the offer gas source completion supporting leg of pneumatics cabinet 340, hand can also be used Bit change-over supporting leg 160 is propped or collapsed to flowing mode, easy to operate.

Alternating current (110V) or the driving of direct current (48V/24V) lithium battery can be used in power supply 210.

The composition such as lead screw 410 and power head 420 of drilling equipment 400, the system can realize X, Y, Z three degree of freedom, It can be driven by servo motor, positioning accuracy can satisfy the intelligent drilling robot of anti-cable winds up to 0.05mm completely Required precision.Using alternating current generator as power, spindle nose uses ER25 nut, can quickly clamp diameter range power head 420 For the drill bit of 1-20mm.

Settable collection drawer in 500 collecting box 510 of dust exhaust apparatus, collection drawer, which can be drawn, to be pushed away, and the clear of dust is rapidly completed Science and engineering is made, while will not influence too much to the work of the intelligent drilling robot of anti-cable winds.

As shown in figure 5, the CCD that tracks (charge-coupled device converts optical signals into electric signal) and brill point identification CCD difference It is connect by RS232 (the prepared asynchronous transmission standard interface of Electronic Industries Association) with embeded processor, embedded processing Device is connect with display 320 by RS232, and display 320 can be liquid crystal display 320.

As shown in fig. 6, the general function for the intelligent drilling robot of anti-cable winds realizes logic chart, AGV trolley is (certainly Guide transport lorry) it is tracked by industrial camera 310, track is corrected using CCD1, and CCD2 detects that brill point is punched, and (CCD1 is Track CCD, and CCD2 is to bore point identification CCD).

As shown in fig. 7, for anti-cable winds intelligent drilling robot track function realize logic chart.First by infrared Sensor carries out inspection to route, and when trolley deviates left side route, trolley is turned right；When trolley deviates the right route, trolley turns left. Guarantee that trolley is walked along straight line.It calls CCD1 to do route simultaneously and deviates early warning, precision is up to cm rank.Once deviateing, CCD1 Make deviation early warning, secondary guarantee trolley straight-line travelling.

As shown in figure 8, the intelligent drilling robot for anti-cable winds bores point identification realization logic chart.Bore point identifying call CCD2 realizes the round autonomous classification for boring point, and using Hough circle algorithm, (principle of Hough transform is exactly to utilize image overall special Edge pixel is connected compositing area closed boundary by sign, and image space is transformed into parameter space by it, in parameter space pair Point is described, and achievees the purpose that detection image edge.All points that may be fallen on edge are carried out statistics calculating by this method, The degree for belonging to edge is determined according to the statistical result to data；The essence of Hough transform is exactly to be coordinately transformed to image, It is parameter coordinate plane coordinate transformation, keeps the result of transformation more easy to identify and detection) it draws circle and exports central coordinate of circle, it will sit Mark (x, y) output completes movement of drilling to system of drilling.

Claims (8)

1. a kind of intelligent drilling robot of anti-cable winds, which is characterized in that including chassis (100), the chassis (100) It is equipped with outer shield (110), the outer shield (110) is fastened on chassis (100) on the whole；Outer shield (110) top End is connected with cable guide component (130), and the cable guide component (130) includes guide groove (131) and sleeve (132), The guide groove (131) is connect with sleeve (132), and can be rotated along circumferential 360 ° with sleeve (132) junction；

Power and running gear (200) comprising power supply (210) and walking component (220), the power supply (210) are mounted on On chassis (100), the walking component (220) is electrically connected with power supply (210) and is fixed on chassis (100) surrounding；

Vision and control device (300) comprising industrial camera (310) and electric box (330), the industrial camera (310), Electric box (330) is electrically connected with power supply (210) respectively, and industrial camera (310) and electric box (330) are electrically connected, described Industrial camera (310) is mounted on the opposite two sides of outer shield (110), and electric box (330) is mounted on chassis (100)；

Drilling equipment (400) comprising lead screw (410) and power head (420), the lead screw (410) are mounted on chassis (100) On, power head (420) is connect with lead screw (410), and lead screw (410) and power head (420) are electrically connected with electric box (330) respectively.

2. a kind of intelligent drilling robot of anti-cable winds according to claim 1, which is characterized in that the outer shield It covers (110) and is equipped with headlamp (111), lifting lug (112), protective fence (113) and receiving cavity (114), the headlamp (111) the opposite two sides that outer shield (110) are equipped with industrial camera (310), headlamp (111) and power supply are mounted on (210) it is electrically connected, the lifting lug (112) is set to outer shield (110) top surface, and the protective fence (113) is placed in outer shield (110) opposite two sides, and two sides are the two sides for being equipped with headlamp (111), the receiving cavity (114) is set to Outer shield (110) is different from being provided with the two sides of protective fence (113).

3. a kind of intelligent drilling robot of anti-cable winds according to claim 1, which is characterized in that the outer shield Cover (110) four corners be symmetrically connected with anti-skidding supporting leg (120), under described anti-skidding supporting leg (120) working condition with ground face contact Place is equipped with anti-skid rubber cushion (121), and anti-skidding supporting leg (120) is multiple pipe fitting nooses, can be flexible along pipe fitting noose direction.

4. a kind of intelligent drilling robot of anti-cable winds according to claim 2, which is characterized in that the chassis (100) dust cover (140), clump weight (150) and bit change-over supporting leg (160), the dust cover (140) are additionally provided on It being fastened on the outside of drilling equipment (400), the clump weight (150) is placed on the inside of outer shield (110) two sides protective fence (113), The bit change-over supporting leg (160) includes mounting portion (161) and support portion (162), and bit change-over supporting leg (160) is placed in receiving In cavity (114), mounting portion (161) can load and unload installation in receiving cavity (114).

5. a kind of intelligent drilling robot of anti-cable winds according to claim 1, which is characterized in that the walking Component (220) includes Mecanum wheel (221), and the Mecanum wheel (221) is mounted on chassis (100) surrounding.

6. a kind of intelligent drilling robot of anti-cable winds according to claim 2, which is characterized in that the vision And control device (300) further includes display (320), pneumatics cabinet (340) and control button (350), the display (320) it is electrically connected respectively with power supply (210) with pneumatics cabinet (340), display (320) and control button (350) are mounted on Outer shield (110) side, and side is installed and is equipped with industrial camera (310), control button (350) is electrically connected with electric box (330), Electric box (330) is electrically connected with pneumatics cabinet (340), pneumatics cabinet (340) and anti-skidding supporting leg (120) and bit change-over supporting leg (160) it is electrically connected.

7. a kind of intelligent drilling robot of anti-cable winds according to claim 1, which is characterized in that further include dust suction Device (500), the dust exhaust apparatus (500) include collecting box (510), the collecting box (510) and pneumatics cabinet (340) Electrical connection, collecting box (510) is internal to be equipped with dust suction pump, and collecting box (510) bottom end offers suction at drilling equipment (400) Dirt mouth (511).

8. a kind of intelligent drilling robot of anti-cable winds according to claim 1-7, which is characterized in that institute The electric box (330) stated includes embeded processor, and the industrial camera (310) includes boring point identification CCD and tracking CCD, the embeded processor respectively with power supply (210), bore a point identification CCD, track CCD and display (320) is electrically connected It connects, the brill point identification CCD is electrically connected with power supply (210) and the CCD that tracks respectively.