KR101524369B1 - Multi Bend Automatic Drilling System - Google Patents

Abstract

The present invention relates to an automatic unmanned automatic drilling system, and more particularly, to an automatic unmanned automatic drilling system, which includes a stand having four wheels on its lower side and vertically moving and having four stoppers contacting with the ground and having a handle on both upper ends thereof, A slide unit including a first slide, a second slide and a third slide moving back and forth by a base plate and a ball screw, and a first joint coupled to one end of a shaft having a square cross section by a first harmonic drive, A second joint rotating by being coupled with the first joint and the second harmonic drive and rotated by the third joint and the third joint rotated by the second joint and the third harmonic drive, And a fourth joint in which the first proximity sensor is coupled, and the fourth joint and the head harmonic A head unit including a drill feed motor and a second proximity sensor, and a spindle unit coupled to an end of the head unit and having a drill mounted thereon, a vision camera, an LED lamp, and a laser distance sensor The control unit includes a vision unit and a display unit that controls the operation of the slide unit, the arm unit, the head unit, the spindle unit, and the vision unit. The operator can perform a limited drill operation performed in a narrow work space Instead, it works from the outside through the vision unit and control unit, so that it is possible to maximize the work precision and efficiency in a narrow space.

Description

[0001] The present invention relates to a multi-bend automatic drilling system,

The present invention relates to an unmanned automatic drilling system, and more particularly, to an unmanned automatic drilling system that maximizes accuracy and efficiency through a plurality of slide units, a multi-joint arm unit, and a head unit in a curved and narrow work space such as an air- The present invention relates to a multi-refracting automatic unmanned drilling system.

Generally, there is a process of riveting the pilot hole along the connecting portion between the front fuselage and the center fuselage in the inlet duct, which is the air intake port of the aircraft. Now, the worker is working in a narrow space where the operator is bent, Not only productivity is deteriorated due to fatigue accumulation and posture instability due to long working hours but also there is a problem that hole processing is required to maintain precision. Also, a drill main body part, which is rotatably coupled to a drill casing disclosed in Korean Patent Laid-Open Publication No. 10-2009-0119597, a drill part coupled to the drill main body part, A drill main body unit having a measurement camera for photographing a work position to be drilled by the drill part; and a drill main body unit for rotating the drill main body about the rotation axis of the drill main body part to change positions of the drill part and the measurement camera with respect to the drill casing And a drill transfer unit for transferring the drill part in the direction of the axis of rotation of the drill part with respect to the drill main part. In the case of the drilling device and the drilling system, It is difficult to move to a narrow and curved working position through the duct inner space, There is a problem that the drill fixing procedure is complicated, and the work range is narrowed, resulting in deteriorated productivity and quality problems of scratching the surface of the workpiece.

Korean Patent Publication No. 10-2009-0119597 (2009.12.04)

In order to solve the above-mentioned problems, in the present invention, it is possible to maximize precision and efficiency through a plurality of slide units, a multi-joint arm unit and a head unit in a curved and narrow working space such as an air intake port of an aircraft And an object of the present invention is to provide a multi-refracting automatic unmanned automatic drilling system.

There is provided an automatic unmanned automatic drilling system including a stand having four wheels on its lower side and vertically moving up and down and having four stoppers contacting with the ground and grips on both upper ends thereof, A slide unit including a first slide, a second slide and a third slide moving back and forth by a ball screw, and a first harmonic drive coupled to one end of a shaft having a square cross section, A second joint rotating by being coupled with the first joint, the first joint and the second harmonic drive, a third joint rotating by being coupled by the second joint and the third harmonic drive, And a fourth joint in which the first proximity sensor is engaged and rotated by the drive, and the fourth joint A head unit having a drill feed motor and a second proximity sensor coupled to the head harmonic drive and having a drill feed motor and a second proximity sensor, a spindle unit coupled to an end of the head unit, A control unit including a display, and a vision unit including a sensor and a control unit for controlling operations of the slide unit, the arm unit, the head unit, the spindle unit, and the vision unit.

In another aspect of the present invention, a servo motor and a ball screw are built in the first slide, the second slide and the third slide of the slide unit, respectively, and are forward and backward, and the strokes are 800 mm, 850 mm, and 325 mm, respectively.

According to still another aspect of the present invention, the first joint is divided into 32 parts and rotates by 11.25 degrees when rotated 360 degrees. Each of the third joint, the fourth joint, and the head unit is divided into 25 parts and rotated by 14.4 degrees. Each of the third joint, the fourth joint, and the head unit is attached with a laser sensor, and the wire tray is included on the sides of the base plate, the first slide, the second slide and the third slide.

As described above, the multi-bending automatic unmanned automatic drilling system according to the present invention has a plurality of slide units, a multi-joint arm unit and a head unit in a curved and narrow work space such as an air intake port of an aircraft, It is possible to maximize the work precision and efficiency in a narrow space by working from the outside through the vision unit and the control unit instead of the limited drilling operation performed by the user.

1 is a perspective view of a conventional drilling system;
2 is a perspective view of a multi-bore unattended automatic drilling system according to the present invention;
3 is a side view of a multifocal automatic drilling system according to the present invention;
4 is a perspective view of an embodiment of a multi-bore unattended automatic drilling system according to the present invention.

FIGS. 2 and 3 are a perspective view and a side view, respectively, of a multi-bore unattended automatic drilling system according to the present invention, and components of the present invention will be described with reference to the drawings. An automatic unmanned automatic drilling system, comprising: a stand (10) having four wheels (11) on the underside and four stoppers (12) vertically moving in contact with the ground, and a handle (13) A first slide 23, a second slide 24, and a third slide 24, which are coupled to an upper portion of the base plate 21 and have rails on both sides thereof, A first joint 32 which is coupled to one end of a shaft 31 having a rectangular cross section by a first harmonic drive 32a and a second joint 32 which is rotated by the first harmonic drive 32a, A second joint 33 which is coupled and rotated by the second harmonic drive 33a and a third joint 34 which is coupled and rotated by the second joint 33 and the third harmonic drive 34a, Is coupled and rotated by the third joint (34) and the fourth harmonic drive (35a), and the first proximity sensor (35b) And a fourth harmonic drive 41. The hammer unit 30 is rotated by the fourth joint 35 and the head harmonic drive 41 and rotates together with the drill feed motor 42, A head unit (40) provided with a sensor (43); A spindle unit 50 coupled to an end of the head unit 40 and mounted with a drill 51 on the lower side thereof, and a vision camera 61, an LED lamp 62, and a laser distance sensor 63 The display unit 71 controls the operation of the vision unit 60 and the slide unit 20, the arm unit 30, the head unit 40, the spindle unit 50 and the vision unit 60 And a control unit (70) connected to the control unit (70).

FIG. 4 is a perspective view of an embodiment of a multi-bore unmanned automatic drilling system according to the present invention, and the operation principle of the present invention is as follows. Each of the slides 23, 24 and 25 is provided with a servo motor and a ball screw for driving the slide, and is moved forward and backward in a linear direction. The arm unit 30 and the head unit 40 are positioned in a space to be worked in a narrow path and then drilled in the correct position to be operated by the joints 32, 33, 34 and 35 of the arm unit 30. [ 51 are positioned and machined. A supervisor can view the image on the display 71 through the vision unit 60 during processing, and a suction device that sucks foreign substances such as chips generated during the operation can also be applied in combination with the spindle unit. Further, a nozzle may be provided on the side surface of the spindle unit 50 to perform cutting oil injection. This is a known technique and detailed description is omitted. In order to more effectively perform the work in the intake port of the aircraft to which the present system is applied, the slide unit 20 is moved forward and backward in a ball screw type and the first slide 23, the second slide 24 and the third slide 25 The first joint 32 is divided into 32 parts when rotated 360 ° and rotated by 11.25 °, and the second joint 33 is divided into 32 parts. The third joint 34, the fourth joint 35, and the head unit 40 are divided into 25 parts and rotated by 14.4 degrees. Laser sensors are attached to each of the third joint 34, the fourth joint 35, and the head unit 40 to prevent collision with a narrow work space. The wire tray 22 is included in the side surfaces of the base plate 21, the first slide 23, the second slide 24 and the third slide 25 so that the slide unit 20 can move linearly It is possible to prevent the power line from being twisted. The number of the joints 32, 33, 34, 35 of the slide 23, 24, 25 and the arm unit 30 constituting the slide unit 20 can be added or deleted depending on the aircraft model.

Although the present invention has been shown and described with respect to specific embodiments and applications thereof, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined by the appended claims. Anyone with knowledge will know easily.

10. Stand 11. Wheel
12. Stopper 13. Handle
20. Slide unit 21. Base plate
22. Wire tray 23. 1st slide
24. Second slide 25. Third slide
30. Arm unit 31. Shaft
32. First joint 32a. First harmonic drive
33. Second joint 33a. Second harmonic drive
34. Third joint 34a. Third harmonic drive
35. Fourth joint 35a. Fourth harmonic drive
35b. The first proximity sensor 40. The head unit
41. Head harmonic drive 42. Drill feed motor
43. Second Proximity Sensor 50. Spindle Unit
51. Drill 60. Vision Unit
61. Vision camera 62. LED lamp
63. Laser distance sensor 70. Control unit
71. Display

Claims (4)

In an unmanned automatic drilling system,
A stand 10 having four wheels 11 on the lower side and four stoppers 12 moving upward and downward to come in contact with the ground and grips 13 on both upper ends;
A base plate 21 coupled to the upper portion of the stand 10 and having rails on both sides thereof and a first slide 23 and a second slide 24 which are respectively moved forward and backward on the upper surface of the base plate 21, A slide unit 20 composed of three slides 25;
A first joint 32 which is coupled to one end of a shaft 31 having a square cross section by a first harmonic drive 32a and rotates by 11.25 degrees by dividing into 32 when rotated 360 degrees, The second joint 33 is coupled by the second harmonic drive 33a and rotates by 14.4 degrees when divided by 25 when rotated 360 °. The second joint 33 is coupled with the third harmonic drive 34a by 360 °, The third joint 34 is rotated by 14.4 degrees in 25 steps, and the third joint 34 and the fourth harmonic drive 35a are rotated. When rotated by 360 degrees, the third joint 34 is rotated by 14.4 degrees, 1 proximity sensor 35b, and a fourth joint 35 to which the first proximity sensor 35b is coupled;
The drill feed motor 42 and the second proximity sensor 43 are rotated by the fourth joint 35 and the head harmonic drive 41. The drill feed motor 42 and the second proximity sensor 43 are rotated by 14.4 degrees A head unit 40; And
A spindle unit 50 coupled to an end of the head unit 40 and having a drill 51 mounted on a lower side thereof,
A vision unit 60 provided with a vision camera 61, an LED lamp 62 and a laser distance sensor 63;
A control unit 70 which controls the operation of the slide unit 20, the arm unit 30, the head unit 40, the spindle unit 50 and the vision unit 60 and includes a display 71; Wherein the drilling is performed by a drilling machine. The method according to claim 1,
A servo motor and a ball screw are built in the first slide 23, the second slide 24 and the third slide 25 of the slide unit 20 so as to move back and forth and the strokes are respectively 800 mm, 850 mm and 325 mm Wherein the drilling system is a multi-refracting automatic drilling system. The method according to claim 1,
The first joint 32 and the second joint 33 described above. Wherein the third joint (34), the fourth joint (35), and the head unit (40) are each equipped with a laser sensor. The method according to claim 1,
Characterized in that a wire tray (22) is included on the sides of the base plate (21), the first slide (23), the second slide (24) and the third slide (25).

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