Workpiece machining equipment based on visual guidance

Abstract

The invention provides workpiece machining equipment based on visual guidance, and relates to the technical field of drilling machining. The workpiece machining equipment based on visual guidance comprises a linear moving platform and a rotating mechanical arm, the rotating mechanical arm is connected to a sliding table of the linear moving platform through bolts, and a multi-hole type drilling exploration device is installed on the wrist of the rotating mechanical arm; the multi-hole type drilling exploration device comprises an outer rack, a rotating motor, a motor gear, an outer fixing assembly, a movable pipe assembly, a camera shooting assembly and a sealing expansion bag assembly. According to the invention, the problem that a visual acquisition camera cannot acquire an accurate drill hole inner wall image due to the fact that lubricating oil is sprayed during drilling is solved, different heating treatment modes are selected according to different drill hole types, the adverse effect of hot oil steam on image acquisition is avoided, the drill hole image acquisition quality is improved, and the working efficiency is improved. And the situation that a large amount of working hours are wasted due to the fact that drilling forming fails and cannot be perceived in time is avoided.

Description

Technical Field

[0001] The invention relates to the technical field of drilling processing, and in particular to a workpiece processing device based on vision guidance. Background Art

[0002] Workpiece drilling is a common machining process, which uses a drill to drill a hole of the required diameter and depth on the workpiece. During the drilling process, it is necessary to select appropriate parameters such as drill bit, rotation speed and feed speed according to the material and requirements of the workpiece to ensure the quality and efficiency of drilling. During the drilling process, the hole wall is prone to burrs, cracks, roughness and other undesirable phenomena due to factors such as drill wear, excessive feed speed or insufficient cooling oil. Therefore, it is necessary to identify such undesirable phenomena in drilling in a timely manner.

[0003] For such undesirable phenomena, workers usually observe the roughness, burrs, cracks, etc. of the inner hole wall of the drilled hole with their naked eyes after all the holes in the workpiece are drilled. Usually, multiple holes need to be drilled on the surface of a workpiece. Therefore, manual observation is not only too labor-intensive, but also needs to be carried out only after the drilling of the workpiece is completed. If a hole is defective, the entire workpiece may be scrapped. Therefore, the lack of timeliness of manual inspection of drilled holes may result in a large amount of man-hours being wasted.

[0004] The visual inspection system is a system that uses machine vision technology to achieve detection and identification. It can quickly and accurately detect product defects and anomalies, reducing reliance on manual inspection, helping to improve the degree of automation in production and timely discover problems to ensure product quality. It can be performed simultaneously when drilling a workpiece to avoid a large amount of man-hour waste. However, the existing visual inspection system cannot be directly applied to drilling inspection, mainly for the following reasons: Usually, when drilling, it is necessary to spray lubrication and cooling oil to prevent burrs and cracks in the borehole due to insufficient lubrication and cooling. However, small droplets of cooling oil will still appear when drilling is stopped. When the cooling oil droplets are attached to the inner wall of the borehole, if these small droplets of cooling oil are not removed in time, the visual inspection system cannot capture an effective and clear image of the hole wall, and cannot determine whether the hole wall is in good condition. The cooling oil droplets may form an oil film on the hole wall after a simple wiping, causing the hole wall to reflect when shooting. Although heating the borehole can more thoroughly remove the cooling oil droplets attached to the borehole, the hot oil vapor caused by the evaporation of the droplets fills the borehole, which still interferes with the shooting of the visual system. Therefore, a technician in this field provides a workpiece processing equipment based on vision guidance to solve the above-mentioned problems. Summary of the invention

[0005] 1. Technical issues to be solved

[0006] In view of the deficiencies in the prior art, the present invention provides a workpiece processing equipment based on vision guidance, which solves the problem that the visual acquisition camera cannot capture the accurate image of the inner wall of the borehole due to the spraying of lubricating oil during drilling, and selects different heating treatment methods according to different drilling types, thereby avoiding the adverse effects of hot oil vapor on image acquisition, improving the quality of drilling image acquisition, and avoiding the failure of drilling forming without being detected in time, resulting in a large amount of man-hours being wasted.

[0007] (II) Technical solution

[0008] To achieve the above objectives, the present invention is implemented through the following technical solutions: a workpiece processing device based on vision guidance, comprising a linear moving platform and a rotating mechanical arm, the sliding table of the linear moving platform is bolted with a rotating mechanical arm, the wrist of the rotating mechanical arm is equipped with a multi-hole drilling probe, the multi-hole drilling probe comprises an outer frame, a rotating motor, a motor gear, an outer fixing assembly, a movable tube assembly, a camera assembly and a sealing expansion bag assembly, the rotating motor is installed on the rear side wall of the outer frame at the left side, the motor gear is installed on the movable end of the rotating motor, the outer fixing assembly is installed in the middle position of the outer frame through a bearing, and the movable tube assembly is arranged inside the outer fixing assembly;

[0009] The external fixing assembly includes an external fixing tube, a limiting tube sleeve, an inner gear ring and a rotating gear, wherein the rotating gear is fixedly mounted on the rear side wall of the external fixing tube, the rotating gear cooperates with the motor gear, the limiting tube sleeve is fixed inside the external fixing tube, the inner gear ring is fixedly mounted on the inner side wall of the external fixing tube near the front end, and the camera assembly is arranged in the notch of the limiting tube sleeve;

[0010] The movable pipe assembly includes a suction cylinder, a plurality of connecting rods, an external hot air pipe, a suction pipe, a sliding sleeve and a transmission gear. The plurality of connecting rods are distributed in a circular array and fixedly connected to the rear side of the rear wall of the suction cylinder. The external hot air pipe is fixedly connected to the other end of the plurality of connecting rods. The suction pipe is fixedly connected to the middle position of the rear wall of the suction cylinder. The transmission gear is installed on the outer side wall of the external hot air pipe through a bearing. The transmission gear is meshed with an inner gear ring. The sliding sleeve is arranged inside the limiting pipe sleeve.

[0011] Preferably, the camera assembly includes an adjustment frame, a camera mounting frame, a miniature visual sensor, two camera gears, a camera adjustment gear frame and a reset spring. The camera mounting frame is fixedly connected in a limiting tube sleeve, the two camera gears are fixed to the two side walls of the miniature visual sensor and are pin-connected to the adjustment frame, the adjustment frame is limitedly slidably connected in the limiting tube sleeve and is fixed in the limiting tube sleeve by a reset spring, and the camera adjustment gear frame is meshed with the two camera gears.

[0012] Preferably, the movable pipe assembly further comprises an adjusting convex plate, the adjusting convex plate is fixedly connected to the outer side wall of the outer hot air pipe, and the adjusting convex plate is arranged at the front side of the adjusting frame and cooperates with the adjusting frame.

[0013] Preferably, the sealing expansion bag assembly includes an expansion sealing bag and an elastic fixing part, the expansion sealing bag is fixedly connected to the front side wall of the transmission gear, a plurality of oblique air holes distributed in a circular array are opened on the outer wall of the expansion sealing bag near the front end, and outer openings of the plurality of oblique air holes are fixed to the outside, the elastic fixing part is fixed on the front side of the expansion sealing bag, and a plurality of straight air holes distributed in a circular array are opened in the middle position of the outer wall of the elastic fixing part.

[0014] Preferably, an expansion sealing bag is installed on the outer side wall of the suction cylinder, and the expansion sealing bag is directly opposite to the connection between the elastic fixing piece and the expansion sealing bag.

[0015] Preferably, a limiting convex plate is fixedly connected to the middle position of the outer side wall of the external hot air pipe, a flow storage cavity is opened inside the external fixed pipe and behind the limiting convex plate, and a water flow pipe is connected to the left side wall of the external fixed pipe.

[0016] Preferably, a hot air connecting pipe is fixedly connected to the upper side wall of the external hot air pipe, and a hot air hose is fixedly connected to the other end of the hot air connecting pipe.

[0017] Preferably, a suction hose is connected to the rear end of the suction pipe.

[0018] (III) Beneficial effects

[0019] The present invention provides a workpiece processing device based on visual guidance. It has the following technical points and

[0020] Beneficial effects:

[0021] The device can effectively prevent the interference of small droplets of cooling oil attached to the hole wall on the visual acquisition system, and adopts different processing methods according to different drilling hole types, so that both through holes and non-through holes can be effectively solved by this device. If the drilled hole is a through hole, hot air enters the expansion sealing bag through the external hot air pipe, so that the expansion sealing bag expands rapidly, and the expansion sealing bag is close to the inner wall of the drilled hole. Then the hot air injection speed is reduced to keep the hot air rate entering the sealed expansion bag component and flowing out of the sealed expansion bag component balanced, and the dry hot air will be blown out from the oblique air hole and the straight air hole. The hot air is blown out from the straight air hole to dry the lubricating oil attached to the hole wall, and the hot air blown out from the oblique air hole dries the lubricating oil and evaporates the hot oil vapor from the other side of the drilled hole. The expansion sealing bag is blown out from one end, and at the same time, it is close to the hole wall to prevent the hot oil vapor from overflowing to the front side of the borehole and preventing the hot oil vapor from adhering to the lens surface of the micro-vision sensor. If the borehole is detected as a non-through hole, the expansion sealing bag is activated to seal the expansion sealing bag and the elastic fixing part. At this time, after the hot air enters through the external hot air pipe, it will only be blown out from the inclined air holes. The hot air blown out through the inclined air holes acts on the hole wall, causing the inside of the borehole to heat up rapidly, and the expansion sealing bag can prevent heat from overflowing, thereby increasing the heating speed of the borehole. At the same time, the suction hose is connected to the suction fan. When the suction fan works, the evaporated hot oil vapor is sucked into the suction tube from the straight air holes of the elastic fixing part, and discharged through the suction pipe, thereby avoiding the problem of hot oil vapor being unable to be discharged. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the structure of the present invention;

[0023] Figure 2 A top view of the present invention;

[0024] Figure 3 A schematic diagram of a multi-hole drilling exploration device according to the present invention;

[0025] Figure 4 A top view of a multi-hole drilling probe of the present invention;

[0026] Figure 5 for Figure 4 Sectional view along AA;

[0027] Figure 6 It is a structural schematic diagram of the multi-hole drilling prospector of the present invention;

[0028] Figure 7 for Figure 6 A top view of

[0029] Figure 8 for Figure 7 Isometric section view along BB;

[0030] Fig. 9 for Figure 8 The enlarged schematic diagram of the center C;

[0031] Fig.10 for Figure 8 Enlarged schematic diagram of point D in the middle.

[0032] Among them, 1. linear moving platform; 2. rotating mechanical arm; 3. multi-hole drilling exploration device; 31. external frame; 32. rotating motor; 33. motor gear; 34. external fixing assembly; 35. suction hose; 36. hot air hose; 37. water flow pipeline; 38. camera assembly; 39. movable tube assembly; 40. sealing expansion bag assembly;

[0033] 341, external fixing tube; 342, fluid storage chamber; 343, rotating gear; 344, inner gear ring; 345, limiting sleeve;

[0034] 381. Adjustment frame; 382. Camera mounting frame; 383. Micro vision sensor; 384. Camera gear; 385. Camera adjustment gear frame; 386. Return spring;

[0035] 391. air suction tube; 392. external hot air pipe; 393. expansion sealing bag; 394. air suction pipe; 395. adjusting convex plate; 396. limiting convex plate; 397. sliding sleeve; 398. transmission gear; 399. hot air connecting pipe; 3910. connecting rod;

[0036] 401, expansion sealing bag; 402, oblique air hole; 403, elastic fixing member; 404, straight air hole. DETAILED DESCRIPTION

[0037] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0038] Embodiment 1:

[0039] like Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5As shown, an embodiment of the present invention provides a workpiece processing device based on vision guidance, including a linear moving platform 1 and a rotating mechanical arm 2, the sliding table of the linear moving platform 1 is bolted with the rotating mechanical arm 2, the wrist of the rotating mechanical arm 2 is installed with a multi-hole drilling probe 3, the multi-hole drilling probe 3 includes an outer frame 31, a rotating motor 32, a motor gear 33, an outer fixing component 34, a movable tube component 39, a camera component 38 and a sealing expansion bag component 40, the rotating motor 32 is installed on the rear side wall of the outer frame 31 at the left side, the motor gear 33 is installed on the movable end of the rotating motor 32, the outer fixing component 34 is installed at the middle position of the outer frame 31 through a bearing, and the movable tube component 39 is arranged inside the outer fixing component 34. The arm 2 aligns the multi-hole drilling probe 3 with the drilling position of the workpiece, and then the linear moving platform 1 drives the rotating mechanical arm 2 and the multi-hole drilling probe 3 to move in the drilling direction. The camera assembly 38 includes an adjustment frame 381, a camera mounting frame 382, ​​a micro visual sensor 383, two camera gears 384, a camera adjustment gear frame 385 and a reset spring 386. The camera mounting frame 382 is fixedly connected in the limiting sleeve 345, and the two camera gears 384 are fixed to the two side walls of the micro visual sensor 383 and are pin-connected to the adjustment frame 381. The adjustment frame 381 is limitedly slidably connected in the limiting sleeve 345 and fixed in the limiting sleeve 345 by the reset spring 386. The camera adjustment gear frame 385 and the two camera gears 384 are fixed to the two side walls of the micro visual sensor 383 and are pin-connected to the adjustment frame 381. 84 meshing, the middle position of the outer wall of the outer hot air pipe 392 is fixedly connected to the limiting convex plate 396, the inner part of the outer fixed pipe 341 and located at the rear side of the limiting convex plate 396 is provided with a flow storage chamber 342, the left side wall of the outer fixed pipe 341 is connected with a water flow pipe 37, the middle position of the outer wall of the outer hot air pipe 392 is fixedly connected to the limiting convex plate 396, the inner part of the outer fixed pipe 341 and located at the rear side of the limiting convex plate 396 is provided with a flow storage chamber 342, the left side wall of the outer fixed pipe 341 is connected with a water flow pipe 37, and then the water stored in the flow storage chamber 342 is pumped out from the water flow pipe 37, the movable pipe assembly 39 moves along the rear side of the outer fixed assembly 34, the adjusting convex plate 395 drives the adjusting frame 381 and the camera adjusting gear frame 385 to move backward, Driven by the camera adjustment gear rack 385, the micro vision sensor 383 rotates so that the micro vision sensor 383 faces the drill hole, and the bottom of the drill hole is photographed by the micro vision sensor 383 to determine whether the drill hole is a through hole (the micro vision sensor 383 mainly obtains image information in the hole wall and extracts key features in the image, such as shape, color and texture, and the micro vision sensor mainly completes the image acquisition work in the visual system. After the image acquisition is completed, the detection result is output after preprocessing by the digital signal processor, feature extraction of the image processing chip and image analysis by the computer. The micro vision sensor 383 is an existing technology. In this technical solution, only the existing technology of the micro vision sensor 383 is used.I will not go into detail here).

[0040] like Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 and Fig.10 As shown, the external fixing component 34 includes an external fixing tube 341, a limiting tube sleeve 345, an inner gear ring 344 and a rotating gear 343. The rotating gear 343 is fixedly installed on the rear side wall of the external fixing tube 341. The rotating gear 343 is used in conjunction with the motor gear 33. The limiting tube sleeve 345 is fixed inside the external fixing tube 341. The inner gear ring 344 is fixedly installed on the inner side wall of the external fixing tube 341 near the front end. The camera component 38 is arranged in the notch of the limiting tube sleeve 345. The rotating motor 32 will drive the motor gear 33 to rotate, and the motor gear 33 will drive the external fixing component 34 to rotate slowly, thereby photographing the surroundings of the hole wall, and then collecting the hole wall image information to determine whether there are burrs, cracks and other undesirable phenomena on the hole wall.

[0041] like Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 and Fig. 9 As shown, the movable tube assembly 39 includes a suction tube 391, a plurality of connecting rods 3910, an external hot air pipe 392, a suction pipe 394, a sliding sleeve 397 and a transmission gear 398. The plurality of connecting rods 3910 are distributed in a circular array and fixedly connected to the rear side of the rear wall of the suction tube 391. The external hot air pipe 392 is fixedly connected to the other end of the plurality of connecting rods 3910. The suction pipe 394 is fixedly connected to the middle position of the rear side wall of the suction tube 391. The transmission gear 398 is installed on the outer wall of the external hot air pipe 392 through a bearing. The transmission gear 398 is meshed with the inner gear ring 344. The sliding sleeve 397 is arranged inside the limiting pipe sleeve 345. The hot air enters the expansion sealing bag 401 through the external hot air pipe 392, so that the expansion sealing bag 401 expands rapidly.

[0042] like Figure 4 and Figure 5 As shown, the movable tube assembly 39 also includes an adjusting convex plate 395, which is fixedly connected to the outer wall of the outer hot air tube 392. The adjusting convex plate 395 is arranged on the front side of the adjusting frame 381 and cooperates with the adjusting frame 381. The adjusting convex plate 395 drives the adjusting frame 381 and the camera adjusting gear frame 385 to move toward the rear side. Driven by the camera adjusting gear frame 385, the micro visual sensor 383 rotates so that the micro visual sensor 383 is facing the drill hole, and the bottom of the drill hole is photographed by the micro visual sensor 383.

[0043] Embodiment 2:

[0044] like Figure 2 , Figure 3 , Figure 4 and Figure 5 As shown, this embodiment provides another implementation scheme based on the first embodiment, the sealing expansion bag assembly 40 includes an expansion sealing bag 401 and an elastic fixing member 403, the expansion sealing bag 401 is fixedly connected to the front side wall of the transmission gear 398, the outer wall of the expansion sealing bag 401 is provided with a plurality of oblique air holes 402 distributed in a circular array near the front end, the outer openings of the plurality of oblique air holes 402 face the external fixed tube 341, the elastic fixing member 403 is fixed on the front side of the expansion sealing bag 401, the middle position of the outer wall of the elastic fixing member 403 is provided with a plurality of straight air holes 404 distributed in a circular array, the upper side wall of the external hot air pipe 392 is fixedly connected with a hot air connecting pipe 399, the other end of the hot air connecting pipe 399 is fixedly connected with a hot air hose 36, when the drilling hole type is judged to be a through hole, water is re-injected into the storage chamber 342 through the water flow pipe 37, and then the expansion bag assembly is sealed. 40 and the camera assembly 38 are reset, and the hot air pump connected to the hot air hose 36 quickly injects dry hot air into the external hot air pipe 392. At this time, the hot air enters the expansion sealing bag 401 through the external hot air pipe 392, so that the expansion sealing bag 401 expands rapidly, so that the expansion sealing bag 401 is close to the inner wall of the borehole, and then the hot air injection speed is reduced to keep the hot air rate entering the sealed expansion bag assembly 40 and flowing out of the sealed expansion bag assembly 40 balanced, and the dry hot air will be blown out from the oblique air hole 402 and the straight air hole 404. The hot air is blown out from the straight air hole 404 to dry the lubricating oil attached to the hole wall, and the hot air blown out from the oblique air hole 402 dries the lubricating oil and evaporates the hot oil vapor into which it is blown out from the other end of the borehole. At the same time, the expansion sealing bag 401 close to the hole wall can prevent the hot oil vapor from overflowing to the front side of the borehole, and prevent the hot oil vapor from adhering to the lens surface of the micro visual sensor 383.

[0045] Embodiment three:

[0046] like Figure 2 , Figure 7 , Figure 8 , Fig. 9As shown, this embodiment provides another technical solution based on the first and second embodiments. An expansion sealing bag 393 is installed on the outer wall of the suction tube 391. The expansion sealing bag 393 is opposite to the connection between the elastic fixing piece 403 and the expansion sealing bag 401. The rear end of the suction tube 394 is connected to the suction hose 35. If it is detected that the drill hole is not a through hole, the expansion sealing bag 393 is started to seal the expansion sealing bag 401 and the elastic fixing piece 403. At this time, after the hot air enters through the external hot air pipe 392, it will only be blown out from the oblique air hole 402. The hot air blown out through the oblique air hole 402 acts on the hole wall, so that the inside of the drill hole heats up quickly, and the expansion sealing bag 401 can prevent heat from overflowing, thereby increasing the heating speed of the drill hole. At the same time, the suction hose 35 is connected to the suction fan. When the suction fan works, the evaporated hot oil vapor is sucked into the suction tube 391 from the straight air hole 404 of the elastic fixing piece 403. When the porous drilling probe 3 reaches the bottom of the borehole, the hot air injection is stopped, so that the expansion sealing bag 401 no longer expands, and the water stored in the flow storage chamber 342 is pumped out from the water flow pipe 37 again, and the movable tube assembly 39 moves along the rear side of the external fixing assembly 34. When the movable tube assembly 39 moves to the rear side, the sealing expansion bag assembly 40 is received in the limiting sleeve 345, and the adjusting convex plate 395 drives the adjusting frame 381 and the camera adjusting gear frame 385 to move to the rear side. Driven by the camera adjusting gear frame 385, the micro visual sensor 383 rotates so that the micro visual sensor 383 faces the borehole, and the bottom of the borehole is photographed by the micro visual sensor 383, so that the bottom image of the non-penetrating borehole can be collected, and all the image collection work inside the non-penetrating borehole is completed.

[0047] Working principle: Use the rotating mechanical arm 2 to align the multi-hole drilling probe 3 with the drilling position of the workpiece, then the linear moving platform 1 drives the rotating mechanical arm 2 and the multi-hole drilling probe 3 to move in the drilling direction, then the water stored in the flow storage chamber 342 is pumped out from the water flow pipe 37, and the movable tube assembly 39 moves along the rear side of the external fixing assembly 34. At this time, since no hot air is injected into the sealing expansion bag assembly 40, the expansion sealing bag 401 is in a collapsed state, and when the movable tube assembly 39 moves to the rear side, the sealing expansion bag assembly 40 is stored in the limiting sleeve 345, and the adjusting convex plate 395 drives the adjusting frame 381 and the camera adjusting gear frame 385 to move to the rear side. Driven by the camera adjusting gear frame 385, the micro vision The sensor 383 rotates so that the micro vision sensor 383 faces the borehole, and the bottom of the borehole is photographed by the micro vision sensor 383 to determine whether the borehole is a through hole. Since the bottom of the through hole is transparent, if the borehole is a through hole, the bottom of the borehole photographed by the micro vision sensor 383 is highlighted, and if the borehole is not a through hole, the bottom of the borehole photographed by the micro vision sensor 383 is gray. Based on this phenomenon, it is possible to determine whether the borehole is a through hole by taking a picture of the bottom of the borehole by the micro vision sensor 383, and determine the depth of the borehole by the visual processing system. When the borehole type is determined, water is re-injected into the flow storage chamber 342 through the water flow pipe 37, and then the sealed expansion bladder assembly 40 and the camera assembly 38 are reset. If the borehole is a through hole, The hot air pump connected to the hot air hose 36 quickly injects dry hot air into the external hot air pipe 392. At this time, the hot air enters the expansion sealing bag 401 through the external hot air pipe 392, so that the expansion sealing bag 401 expands rapidly, and the expansion sealing bag 401 is close to the inner wall of the borehole. Then the hot air injection speed is reduced to keep the hot air rate entering the sealed expansion bag assembly 40 and flowing out of the sealed expansion bag assembly 40 balanced, and the dry hot air will be blown out from the oblique air hole 402 and the straight air hole 404. The hot air is blown out from the straight air hole 404 to dry the lubricating oil attached to the hole wall, and the hot air blown out from the oblique air hole 402 dries the lubricating oil and evaporates it into hot oil vapor and blows it out from the other end of the borehole. At the same time, the expansion sealing bag 401 close to the hole wall can prevent the hot oil from evaporating. The steam overflows to the front side of the borehole to prevent the hot oil steam from adhering to the lens surface of the micro visual sensor 383, and the rotating motor 32 will drive the motor gear 33 to rotate, and the motor gear 33 will drive the external fixing component 34 to rotate slowly, thereby photographing the surroundings of the borehole wall, and then collecting the image information of the borehole wall to determine whether there are burrs, cracks and other undesirable phenomena on the borehole wall. If the borehole is detected to be a non-through hole, the expansion sealing bag 393 is started to seal the expansion sealing bag 401 and the elastic fixing part 403. At this time, after the hot air enters through the external hot air pipe 392, it will only be blown out from the oblique air hole 402. The hot air blown out through the oblique air hole 402 acts on the hole wall, causing the inside of the borehole to heat up rapidly, and the expansion sealing bag 401 can prevent heat from overflowing, thereby increasing the heating speed of the borehole.At the same time, the suction hose 35 is connected to the suction fan. When the suction fan works, the evaporated hot oil vapor is sucked into the suction cylinder 391 from the straight air hole 404 of the elastic fixing member 403, and discharged through the suction pipe 394, which can avoid the problem that the hot oil vapor cannot be discharged. When the multi-hole drilling exploration device 3 reaches the bottom of the borehole, the hot air injection is stopped, so that the expansion sealing bag 401 no longer expands, and at the same time, the water stored in the storage chamber 342 is pumped out from the water flow pipe 37 again, and the movable pipe assembly 39 moves along the rear side of the outer fixing assembly 34. When the movable tube assembly 39 moves backward, the sealing expansion bag assembly 40 is stored in the limiting tube sleeve 345, and the adjusting convex plate 395 drives the adjusting frame 381 and the camera adjusting gear frame 385 to move backward. Driven by the camera adjusting gear frame 385, the micro vision sensor 383 rotates so that the micro vision sensor 383 faces the borehole. The micro vision sensor 383 captures the bottom of the borehole, and then the bottom image of the non-penetrating borehole can be collected, completing all the image collection work inside the non-penetrating borehole.

[0048] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A workpiece processing device based on vision guidance, comprising a linear moving platform (1) and a rotating mechanical arm (2), characterized in that: A rotating mechanical arm (2) is bolted to the slide of the linear moving platform (1), and a multi-hole drilling probe (3) is installed on the wrist of the rotating mechanical arm (2). The multi-hole drilling probe (3) comprises an outer frame (31), a rotating motor (32), a motor gear (33), an outer fixing assembly (34), a movable tube assembly (39), a camera assembly (38) and a sealing expansion bag assembly (40). The rotating motor (32) is installed on the left side of the rear side wall of the outer frame (31), the motor gear (33) is installed on the movable end of the rotating motor (32), the outer fixing assembly (34) is installed at the middle position of the outer frame (31) through a bearing, and the movable tube assembly (39) is arranged inside the outer fixing assembly (34); The external fixing assembly (34) comprises an external fixing tube (341), a limiting tube sleeve (345), an inner gear ring (344) and a rotating gear (343); the rotating gear (343) is fixedly mounted on the rear side wall of the external fixing tube (341); the rotating gear (343) is used in conjunction with the motor gear (33); the limiting tube sleeve (345) is fixed inside the external fixing tube (341); the inner gear ring (344) is fixedly mounted on the inner side wall of the external fixing tube (341) at a position close to the front end; and the camera assembly (38) is arranged in a notch of the limiting tube sleeve (345); The movable pipe assembly (39) includes a suction cylinder (391), a plurality of connecting rods (3910), an external hot air pipe (392), a suction pipe (394), a sliding sleeve (397) and a transmission gear (398). The plurality of connecting rods (3910) are distributed in a circular array and fixedly connected to the rear side of the rear wall of the suction cylinder (391). The external hot air pipe (392) is fixedly connected to the other end of the plurality of connecting rods (3910). The suction pipe (394) is fixedly connected to the middle position of the rear side wall of the suction cylinder (391). The transmission gear (398) is installed on the outer side wall of the external hot air pipe (392) through a bearing. The transmission gear (398) is meshed with the inner gear ring (344). The sliding sleeve (397) is arranged inside the limiting pipe sleeve (345).

2. The workpiece processing equipment based on vision guidance according to claim 1 is characterized in that: The camera assembly (38) comprises an adjustment frame (381), a camera mounting frame (382), a micro vision sensor (383), two camera gears (384), a camera adjustment gear frame (385) and a reset spring (386); the camera mounting frame (382) is fixedly connected in a position limiting sleeve (345); the two camera gears (384) are fixed to two side walls of the micro vision sensor (383) and are pin-connected to the adjustment frame (381); the adjustment frame (381) is position limiting and slidably connected in the position limiting sleeve (345) and is fixed in the position limiting sleeve (345) by a reset spring (386); and the camera adjustment gear frame (385) is meshed with the two camera gears (384).

3. The workpiece processing equipment based on vision guidance according to claim 2 is characterized in that: The movable pipe assembly (39) further comprises an adjusting convex plate (395), wherein the adjusting convex plate (395) is fixedly connected to the outer side wall of the outer hot air pipe (392), and the adjusting convex plate (395) is arranged on the front side of the adjusting frame (381) and cooperates with the adjusting frame (381).

4. The workpiece processing equipment based on vision guidance according to claim 1, characterized in that: The sealing expansion bag assembly (40) includes an expansion sealing bag (401) and an elastic fixing member (403). The expansion sealing bag (401) is fixedly connected to the front side wall of the transmission gear (398). The outer wall of the expansion sealing bag (401) is provided with a plurality of oblique air holes (402) distributed in a circular array at the front end. The outer openings of the plurality of oblique air holes (402) face the external fixed tube (341). The elastic fixing member (403) is fixed to the front side of the expansion sealing bag (401). The middle position of the outer wall of the elastic fixing member (403) is provided with a plurality of straight air holes (404) distributed in a circular array.

5. The workpiece processing equipment based on vision guidance according to claim 4 is characterized in that: An expansion sealing bag (393) is installed on the outer side wall of the air suction cylinder (391), and the expansion sealing bag (393) is directly opposite to the connection between the elastic fixing member (403) and the expansion sealing bag (401).

6. The workpiece processing equipment based on vision guidance according to claim 1, characterized in that: A limiting convex plate (396) is fixedly connected to the middle position of the outer wall of the external hot air pipe (392), a flow storage chamber (342) is provided inside the external fixed pipe (341) and at the rear side of the limiting convex plate (396), and a water flow pipe (37) is connected to the left side wall of the external fixed pipe (341).

7. The workpiece processing equipment based on vision guidance according to claim 1, characterized in that: The upper side wall of the external hot air pipe (392) is fixedly connected to a hot air connecting pipe (399), and the other end of the hot air connecting pipe (399) is fixedly connected to a hot air hose (36).

8. The workpiece processing equipment based on vision guidance according to claim 1, characterized in that: The rear end of the air suction pipe (394) is connected to an air suction hose (35).

Images