Cylindrical metal workpiece drilling system and method based on machine vision

Abstract

A cylindrical metal workpiece drilling system based on machine vision comprises a conveying device, a jacking, rotating and clamping device and a drilling device, and the conveying device and the jacking, rotating and clamping device are arranged in a crossed mode in space and used for directly conveying a workpiece to a station of the jacking, rotating and clamping device at a time; the jacking and rotating clamping device is used for executing a jacking action to enable the workpiece to be separated from a conveying surface after the workpiece is in place through the conveying device, and driving the workpiece to be accurately positioned in the circumferential direction and reliably clamped according to coordinate information provided by the drilling device; the drilling device is used for automatically recognizing and positioning the plane coordinates of the prefabricated holes, conducting redundancy confirmation on recognition accuracy, executing drilling depth parameter compensation and meanwhile providing hole position mechanical limiting redundancy protection. The problems that workpieces need to be carried and positioned for multiple times, hole site recognition automation and reliability are insufficient, and the drilling depth control precision is poor due to size errors and drill bit abrasion can be effectively solved, and the reliability and safety of equipment are remarkably improved.

Description

Technical Field

[0001] The present invention relates to the technical field of metal material processing, in particular to a cylindrical metal workpiece drilling system based on machine vision, and also to a processing method of the cylindrical metal workpiece drilling system based on machine vision. Background Art

[0002] In the metalworking industry, drilling equipment operates in two main modes: pre-programmed drilling and feature-recognition drilling. The former is well-established in single-part machining, while the latter is specialized for secondary machining of assemblies (after parts assembly). The degree of automation varies depending on the industry's application scenarios. Feature-recognition drilling is commonly used in the high-risk environment of energetic material processing. Due to the extreme demands placed on drilling positioning accuracy, hole depth control precision, intrinsic safety levels, and system operational reliability, manual hole position identification and subsequent drilling are commonly used to ensure safe drilling operations. However, this mode not only presents significant technical bottlenecks due to low manual operation efficiency, but also introduces subjective measurement errors in tool wear due to manual intervention, affecting drilling depth control. This makes it difficult to meet the fundamental requirements of intrinsic safety and urgently requires upgrading through automated intelligent drilling technology. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to address the shortcomings of the existing technology and provide a cylindrical metal workpiece drilling system based on machine vision, which can effectively solve the problems of multiple handling and positioning of workpieces, insufficient automation and reliability of hole position identification, and poor drilling depth control accuracy caused by dimensional errors and drill bit wear, thereby significantly improving the reliability, safety and adaptability of the equipment to complex working conditions.

[0004] Another technical problem to be solved by the present invention is to provide a drilling method for the cylindrical metal workpiece drilling system based on machine vision.

[0005] The technical problem to be solved by the present invention is achieved through the following technical solution. The present invention is a cylindrical metal workpiece drilling system based on machine vision, which includes a conveying device (1), a lifting and rotating clamping device (2) and a drilling device (3). The conveying device (1) and the lifting and rotating clamping device (2) are arranged crosswise in space, and are used to directly convey the workpiece to the lifting and rotating clamping device (2) workstation at one time; The lifting and rotating clamping device (2) is used to perform a lifting action to separate the workpiece from the conveying surface after the workpiece is positioned by the conveying device (1), and to drive the workpiece to be accurately positioned in the circumferential direction and to implement reliable clamping according to the coordinate information provided by the drilling device (3); The drilling device (3) is used to automatically identify the plane coordinates of the prefabricated hole, perform redundant confirmation of the identification accuracy, and perform drilling depth parameter compensation, while providing mechanical limit redundant protection for the hole position.

[0006] The technical problem to be solved by the present invention can be further achieved by the following technical solution. For the cylindrical metal workpiece drilling system based on machine vision described above, the conveying device (1) includes a track (10), a gantry RGV (11) and a carrying pallet (12). The track (10) is used to constrain the walking route of the gantry RGV (11), the gantry RGV (11) is used to transport the workpiece, and the carrying pallet (12) is installed on the gantry RGV (11) to place the workpiece and protect the safety of the workpiece during transportation.

[0007] The technical problem to be solved by the present invention can also be further achieved by the following technical solution. For the cylindrical metal workpiece drilling system based on machine vision described above, the lifting and rotating clamping device (2) includes a chuck X-axis servo mechanism (20), a chuck clamping and rotating mechanism (21), a production X-axis adjustment mechanism (22), a chuck auxiliary lifting cylinder (23), a main lifting cylinder (24) and an auxiliary clamping cylinder (25). The chuck clamping and rotating mechanism (21) comprises a pneumatic chuck (210), a chuck mounting seat (211) and a chuck rotating servo motor (212), and is used to realize the clamping and rotating function of the chuck; the pneumatic chuck (210) and the chuck rotating servo motor (212) are both mounted on the chuck mounting seat (211), and the chuck rotating servo motor (212) is transmission-connected to the pneumatic chuck (210); The chuck X-axis servo mechanism (20) comprises a clamping end base (200), a chuck linear rail (201), a chuck slider (202), a chuck slide plate (203), a chuck ball screw (204) and a chuck linear servo motor (205), and is used to realize the movement and positioning of the chuck clamping rotation mechanism (21) along the X-axis direction; the chuck linear rail (201) is mounted on the clamping end base (200), the chuck slider (202) and the chuck mounting seat (211) are mounted on the chuck slide plate (203), and a photoelectric sensor (26) for detecting the end face of the workpiece to complete the initial position detection is also mounted on the chuck slide plate (203); The production change X-axis adjustment mechanism (22) includes a production change mechanism base (220), a production change rail (221), a production change slider (222), a production change slide plate (223), a production change ball screw (224), a synchronous pulley (225) and a hand wheel (226), which are used to realize the movement and positioning of the chuck along the X-axis direction; the production change rail (221) is fixedly installed on the production change mechanism base (220), the production change slide plate (223) is slidably arranged on the production change rail (221) through the production change slider (222), the production change ball screw (224) is rotatably installed on the production change mechanism base (220) and is threadedly connected to the production change slide plate (223), and the hand wheel (226) is transmission-connected to the production change ball screw (224) through the synchronous pulley (225); The chuck auxiliary lifting cylinder (23) is mounted on the clamping end base (200), and the main lifting cylinder (24) and the auxiliary clamping cylinder (25) are mounted on the production change slide plate (223).

[0008] The technical problem to be solved by the present invention can be further achieved by the following technical solution: for the cylindrical metal workpiece drilling system based on machine vision described above, the drilling device (3) includes an X-axis servo mechanism (30), a Y-axis servo mechanism (31), a Z-axis servo mechanism (32) and a drilling mechanism (33), The X-axis servo mechanism (30) comprises a drilling base (300), an X-axis hard rail (301), an X-axis slider (302), an X-axis slide plate (303), an X-axis screw rod (304) and an X-axis servo motor (305), wherein the X-axis hard rail (301) is mounted on the drilling base (300), the X-axis screw rod (304) and the X-axis servo motor (305) are mounted on the X-axis hard rail (301), the X-axis slider (302) is mounted on the X-axis slide plate (303), and the X-axis servo motor (305) drives the X-axis slide plate (303) to move along the X-axis direction via the X-axis screw rod (304); The Y-axis servo mechanism (31) comprises a Y-axis hard rail (310), a Y-axis slider (311), a Y-axis slide plate (312), a Y-axis screw rod (313) and a Y-axis servo motor (314), wherein the Y-axis slider (311) is mounted on the X-axis slide plate (303), the Y-axis slide plate (312), the Y-axis screw rod (313) and the Y-axis servo motor (314) are mounted on the Y-axis hard rail (310), and the Y-axis servo motor (314) drives the Y-axis slide plate (312) to move along the Y-axis direction via the Y-axis screw rod (313); The Z-axis servo mechanism (32) comprises a Z-axis rail (320), a Z-axis slider (321), a Z-axis slide plate (322), a Z-axis screw rod (323) and a Z-axis servo motor (324); the Z-axis rail (320) and the Z-axis servo motor (324) are mounted on the Y-axis slide plate (312); the Z-axis slider (321) is mounted on the Z-axis slide plate (322); the Z-axis servo motor (324) drives the Z-axis slide plate (322) to move along the Z-axis direction via the Z-axis screw rod (323); The drilling mechanism (33) comprises a drilling spindle head (330) and a drilling servo motor (331) for transmission connection with the drilling spindle head (330) to automatically adjust the drilling speed.

[0009] The technical problem to be solved by the present invention can be further achieved by the following technical solution. For the cylindrical metal workpiece drilling system based on machine vision described above, the drilling device (3) also includes a machine vision (34). The machine vision (34) is installed on the Z-axis servo mechanism (32) to identify the target hole coordinates and guide the X-axis servo mechanism (30) and the Y-axis servo mechanism (31) to accurately position.

[0010] The technical problem to be solved by the present invention can be further achieved by the following technical solution. For the cylindrical metal workpiece drilling system based on machine vision described above, the drilling device (3) further includes a tool setting electronic ruler (35). The tool setting electronic ruler (35) is installed on the X-axis hard rail (301) and is used to move through the Z-axis servo mechanism (32) to detect the tool wear on the drilling spindle head (330) so as to correct the hole depth error.

[0011] The technical problem to be solved by the present invention can be further achieved by the following technical solution. For the cylindrical metal workpiece drilling system based on machine vision described above, the drilling device (3) also includes a hole depth electronic ruler (36), which is installed on the Z-axis slide plate (322) and is used to move through the Z-axis servo mechanism (32) so that the hole depth electronic ruler (36) detects the surface height of the cylindrical metal workpiece to correct the hole depth error and also serves as a secondary confirmation of the accuracy of the prefabricated hole identified by the machine vision (34).

[0012] The technical problem to be solved by the present invention can also be further achieved through the following technical solutions. For the cylindrical metal workpiece drilling system based on machine vision described above, the drilling device (3) also includes an X-axis mechanical limit mechanism (37), the X-axis mechanical limit mechanism (37) includes an X-axis hard limit mounting bar (370), an X-axis hard limit adjustment block (371) and an X-axis limit proximity switch (372), the X-axis hard limit mounting bar (370) is installed on the X-axis hard rail (301), the X-axis hard limit adjustment block (371) is installed on the X-axis hard limit mounting bar (370), the X-axis limit proximity switch (372) is installed on the X-axis slide plate (303), and the X-axis hard limit adjustment block (371) is used to limit the single-direction movement position of the X-axis servo mechanism (30).

[0013] The technical problem to be solved by the present invention can also be further achieved through the following technical solutions. For the cylindrical metal workpiece drilling system based on machine vision described above, the drilling device (3) also includes a Z-axis mechanical limit mechanism (38), and the Z-axis mechanical limit mechanism (38) includes a Z-axis movable limit block (380), a Z-axis fixed limit block (381), and a Z-axis fixed limit block adjusting bolt (382). The Z-axis movable limit block (380) is installed on the Z-axis slide plate (322), the Z-axis fixed limit block (381) is installed on the Y-axis slide plate (312), and the Z-axis fixed limit block adjusting bolt (382) is installed on the Z-axis fixed limit block (381) for adjusting and limiting the height of the Z-axis descent.

[0014] The technical problem to be solved by the present invention can be further achieved by the following technical solutions. For the cylindrical metal workpiece drilling system based on machine vision described above, a cylindrical metal workpiece drilling method based on machine vision is provided, and the steps are as follows: In the first step, the drilling device (3) performs a self-check and measures the wear of the tool of the drilling spindle head (330) by using the tool setting electronic ruler (35); In the second step, the conveying device (1) automatically conveys the workpiece to the designated position and then stops; In the third step, the main lifting cylinder (24) and the chuck auxiliary lifting cylinder (23) of the lifting rotary clamping device (2) lift the workpiece off the conveying surface of the carrying tray (12); In the fourth step, the chuck X-axis servo mechanism (20) moves along the X-axis direction. When the photoelectric sensor (26) detects the end face of the workpiece, the workpiece initial position detection is completed. Then, the chuck X-axis servo mechanism (20) continues to move forward a fixed distance, the pneumatic chuck (210) clamps the workpiece, and the chuck auxiliary lifting cylinder (23) descends back to its original position. Finally, the chuck X-axis servo mechanism (20) pulls the workpiece to the set position. In the fifth step, after the X-axis servo mechanism (30), the Y-axis servo mechanism (31), and the Z-axis servo mechanism (32) are moved to the preset photographing position, the chuck rotation servo motor (212) drives the pneumatic chuck (210) to rotate. When the machine vision (34) recognizes the prefabricated hole: first, the chuck rotation servo motor (212) is guided to rotate the prefabricated hole to the top to complete the circumferential direction positioning. Secondly, the X-axis servo mechanism (30) and the Y-axis servo mechanism (31) are guided to move to the drilling position calibrated by the machine vision (34) to perform servo positioning in the circumferential direction and the X and Y planes of the hole. Step 6: According to the fixed positional relationship between the hole depth electronic ruler (36) and the machine vision (34), the X-axis servo mechanism (30) and the Y-axis servo mechanism (31) are driven to move the hole depth electronic ruler (36) to the top of the prefabricated hole, and the Z-axis servo mechanism (32) is moved along the Z-axis direction. The hole depth electronic ruler (36) measures the difference between the surface height of the workpiece and the depth of the prefabricated hole. When the difference is greater than a certain value, it indicates a real hole. When the difference is less than a certain range, it is determined to be an erroneous hole. The identified hole is reconfirmed to ensure the accuracy of the identification. In the seventh step, according to the fixed positional relationship between the drilling mechanism (33) and the machine vision (34), the drilling spindle head (330) is moved to the position directly above the prefabricated hole through the X-axis servo mechanism (30) and the Y-axis servo mechanism (31). At this time, the X-axis limit proximity switch (372) detects the X-axis hard limit adjustment block (371), and the X-axis limit proximity switch (372) and the X-axis servo mechanism (30) jointly verify the accuracy of the drilling position.

[0015] Compared with the prior art, the present invention has the following beneficial effects: 1. This invention uses machine vision to accurately identify prefabricated holes in workpieces, and uses an electronic hole depth ruler and X-axis limit proximity switch to provide secondary confirmation of the accuracy of prefabricated hole identification. A mechanical limit mechanism provides redundant safety protection for the X and Z axes. Compared with existing technologies, this solves the automation and reliability issues of hole position identification, and improves drilling accuracy and safety. 2. The present invention adopts a method of conveying workpieces across a gantry RGV lifting and rotating clamping device, and utilizes the spatial intersection of logistics conveying and lifting and rotating clamping devices to achieve one-time delivery of workpieces. It has the characteristics of compact structure and small footprint, and solves the problem of multiple handling required in the existing operation mode. 3. The present invention adopts the position feedback linkage control of dual electronic rulers and Z-axis servo, which solves the drilling depth error problem caused by workpiece size error and drill bit wear, and realizes precise control of hole depth accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A structural schematic diagram of the present invention; Figure 2 It is a schematic structural diagram of the conveying device of the present invention; Figure 3 It is a structural schematic diagram of the jacking and rotating clamping device of the present invention; Figure 4 Schematic diagram of the drilling device structure of the present invention Figure 1 ; Figure 5 Schematic diagram of the drilling device structure of the present invention Figure 2 ; The accompanying drawings are marked as follows: 1. Conveying device; 2. Lifting and rotating clamping device; 3. Drilling device; 10. Track; 11. Gantry RGV; 12. Carrying tray; 20. X-axis servo mechanism; 21. Chuck clamping and rotating mechanism; 22. X-axis adjustment mechanism for product change; 23. Chuck auxiliary lifting cylinder; 24. Main lifting cylinder; 25. Auxiliary clamping cylinder; 26. Opposing photoelectric sensor; 200. Clamping machine end base; 201. Chuck linear rail; 202, chuck slider; 203, chuck slide plate; 204, chuck ball screw; 205, chuck linear servo motor; 210, pneumatic chuck; 211, chuck mounting seat; 212, chuck rotary servo motor; 220, production change mechanism base; 221, production change linear rail; 222, production change slider; 223, production change slide plate; 224, production change ball screw; 225, synchronous pulley; 226, hand crank; 30. X-axis servo mechanism; 31. Y-axis servo mechanism; 32. Z-axis servo mechanism; 33. Drilling mechanism; 34. Machine vision; 35. Electronic tool ruler; 36. Electronic hole depth ruler; 37. X-axis mechanical limit mechanism; 38. Z-axis mechanical limit mechanism; 300. Drilling base; 301. X-axis hard rail; 302. X-axis slider; 303. X-axis slide plate; 304. X-axis lead screw; 305. X-axis servo motor; 310. Y-axis hard rail; 311. Y-axis slider; 312. Y-axis slider Table; 313, Y-axis lead screw; 314, Y-axis servo motor; 320, Z-axis axis rail; 321, Z-axis slider; 322, Z-axis slide plate; 323, Z-axis lead screw; 324, Z-axis servo motor; 330, drilling spindle head; 331, drilling servo motor; 370, X-axis hard limit mounting strip; 371, X-axis hard limit adjustment block; 372, X-axis limit proximity switch; 380, Z-axis movable limit block; 381, Z-axis fixed limit block; 382, ​​Z-axis fixed limit block adjustment bolt. DETAILED DESCRIPTION

[0017] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings 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 making creative efforts shall fall within the scope of protection of the present invention.

[0018] A machine vision-based cylindrical metal workpiece drilling system addresses the challenges of low automation, insufficient safety redundancy, and low processing efficiency in the high-risk environment of energetic material processing. Specifically: like Figure 1 As shown, the system mainly consists of a conveying device 1, a lifting and rotating clamping device 2 and a drilling device 3. The conveying device 1 and the lifting and rotating clamping device 2 overlap in space and are used to directly convey the workpiece to the lifting and rotating clamping device 2 station at one time; the lifting and rotating clamping device 2 is used to perform a lifting action to separate the workpiece from the conveying surface after the workpiece is in place through the conveying device 1, and drive the workpiece to perform precise positioning in the circumferential direction and implement reliable clamping according to the coordinate information provided by the drilling device 3; the drilling device 3 automatically identifies the plane coordinates of the prefabricated hole, performs redundant confirmation of the identification accuracy, and performs drilling depth parameter compensation, while providing redundant protection for mechanical limit of the hole position.

[0019] like Figure 2 As shown, the conveying device 1 includes a track 10, a gantry RGV 11, and a carrying pallet 12. The track is used to constrain the walking route of the gantry RGV 11, the gantry RGV 11 is used to transport workpieces, and the carrying pallet 12 is used to place workpieces. The conveying device 1 and the jacking and rotating clamping device 2 intersect in space, and are used for directly lifting and positioning the workpiece after the workpiece is transported into place.

[0020] like Figure 3 As shown, the lifting and rotating clamping device 2 includes a chuck X-axis servo mechanism 20, a chuck clamping and rotating mechanism 21, a product changing X-axis adjustment mechanism 22, a chuck auxiliary lifting cylinder 23, a main lifting cylinder 24, and an auxiliary clamping cylinder 25, which are used for lifting and axial positioning of the workpiece, achieving minimal change in the X-axis coordinate of the prefabricated hole positions of different workpieces, and solving the problem of axial stringing when the product is incoming.

[0021] Furthermore, the chuck X-axis servo mechanism 20 includes a clamping end base 200, a chuck linear rail 201, a chuck slider 202, a chuck slide plate 203, a chuck ball screw 204, and a chuck linear servo motor 205, which is used to move the chuck clamping rotating mechanism 21 along the X-axis direction, thereby realizing X-axis positioning of workpieces of different sizes.

[0022] Furthermore, the chuck linear rail 201 is mounted on the clamping end base 200 ; the chuck slider 202 , the chuck mounting seat 211 , and the through-beam photoelectric sensor 26 are mounted on the chuck slide plate 203 .

[0023] Furthermore, the chuck clamping and rotating mechanism 21 includes a pneumatic chuck 210, a chuck mounting seat 211, and a chuck rotation servo motor 212, which are used to realize the clamping and rotating function of the chuck.

[0024] Furthermore, the production changing X-axis adjustment mechanism 22 includes a production changing mechanism base 220, a production changing linear rail 221, a production changing slider 222, a production changing slide plate 223, a production changing ball screw 224, a synchronous pulley 225, and a hand wheel 226, which are used to move the production changing X-axis adjustment mechanism 22 along the X-axis direction to realize the adjustment setting of the workpiece lifting position.

[0025] like Figure 4 、 Figure 5 As shown, the drilling device 3 includes an X-axis servo mechanism 30, a Y-axis servo mechanism 31, a Z-axis servo mechanism 32, a drilling mechanism 33, a machine vision system 34, an electronic tool ruler 35, an electronic hole depth ruler 36, an X-axis mechanical limit mechanism 37, and a Z-axis mechanical limit mechanism 38.

[0026] The drilling device 3 uses machine vision 34 to identify the target hole coordinates, guides the X-axis servo mechanism 30 and the Y-axis servo mechanism 31 to accurately position, and performs the drilling operation through the Z-axis servo mechanism 32 and the drilling mechanism 33. The tool setting electronic ruler 35 is used to detect the wear of the tool, and the hole depth electronic ruler 36 is used to detect the height of the workpiece, which are jointly used to correct the drilling depth parameters; the X-axis mechanical limit mechanism 37 is used to limit the single-direction movement distance of the X-axis servo mechanism 30; the Z-axis mechanical limit mechanism 38 is used to limit the height of the Z-axis descent, providing safety redundant protection for the drilling position and depth.

[0027] Furthermore, the X-axis servo mechanism 30 includes a drilling base 300, an X-axis hard rail 301, an X-axis slider 302, an X-axis slide plate 303, an X-axis screw rod 304, and an X-axis servo motor 305. The X-axis hard rail 301 is installed on the drilling base 300; the X-axis screw rod 304 and the X-axis servo motor 305 are installed on the X-axis hard rail 301; the X-axis slider 302 is installed on the X-axis slide plate 303; the X-axis servo motor 305 drives the X-axis slide plate 303 to move along the X-axis direction through the X-axis screw rod 304.

[0028] Furthermore, the Y-axis servo mechanism 31 includes a Y-axis hard rail 310, a Y-axis slider 311, a Y-axis slide plate 312, a Y-axis screw 313, and a Y-axis servo motor 314. The Y-axis slider 311 is mounted on the X-axis slide plate 303; the Y-axis slide plate 312, the Y-axis screw 313, and the Y-axis servo motor 314 are mounted on the Y-axis hard rail 310; the Y-axis servo motor 314 drives the Y-axis slide plate 312 to move along the Y-axis direction via the Y-axis screw 313.

[0029] Furthermore, the Z-axis servo mechanism 32 includes a Z-axis axis rail 320, a Z-axis slider 321, a Z-axis slide plate 322, a Z-axis screw rod 323, and a Z-axis servo motor 324; the Z-axis axis rail 320 and the Z-axis servo motor 324 are installed on the Y-axis slide plate 312, and the Z-axis slider 321 is installed on the Z-axis slide plate 322; the Z-axis servo motor 324 drives the Z-axis slide plate 322 to move along the Z-axis direction through the Z-axis screw rod 323.

[0030] The drilling mechanism 33 includes a drilling spindle head 330 and a drilling servo motor 331 for automatically adjusting the drilling speed.

[0031] The machine vision 34 is installed on the Z-axis servo mechanism 32. The machine vision 34 identifies the coordinates of the target hole position and guides the X-axis servo mechanism 30 and the Y-axis servo mechanism 31 to accurately position.

[0032] The tool setting electronic ruler 35 is installed on the X-axis hard rail 301 and moves through the Z-axis servo mechanism 32 to detect the wear of the tool on the drilling spindle head 330 for correcting the hole depth error.

[0033] The hole depth electronic ruler 36 is installed on the Z-axis slide plate 322. The Z-axis servo mechanism 32 moves to enable the hole depth electronic ruler 36 to detect the surface height of the workpiece to correct the hole depth error and also serve as a secondary confirmation of the accuracy of the prefabricated hole identified by the machine vision 34.

[0034] Furthermore, the X-axis mechanical limit mechanism 37 includes an X-axis hard limit mounting bar 370, an X-axis hard limit adjustment block 371, and an X-axis limit proximity switch 372. The X-axis hard limit mounting bar 370 is installed on the X-axis hard rail 301, the X-axis hard limit adjustment block 371 is installed on the X-axis hard limit mounting bar 370, and the X-axis limit proximity switch 372 is installed on the X-axis slide plate 303. The X-axis hard limit adjustment block 371 is used to limit the single-direction movement position of the X-axis servo mechanism 30.

[0035] Furthermore, the Z-axis mechanical limit mechanism 38 includes a Z-axis movable limit block 380, a Z-axis fixed limit block 381, and a Z-axis fixed limit block adjusting bolt 382. The Z-axis movable limit block 380 is installed on the Z-axis slide plate 322; the Z-axis fixed limit block 381 is installed on the Y-axis slide plate 312; the Z-axis fixed limit block adjusting bolt 382 is installed on the Z-axis fixed limit block 381, which is used to adjust and limit the height of the Z-axis descent.

[0036] Before using the system, the operator sets the drilling depth, workpiece length, target drilling position, and number of holes to be drilled. Based on the hole depth and drilling position, the operator adjusts the X-axis hard limit adjustment block 371 and the Z-axis fixed limit adjustment bolt 382 so that the workpiece corresponds to a unique mechanical limit position. You can set multiple workpiece drilling process parameters at one time and select corresponding parameters according to different workpieces; After completing the above settings, the workflow is as follows: In the first step, the drilling device 3 performs a self-check and measures the wear of the tool of the drilling spindle head 330 by using the tool setting electronic ruler 35; In the second step, the conveying device 1 automatically conveys the workpiece to the designated position and then stops; In the third step, the main lifting cylinder 24 and the chuck auxiliary lifting cylinder 23 of the jacking rotary clamping device 2 lift the workpiece off the conveying surface of the carrying tray 12; In the fourth step, the chuck X-axis servo mechanism 20 moves along the X-axis direction. When the through-beam photoelectric sensor 26 detects the workpiece end face, the workpiece initial position detection is completed. Then, the chuck X-axis servo mechanism 20 continues to move forward a fixed distance, the pneumatic chuck 210 clamps the workpiece, and the chuck auxiliary lifting cylinder 23 descends back to its original position. Finally, the chuck X-axis servo mechanism 20 pulls the workpiece to the set position. In the fifth step, after the X-axis servo mechanism 30, Y-axis servo mechanism 31, and Z-axis servo mechanism 32 are moved to the preset shooting position, the chuck rotation servo motor 212 drives the pneumatic chuck 210 to rotate. When the machine vision 34 recognizes the prefabricated hole, first, the chuck rotation servo motor 212 is guided to rotate the prefabricated hole to the top to complete the circumferential positioning. Secondly, the X-axis servo mechanism 30 and Y-axis servo mechanism 31 are guided to move to the drilling position calibrated by the machine vision, thus achieving servo positioning of the hole in the circumferential direction and in the X and Y planes. Step 6: Based on the fixed positional relationship between the hole depth electronic ruler 36 and the machine vision system 34, the X-axis servo mechanism 30 and the Y-axis servo mechanism 31 are driven to move the hole depth electronic ruler 36 to the position directly above the prefabricated hole. The Z-axis servo mechanism 32 moves along the Z-axis direction. The hole depth electronic ruler 36 measures the difference between the workpiece surface height and the prefabricated hole depth. When the difference is greater than a certain value, it indicates a real hole. When the difference is less than a certain range, it is determined to be an incorrect hole. This method is used to perform a second confirmation of the identified holes to ensure the accuracy of the identification. In the seventh step, according to the fixed position relationship between the drilling mechanism 33 and the machine vision 34, the drilling spindle head 330 is moved to directly above the prefabricated hole through the X-axis servo mechanism 30 and the Y-axis servo mechanism 31. At this time, the X-axis limit proximity switch 372 detects the X-axis hard limit adjustment block 371, and the X-axis limit proximity switch 372 and the X-axis servo mechanism 30 jointly verify the accuracy of the drilling position.

[0037] In addition, the Z-axis movable limit block 380 and the Z-axis fixed limit block adjusting bolt 382 limit the height of the Z-axis descent, and the X-axis slider 302 and the X-axis hard limit adjusting block 371 limit the movement position of the X-axis servo in a single direction, which is used to solve the safety problems caused by servo positioning failure, visual recognition failure, and hole depth electronic ruler 36 failure, and provide mechanical redundancy protection.

[0038] The present invention provides a cylindrical metal workpiece drilling system and method based on machine vision, which has the following advantages: 1. This invention uses machine vision to accurately identify prefabricated holes in workpieces, and uses an electronic hole depth ruler and proximity switch to provide secondary confirmation of the accuracy of prefabricated hole identification. Mechanical limit mechanisms are used to provide redundant safety protection for the X and Z axes. Compared with existing technologies, this solves the automation and reliability issues of hole position identification and improves drilling accuracy and safety. 2. The present invention uses a gantry RGV to achieve the spatial intersection of logistics transportation and jacking and rotating clamping devices, realizing the one-time delivery of workpieces to the processing position. It has the characteristics of compact structure and small footprint, solving the problem of multiple handling required in the existing operation mode. 3. The present invention adopts the position feedback linkage control of dual electronic rulers and Z-axis servo, which solves the drilling depth error caused by workpiece size error and drill bit wear, and realizes precise control of drilling depth accuracy.

Claims

1. A cylindrical metal workpiece drilling system based on machine vision, characterized by: The system comprises a conveying device (1), a lifting and rotating clamping device (2) and a drilling device (3). The conveying device (1) and the lifting and rotating clamping device (2) are arranged crosswise in space, and are used to directly convey the workpiece to the lifting and rotating clamping device (2) workstation at one time; The lifting and rotating clamping device (2) is used to perform a lifting action to separate the workpiece from the conveying surface after the workpiece is positioned by the conveying device (1), and to drive the workpiece to be accurately positioned in the circumferential direction and to implement reliable clamping according to the coordinate information provided by the drilling device (3); The drilling device (3) is used to automatically identify the plane coordinates of the prefabricated hole, perform redundant confirmation of the identification accuracy, and perform drilling depth parameter compensation, while providing mechanical limit redundant protection for the hole position.

2. The cylindrical metal workpiece drilling system based on machine vision according to claim 1, characterized in that: The conveying device (1) comprises a track (10), a portal RGV (11) and a carrying tray (12), wherein the track (10) is used to constrain the travel route of the portal RGV (11), the portal RGV (11) is used to transport workpieces, and the carrying tray (12) is mounted on the portal RGV (11) and is used to place the workpieces and protect the safety of the workpieces during transportation.

3. The cylindrical metal workpiece drilling system based on machine vision according to claim 1, characterized in that: The lifting and rotating clamping device (2) comprises a chuck X-axis servo mechanism (20), a chuck clamping and rotating mechanism (21), a production change X-axis adjustment mechanism (22), a chuck auxiliary lifting cylinder (23), a main lifting cylinder (24) and an auxiliary clamping cylinder (25). The chuck clamping and rotating mechanism (21) comprises a pneumatic chuck (210), a chuck mounting seat (211) and a chuck rotating servo motor (212), and is used to realize the clamping and rotating function of the chuck; the pneumatic chuck (210) and the chuck rotating servo motor (212) are both mounted on the chuck mounting seat (211), and the chuck rotating servo motor (212) is transmission-connected to the pneumatic chuck (210); The chuck X-axis servo mechanism (20) comprises a clamping end base (200), a chuck linear rail (201), a chuck slider (202), a chuck slide plate (203), a chuck ball screw (204) and a chuck linear servo motor (205), and is used to realize the movement and positioning of the chuck clamping rotation mechanism (21) along the X-axis direction; the chuck linear rail (201) is mounted on the clamping end base (200), the chuck slider (202) and the chuck mounting seat (211) are mounted on the chuck slide plate (203), and a photoelectric sensor (26) for detecting the end face of the workpiece to complete the initial position detection is also mounted on the chuck slide plate (203); The production change X-axis adjustment mechanism (22) includes a production change mechanism base (220), a production change rail (221), a production change slider (222), a production change slide plate (223), a production change ball screw (224), a synchronous pulley (225) and a hand wheel (226), which are used to realize the movement and positioning of the chuck along the X-axis direction; the production change rail (221) is fixedly installed on the production change mechanism base (220), the production change slide plate (223) is slidably arranged on the production change rail (221) through the production change slider (222), the production change ball screw (224) is rotatably installed on the production change mechanism base (220) and is threadedly connected to the production change slide plate (223), and the hand wheel (226) is transmission-connected to the production change ball screw (224) through the synchronous pulley (225); The chuck auxiliary lifting cylinder (23) is mounted on the clamping end base (200), and the main lifting cylinder (24) and the auxiliary clamping cylinder (25) are mounted on the production change slide plate (223).

4. The cylindrical metal workpiece drilling system based on machine vision according to claim 1, characterized in that: The drilling device (3) includes an X-axis servo mechanism (30), a Y-axis servo mechanism (31), a Z-axis servo mechanism (32) and a drilling mechanism (33). The X-axis servo mechanism (30) comprises a drilling base (300), an X-axis hard rail (301), an X-axis slider (302), an X-axis slide plate (303), an X-axis screw rod (304) and an X-axis servo motor (305), wherein the X-axis hard rail (301) is mounted on the drilling base (300), the X-axis screw rod (304) and the X-axis servo motor (305) are mounted on the X-axis hard rail (301), the X-axis slider (302) is mounted on the X-axis slide plate (303), and the X-axis servo motor (305) drives the X-axis slide plate (303) to move along the X-axis direction via the X-axis screw rod (304); The Y-axis servo mechanism (31) comprises a Y-axis hard rail (310), a Y-axis slider (311), a Y-axis slide plate (312), a Y-axis screw rod (313) and a Y-axis servo motor (314), wherein the Y-axis slider (311) is mounted on the X-axis slide plate (303), the Y-axis slide plate (312), the Y-axis screw rod (313) and the Y-axis servo motor (314) are mounted on the Y-axis hard rail (310), and the Y-axis servo motor (314) drives the Y-axis slide plate (312) to move along the Y-axis direction via the Y-axis screw rod (313); The Z-axis servo mechanism (32) comprises a Z-axis rail (320), a Z-axis slider (321), a Z-axis slide plate (322), a Z-axis screw rod (323) and a Z-axis servo motor (324); the Z-axis rail (320) and the Z-axis servo motor (324) are mounted on the Y-axis slide plate (312); and the Z-axis slider (321) is mounted on the Z-axis slide plate (322); The Z-axis servo motor (324) drives the Z-axis slide plate (322) to move along the Z-axis direction via the Z-axis screw rod (323); The drilling mechanism (33) comprises a drilling spindle head (330) and a drilling servo motor (331) for transmission connection with the drilling spindle head (330) to automatically adjust the drilling speed.

5. The cylindrical metal workpiece drilling system based on machine vision according to claim 1 or 4, characterized in that: The drilling device (3) further includes a machine vision system (34), which is installed on the Z-axis servo mechanism (32) and is used to identify the coordinates of the target hole position and guide the X-axis servo mechanism (30) and the Y-axis servo mechanism (31) to accurately position the hole.

6. The cylindrical metal workpiece drilling system based on machine vision according to claim 1 or 4, characterized in that: The drilling device (3) further comprises a tool setting electronic ruler (35), which is mounted on the X-axis hard rail (301) and is used to detect tool wear on the drilling spindle head (330) through the movement of the Z-axis servo mechanism (32) to facilitate correction of hole depth errors.

7. The cylindrical metal workpiece drilling system based on machine vision according to claim 1 or 4, characterized in that: The drilling device (3) further includes an electronic hole depth ruler (36), which is mounted on a Z-axis slide plate (322) and is used to move through the Z-axis servo mechanism (32) so that the electronic hole depth ruler (36) detects the surface height of the cylindrical metal workpiece to correct the hole depth error and also serves as a secondary confirmation of the accuracy of the prefabricated hole identified by the machine vision (34).

8. The cylindrical metal workpiece drilling system based on machine vision according to claim 1 or 4, characterized in that: The drilling device (3) further comprises an X-axis mechanical limit mechanism (37), the X-axis mechanical limit mechanism (37) comprising an X-axis hard limit mounting bar (370), an X-axis hard limit adjustment block (371) and an X-axis limit proximity switch (372), the X-axis hard limit mounting bar (370) being mounted on the X-axis hard rail (301), the X-axis hard limit adjustment block (371) being mounted on the X-axis hard limit mounting bar (370), the X-axis limit proximity switch (372) being mounted on the X-axis slide plate (303), and the X-axis hard limit adjustment block (371) being used to limit the single-direction movement position of the X-axis servo mechanism (30).

9. The cylindrical metal workpiece drilling system based on machine vision according to claim 1 or 4, characterized in that: The drilling device (3) further comprises a Z-axis mechanical limit mechanism (38), the Z-axis mechanical limit mechanism (38) comprising a Z-axis movable limit block (380), a Z-axis fixed limit block (381), and a Z-axis fixed limit block adjusting bolt (382), wherein the Z-axis movable limit block (380) is mounted on the Z-axis slide plate (322), the Z-axis fixed limit block (381) is mounted on the Y-axis slide plate (312), and the Z-axis fixed limit block adjusting bolt (382) is mounted on the Z-axis fixed limit block (381) for adjusting and limiting the height of the Z-axis descent.

10. A method for drilling a cylindrical metal workpiece based on machine vision, characterized in that: The method uses the cylindrical metal workpiece drilling system based on machine vision according to any one of claims 1 to 9, and the steps are as follows: In the first step, the drilling device (3) performs a self-check and measures the wear of the tool of the drilling spindle head (330) by using the tool setting electronic ruler (35); In the second step, the conveying device (1) automatically conveys the workpiece to the designated position and then stops; In the third step, the main lifting cylinder (24) and the chuck auxiliary lifting cylinder (23) of the lifting rotary clamping device (2) lift the workpiece off the conveying surface of the carrying tray (12); In the fourth step, the chuck X-axis servo mechanism (20) moves along the X-axis direction. When the photoelectric sensor (26) detects the end face of the workpiece, the workpiece initial position detection is completed. Then, the chuck X-axis servo mechanism (20) continues to move forward a fixed distance, the pneumatic chuck (210) clamps the workpiece, and the chuck auxiliary lifting cylinder (23) descends back to its original position. Finally, the chuck X-axis servo mechanism (20) pulls the workpiece to the set position. In the fifth step, after the X-axis servo mechanism (30), the Y-axis servo mechanism (31), and the Z-axis servo mechanism (32) are moved to the preset photographing position, the chuck rotation servo motor (212) drives the pneumatic chuck (210) to rotate. When the machine vision (34) recognizes the prefabricated hole: first, the chuck rotation servo motor (212) is guided to rotate the prefabricated hole to the top to complete the circumferential direction positioning. Secondly, the X-axis servo mechanism (30) and the Y-axis servo mechanism (31) are guided to move to the drilling position calibrated by the machine vision (34) to perform servo positioning in the circumferential direction and the X and Y planes of the hole. Step 6: According to the fixed positional relationship between the hole depth electronic ruler (36) and the machine vision (34), the X-axis servo mechanism (30) and the Y-axis servo mechanism (31) are driven to move the hole depth electronic ruler (36) to the top of the prefabricated hole, and the Z-axis servo mechanism (32) is moved along the Z-axis direction. The hole depth electronic ruler (36) measures the difference between the surface height of the workpiece and the depth of the prefabricated hole. When the difference is greater than a certain value, it indicates a real hole. When the difference is less than a certain range, it is determined to be an erroneous hole. The identified hole is reconfirmed to ensure the accuracy of the identification. In the seventh step, according to the fixed positional relationship between the drilling mechanism (33) and the machine vision (34), the drilling spindle head (330) is moved to the position directly above the prefabricated hole through the X-axis servo mechanism (30) and the Y-axis servo mechanism (31). At this time, the X-axis limit proximity switch (372) detects the X-axis hard limit adjustment block (371), and the X-axis limit proximity switch (372) and the X-axis servo mechanism (30) jointly verify the accuracy of the drilling position.

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