A fully automatic pipe drilling platform and drilling method

Abstract

The present invention discloses a fully automatic pipe drilling platform, comprising a workbench and a drilling device. The workbench is provided with two sets of fixed-point moving devices in parallel. The first fixed-point moving device is provided with a pneumatic vise, and the pneumatic vise is provided with a pneumatic chuck along the direction of pipe movement; the pneumatic vise and the pneumatic chuck are provided with laser sensors on opposite sides; the second fixed-point moving device is provided with a secondary drilling device, and a main drilling device is provided opposite the secondary drilling device; lifting platforms are provided on both sides of the workbench, and the lifting platforms are provided with a number of V-shaped rollers for transporting pipes. The present invention can take into account the drilling spacing and angle, accurately locate the drilling position, reduce drilling errors, and at the same time adapt to the drilling requirements of pipes with different inner diameters, solving the problem of one-time automatic drilling of long-distance pipes. The present invention also discloses a drilling method for the above-mentioned fully automatic pipe drilling platform. When the relative position conditions for drilling are met, the main and secondary drilling devices work simultaneously to improve drilling efficiency.

Description

Technical Field

[0001] The present invention relates to pipe drilling equipment and technology, and in particular to a full-automatic pipe drilling platform and a drilling method. Background Art

[0002] Drilling refers to the operation of machining holes in solid materials. A drilling platform refers to a device that integrates a series of equipment required for drilling and concentrates them on one platform. In order to ensure the automation and accuracy of the drilling process, various drilling platforms guarantee the requirements for pipe drilling under different conditions. For example, Chinese patent CN202023347309.8 discloses a pipe drilling platform, including a workbench, a fixed clamping device and a drilling device, which can automatically clamp the pipe during the drilling process; Chinese patent CN201720335052.3 discloses an automatic pipe drilling machine, including a machine base, a pipe receiving seat, a drilling moving assembly, and a clamping assembly, which realizes the fully automated processing of pipe drilling; Chinese patent CN202011287597.4 discloses a multi-hole drilling device, including a feeding mechanism, a drilling mechanism, a polishing mechanism, a discharging mechanism, and a feeding mechanism, so that the pipe is fully automated from feeding, drilling, polishing, to discharging. However, the above invention has the following shortcomings: single-hole drilling platforms often require manual adjustment of the pipe position and rotation angle, which makes it difficult to achieve one-time automated processing and difficult to adapt to the increasingly complex drilling requirements; although multi-hole drilling platforms can drill multiple holes at a time, they cannot adjust the angle and often require manual change of the pipe position, resulting in numerous steps to complete the drilling process, long time and low efficiency; regardless of single-hole or multi-hole drilling platforms, the pipe is manually placed on the fixture, and then the fixture is used to fix the pipe, and the debris, coolant, etc. flowing out of the drilling are not processed, which will cause irreversible damage to the drilling platform equipment. Summary of the Invention

[0003] Purpose of the invention: The present invention aims to provide a fully automatic pipe drilling platform that can take into account both drilling spacing and angle; the present invention also provides a drilling method for the fully automatic pipe drilling platform.

[0004] Technical solution: The fully automatic pipe drilling platform described in the present invention includes a workbench and a drilling device, and two groups of fixed-point moving devices are arranged in parallel on the workbench. A pneumatic vise for moving the pipe is fixed on the support platform of the first fixed-point moving device, and the pneumatic vise is provided with a pneumatic chuck for rotating the pipe along the moving direction of the pipe, and the pneumatic chuck is fixed on the workbench; laser sensors for detecting the position of the pipe are provided on opposite sides of the pneumatic vise and the pneumatic chuck; an auxiliary drilling device is fixed on the support platform of the second fixed-point moving device, and a main drilling device is provided opposite to the auxiliary drilling device, and the drill bits of the main and auxiliary drilling devices are located between the pneumatic vise and the pneumatic chuck. When the support platform of the second fixed-point moving device moves to the far left end, the two drill bits are coaxially opposite to each other; lifting platforms are provided on both sides of the work platform, and a number of V-shaped rollers for transporting pipes are provided on the lifting platforms.

[0005] Furthermore, the fixed-point moving device includes a limit box, a ball screw, a linear slide, a support and a limit plate, and the limit box and the limit plate are connected by two sets of parallel linear slides; the ball screw is arranged between the two sets of linear slides, one end of which is connected to the stepper motor in the limit box, and the other end is fixed on the limit plate; the support is slidably connected to the linear slide through a slider, and the bottom of the support is fixedly connected to the nut seat of the ball screw.

[0006] Furthermore, a synchronous wheel is provided on the clamp of the pneumatic chuck, and the synchronous wheel is connected to the synchronous wheel of the stepping motor through a synchronous belt to control the rotation of the chuck clamp.

[0007] Furthermore, the lifting platform includes an upper tripod, a displacement device and a lower tripod, the upper tripod is connected to the side of the working platform through a slide rail; the displacement device includes a pair of upper wedge blocks and lower wedge blocks in a mutually upper-lower relationship and having contact inclined surfaces with the same inclination angle, the contact inclined surfaces are provided with a slide rail, the top surface of the upper wedge block is fixed to the bottom surface of the upper tripod, the upper wedge block is connected to the nut seat of the ball screw, and the directional movement of the upper wedge block is achieved; the lower tripod is fixed to the side of the working platform (1), and the top surface of the lower tripod is fixed to the bottom surface of the lower wedge block of the displacement device.

[0008] Furthermore, a dust cover is provided between the limit box and the support platform, a dust cover is provided between the support platform of the first fixed-point moving device and the pad under the pneumatic chuck, and a dust cover is provided between the support platform of the second fixed-point moving device and the limit plate.

[0009] The drilling method using the drilling platform described in the present invention is as follows:

[0010] S1. Set the initial position:

[0011] The support platform of the first fixed-point moving device is located at the far right end, the pneumatic vise opening is at the maximum position, the pneumatic chuck opening angle is at the maximum, the support platform of the second fixed-point moving device is located at the far left end, and the lifting platform is flush with the working platform;

[0012] S2. Adjust the lifting platform:

[0013] Adjust until the axis of the pipe coincides with the axis of the pneumatic chuck;

[0014] S3. The V-shaped roller conveys the pipe, and the laser sensor detects the pipe position, calculates the first drilling position, and moves the pipe to the first drilling position and stops;

[0015] S4. Determine the rotation angle of the second drilling position relative to the first drilling position:

[0016] Rotation angle α = 0°, the main drilling device completes the first drilling, the pneumatic vise clamps the pipe and moves left to the second drilling position, the pneumatic chuck clamps the pipe, the main drilling device completes the drilling, and the pneumatic vise and pneumatic chuck are reset;

[0017] When the rotation angle α≠180° and α≠0°, the main drilling device completes the first drilling, the pipe moves and rotates to the second drilling position, and the main drilling device completes the drilling;

[0018] After the rotation angle α=180°, the auxiliary drilling device moves to the second drilling position, and the main and auxiliary drilling devices drill simultaneously. After completion, the auxiliary drilling device resets;

[0019] S5. Determine the rotation angle of the next drilling position relative to the main drill bit axis position:

[0020] Rotation angle α = 0°, the pneumatic vise clamps the pipe and moves it to the left to the next drilling position, the pneumatic chuck clamps the pipe, the main drilling device completes drilling, and the pneumatic vise and pneumatic chuck are reset;

[0021] When the rotation angle α≠180° and α≠0°, the pipe moves and rotates to the next drilling position, and the main drilling device completes the drilling;

[0022] The rotation angle α = 180°, the auxiliary drilling device moves to the next drilling position, and after the auxiliary drilling device is completed, the auxiliary drilling device is reset;

[0023] S6. Repeat step 5 until the task is completed.

[0024] Furthermore, in step 2, the vertical distance between the center of the V-shaped roller and the axis of the pneumatic chuck fixture is r, and the radius of the pipe is R; if R≥r, the lowering distance of the top surface of the upper tripod is Rr; if R<r, the rising distance of the top surface of the upper tripod is rR.

[0025] Furthermore, in step 3, the horizontal distance between the right end face of the pneumatic vise and the drill bit axis of the main drilling device is D2, the horizontal distance between the first drilling position of the pipe and the top of the pipe is D1, and the horizontal distance between adjacent drilling positions is B = (B1, B2, B3, ..., B m), the rotation angle of adjacent drilling positions is α=(α1,α2,α3,…,α m ), m+1 is the number of drilling holes;

[0026] If D1-D2≥0, the pipe continues to move for time t:

[0027]

[0028] If D1-D2<0 and D1+B1-D2≥0, the pipe continues to move for time t:

[0029]

[0030] If D1-D2<0 and D1+B1-D2<0, the pipe continues to move for time t:

[0031]

[0032] n=1,2,3,…,m

[0033] Among them, v represents the moving speed of the pipe, and n is D1+B1+…+B n - Minimum integer value for D2 > 0.

[0034] Another drilling method using the drilling platform described in the present invention is as follows:

[0035] The horizontal distance between the right end face of the pneumatic vise and the drill axis of the main drilling device is D2, the horizontal distance between the first drilling position of the pipe and the top of the pipe is D1, and the horizontal distance between adjacent drilling positions of the pipe is B = (B1, B2, B3, ..., B m ), the rotation angle of adjacent drilling positions is α = 180°, and m + 1 is the number of drilling holes; the method is as follows:

[0036] S1. Set the initial position;

[0037] S2. Adjust the lifting platform;

[0038] S3. The V-shaped roller conveys the pipe, and the laser sensor detects the pipe position, calculates the first drilling position, and moves the pipe to the first drilling position and stops;

[0039] S4. The auxiliary drilling device moves to the second drilling position, and the main and auxiliary drilling devices drill simultaneously. After completion, the auxiliary drilling device is reset;

[0040] S5. The pneumatic vise clamps the pipe and moves it to the left to the next drilling position. The auxiliary drilling device moves to the next drilling position. The main and auxiliary drilling devices drill simultaneously. After completion, the pneumatic vise and auxiliary drilling device are reset.

[0041] S6. Repeat step 5 until the task is completed.

[0042] Furthermore, in step 3,

[0043] If D1-D2≥0, the pipe continues to move for time t:

[0044]

[0045] If D1-D2<0 and D1+B1-D2≥0, the pipe continues to move for time t:

[0046]

[0047] If D1-D2<0 and D1+B1-D2<0, the pipe continues to move for time t:

[0048]

[0049] n=1,2,3,…,m

[0050] Among them, v represents the moving speed of the pipe, and n is D1+B1+…+B n - Minimum integer value for D2 > 0.

[0051] Beneficial effects: Compared with the prior art, the present invention has the following significant advantages: 1. The present invention completes drilling with different spacing and rotation angle requirements through the cooperation of a pneumatic vise and a pneumatic chuck; 2. The present invention accurately locates different drilling positions through a fixed-point moving device, thereby reducing drilling errors; 3. The present invention adapts to the drilling requirements of pipes with different inner diameters through a lifting platform and a number of V-shaped rollers arranged on the lifting platform, while solving the problem of one-time automatic drilling of long-distance pipes; 4. The present invention improves drilling efficiency by working simultaneously through relatively arranged main and auxiliary drilling devices when the drilling has relative position conditions; 5. The present invention is provided with a dust cover to prevent debris flowing out of the drilling from affecting the drilling platform. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Figure 1 It is a structural schematic diagram of the present invention;

[0053] Figure 2 It is a structural diagram of the device on the work surface;

[0054] Figure 3 It is a structural schematic diagram of the fixed-point mobile device;

[0055] Figure 4 It is a structural diagram of a pneumatic vise and a pneumatic chuck;

[0056] Figure 5 Schematic diagram of the structure of the lifting platform;

[0057] Figure 6 Schematic diagram of the structure of the main and auxiliary drilling devices;

[0058] Figure 7 A schematic diagram of the workbench;

[0059] Figure 8 This is a schematic diagram of the installation of the V-type roller;

[0060] Figure 9 Schematic diagram of the drilling position of the pipe;

[0061] Figure 10 This is a flow chart of Example 1;

[0062] Figure 11 This is a flow chart of Example 2. DETAILED DESCRIPTION

[0063] The present invention will be further described below with reference to the accompanying drawings.

[0064] like Figure 1 and Figure 2 As shown, the fully automatic pipe drilling platform of the present invention includes a workbench 1 and a drilling device 2. Two sets of fixed-point moving devices 3 are arranged in parallel on the workbench 1. The first fixed-point moving device is arranged on the leftmost side of the workbench, and the second fixed-point moving device is arranged on the right front side of the workbench. A pneumatic vise 4 for moving the pipe is fixed on the support platform of the first fixed-point moving device. The pneumatic vise 4 is provided with a pneumatic chuck 5 for rotating the pipe along the moving direction of the pipe. The pneumatic chuck 5 is fixed to the workbench 1 by a pad; the pneumatic vise 4 A laser sensor 6 for detecting the position of the pipe is provided on the opposite side of the pneumatic chuck 5; a secondary drilling device 22 is fixed on the support platform of the second fixed-point moving device, and a main drilling device 21 is provided opposite to the secondary drilling device 22. The drill bits of the main and secondary drilling devices are located between the pneumatic vise 4 and the pneumatic chuck 5. When the support platform of the second fixed-point moving device moves to the far left end, the two drill bits are coaxially opposite to each other; lifting platforms 7 are provided on both sides of the working platform 1, and a number of V-shaped rollers 8 for conveying pipes are provided on the lifting platforms 7.

[0065] like Figure 3 As shown, the fixed-point moving device 3 includes a limit box 31, a ball screw 32, a linear slide 33, a support 34 and a limit plate 35. A stepper motor and a support seat of the ball screw 32 are placed inside the limit box 31. A through hole is opened on the right side of the limit box 31. One end of the ball screw 32 passes through the through hole and is connected to the support seat and the stepper motor, and the other end is fixed to the limit plate 35 through the support seat. Among them, the stepper motor is placed on the lower inner surface of the limit box 31, and the support seat is fixed on the right inner surface of the limit box 31. Two equal-length linear slides 33 are placed in parallel at a certain distance apart. The left end of the linear slide 33 is fixed to the right side of the limit box 31, and the right end is fixed to the limit plate 35. The support 34 is fixed on the slider of the linear slide 33, and the bottom surface of the support 34 is connected to the nut seat of the ball screw 32.

[0066] like Figure 4 As shown, a laser sensor 6 is positioned below the clamping structure of the pneumatic vise 331, near the right side of the fixed end of the clamping structure. Another laser sensor 6 is secured via a U-shaped iron frame directly below the pneumatic chuck 5 fixture, near one side of the pneumatic vise. The pneumatic chuck 5 is mounted on a spacer block, which is positioned to the right of the pneumatic vise 4 and spaced a certain distance from the vise. The pneumatic chuck 5 fixture and the pneumatic vise 4 clamping structure are aligned on the same centerline. A stepper motor 53 is positioned behind the pneumatic chuck 5 and connected to the pneumatic chuck 5 via a timing belt 52.

[0067] like Figure 5 As shown, the lifting platform 7 includes an upper tripod 71, a lower tripod 73, a displacement device 72 and a slide rail 74. The slide rail 74 is vertically arranged on the edges of the left and right sides of the workbench 1. Each side has two parallel slide rails 74, and each slide rail is connected to two sliders. The upper tripod 71 is installed on the side of the work platform (1) by connecting with the sliders. The slide rail is used to connect the upper tripod 71 with the box body of the workbench and limit the moving direction of the upper tripod. The top plate of the upper tripod 71 is provided with a square groove just above the slide rail to facilitate the movement of the upper tripod.

[0068] The displacement device 72 comprises a pair of upper and lower wedge blocks positioned one above the other, with contact surfaces having the same inclination angle. The upper wedge block is connected to the nut seat of the ball screw, which drives the upper wedge block to move. The two wedge-shaped structures use slide rails on the contact surfaces to achieve directional movement of the upper wedge block, achieving the purpose of lifting. The stepper motor of the displacement device 72 is placed in the workbench housing. The top surface of the upper wedge block is fixed to the bottom surface of the upper tripod 71, and the side surface of the lower wedge block is fixed to the side surface of the workbench. The lifting platform 7 is controlled by a control panel to ensure that pipes of different inner diameters can be stably transported to the clamp of the pneumatic chuck 5. The lower tripod 73 is fixed to the side of the work platform 1, and the top surface of the lower tripod 73 is fixed to the bottom surface of the lower wedge block of the displacement device 72. It is used to support the upper tripod 71 and the displacement device 72.

[0069] like Figure 6As shown, the main drilling device 21 includes a first pneumatic head 211, a first drill bit 212, and a first bracket 213; the auxiliary drilling device 22 includes a second pneumatic head 221, a second drill bit 222, and a second bracket 223. The auxiliary drilling device 22 is fixed to the support of the second fixed-point moving device and moves with the second fixed-point moving device, with the movement distance determined by the control panel. The main drilling device 21 is fixed to the top plate of the workbench via the first bracket 213. The height of the first bracket 213 is the same as the combined height of the second bracket 223 and the second fixed-point moving device. The first pneumatic head 211 is fixed to the first bracket 213 and is equipped with the first drill bit 212. The feed of the head is achieved by air pressure, and the drill bit is rotated by a servo motor on the head, whose speed is controlled by the control panel. The second pneumatic head 221 is fixed to the second bracket 223 and operates on the same driving principle as the first pneumatic head. The two pneumatic heads are positioned opposite each other. There needs to be a certain distance between the drill bit and the pipe to ensure that the drill bit can drill a hole in the pipe during the feeding process of the power head. When the second bracket follows the second fixed-point moving device to move to the leftmost end, the two drill bits are coaxially opposite to each other.

[0070] like Figure 7 As shown, the workbench 1 comprises a housing 15, a top plate 11, aluminum doors 13, hinges 14, and ventilation windows 12. The workbench 1 is fixedly placed on the ground. Except for the top and opening of the housing 15, the remaining surfaces are welded to the frame using an iron plate. A ventilation window 112 is provided on the left side of the housing 15, and a square through-hole is provided on the back. Each aluminum door 13 is movably connected to the steel frame at the opening of the housing 15 via two hinges 14. Each aluminum door 13 is connected to the steel frame of the control cabinet via two hinges 14. The top plate 11 is placed on top of the housing 15, and the fixed-point moving device 3, drilling device 4, and dust cover 9 are fixed to the top plate 111.

[0071] like Figure 8 As shown, six V-shaped rollers 8 are arranged in a row on a base through a support frame. The rear end of each V-shaped roller is connected to a motor, which is fixed to the base. The V-shaped rollers are connected as a whole by an integrated protective cover provided outside the motor. The base is fixed to the top surface of the top plate of the upper tripod 71.

[0072] Example 1

[0073] The drilling position requirement does not have relative conditions. The distance between the first drilling position and the leftmost end of the pipe is D1, and the horizontal distances between adjacent drilling positions are B1, B2, B3...B m , the rotation angles of adjacent drilling positions are α1, α2, α3…α m , the number of holes drilled is m + 1. The vertical distance between the center of the drum and the axis of the pneumatic chuck is preset to be r, the horizontal distance between the right end face of the pneumatic vise and the axis of the pneumatic power head drill is D2, and the radius of the pipe is R.

[0074] S1 sets the initial position:

[0075] First, place the support of the first fixed-point moving device at the far right end, the opening of the pneumatic vise at the maximum position, the opening angle of the pneumatic chuck at the maximum, the support of the second fixed-point moving device at the far left end, and the lifting platform flush with the work platform; the second pneumatic power head follows the second fixed-point moving device to the far left end, is set to the initial position, and is coaxially opposite to the first pneumatic power head.

[0076] S2. Adjust the lifting platform:

[0077] Adjust until the axis of the pipe coincides with the axis of the pneumatic chuck fixture; if the pipe radius R ≥ r, the ball screw drives the upper wedge block to move, so that the top surface of the upper tripod drops by a distance of Rr; if the pipe radius R < r, the ball screw drives the upper wedge block to move, so that the top surface of the upper tripod rises by a distance of rR, at which time the axis of the pipe coincides with the axis of the pneumatic chuck fixture.

[0078] S3. The pipe moves leftward along V-shaped roller 8, toward the pneumatic chuck. When the pipe reaches the left end of pneumatic chuck 5, the first laser sensor is triggered, causing the rotation speed of V-shaped roller 8 to decrease, and the pipe's movement speed to slow. As the pipe continues to move toward the right end of the pneumatic vise, the second laser sensor is triggered. At this point, the horizontal distance between the right end of the pneumatic vise and the drill axis of the main drilling device is D2, and the horizontal distance between the first drilling position and the top of the pipe is D1. The time for continued movement, t, is calculated, and V-shaped roller 8 stops after delivering the pipe to the first drilling position.

[0079] If D1-D2≥0, the pipe continues to move for time t:

[0080]

[0081] If D1-D2<0 and D1+B1-D2≥0, the pipe continues to move for time t:

[0082]

[0083] If D1-D2<0 and D1+B1-D2<0, the pipe continues to move for time t:

[0084]

[0085] n=1,2,3,…,m

[0086] Among them, v represents the moving speed of the pipe, and n is D1+B1+…+B n - Minimum integer value for D2 > 0.

[0087] S4. Determine the rotation angle of the second drilling position relative to the first drilling position:

[0088] Rotation angle α1 = 0°, the main drilling device completes the first drilling, the pneumatic vise clamps the pipe and moves leftward B1 to the second drilling position, the pneumatic chuck clamps the pipe, the main drilling device completes the drilling, and the pneumatic vise and pneumatic chuck are reset;

[0089] When the rotation angle α1≠180° and α1≠0°, the main drilling device completes the first drilling, the pneumatic vise clamps the pipe and moves left by B1, the pneumatic vise is reset, the pneumatic chuck clamps the pipe and rotates by α1, the pneumatic vise clamps the pipe, the main drilling device completes the drilling, and the pneumatic vise and pneumatic chuck are reset;

[0090] Rotate at an angle of α1 = 180°, and the auxiliary drilling device moves rightwards to the second drilling position B1. The pneumatic vise and pneumatic chuck clamp the pipe, and the main and auxiliary drilling devices drill simultaneously. After completion, the auxiliary drilling device, pneumatic vise, and pneumatic chuck are reset.

[0091] S5. Determine the rotation angle of the next drilling position relative to the main drill bit axis position:

[0092] Rotation angle α = 0°, the pneumatic vise clamps the pipe and moves it to the left to the next drilling position, the pneumatic chuck clamps the pipe, the main drilling device completes drilling, and the pneumatic vise and pneumatic chuck are reset;

[0093] When the rotation angle α≠180° and α≠0°, the pipe moves and rotates to the next drilling position, and the main drilling device completes the drilling;

[0094] The rotation angle α = 180°, the auxiliary drilling device moves to the next drilling position, and after the auxiliary drilling device is completed, the auxiliary drilling device is reset;

[0095] S6. Repeat step 5 until the task is completed.

[0096] Example 2

[0097] The drilling positions are required to have relative conditions. The distance between the first drilling position and the leftmost end of the pipe is D1, and the horizontal distances between adjacent drilling positions are B1, B2, B3...B m The rotation angle of adjacent drilling positions is 180°, and the number of holes drilled is m+1. The vertical distance between the center of the drum and the axis of the pneumatic chuck is preset to be r, the horizontal distance between the right end face of the pneumatic vise and the axis of the pneumatic power head is D2, and the radius of the pipe is R.

[0098] Steps S1 to S3 are the same as those in Example 1, except that:

[0099] S4. The auxiliary drilling device moves right to the second drilling position. The pneumatic vise and pneumatic chuck clamp the pipe. The main and auxiliary drilling devices drill holes simultaneously. After completion, the auxiliary drilling device, pneumatic vise, and pneumatic chuck are reset.

[0100] S5. The pneumatic vise clamps the pipe and moves it to the left to the next drilling position. The auxiliary drilling device moves to the next drilling position. The main and auxiliary drilling devices drill holes simultaneously. After completion, the pneumatic vise and auxiliary drilling device are reset.

[0101] If the number of holes to be drilled is odd, the last hole is drilled by the first pneumatic power head and the second pneumatic power head is in the initial position.

Claims

1. A drilling method for a fully automatic pipe drilling platform, characterized in that: The drilling method of the fully automatic pipe drilling platform is realized by the fully automatic pipe drilling platform, which comprises a workbench (1) and a drilling device (2), characterized in that two sets of fixed-point moving devices (3) are arranged in parallel on the workbench (1), a pneumatic vise (4) for moving the pipe is fixed on the support platform of the first fixed-point moving device, the pneumatic vise (4) is provided with a pneumatic chuck (5) for rotating the pipe along the moving direction of the pipe, and the pneumatic chuck (5) is fixed on the workbench (1); the pneumatic vise (4) and the pneumatic chuck (5) are arranged on the workbench (1); Laser sensors (6) for detecting the position of the pipe are provided on opposite sides; an auxiliary drilling device (22) is fixed on the support platform of the second fixed-point moving device, and a main drilling device (21) is provided opposite to the auxiliary drilling device (22), and the drill bits of the main and auxiliary drilling devices are located between the pneumatic vise (4) and the pneumatic chuck (5). When the support platform of the second fixed-point moving device moves to the leftmost end, the two drill bits are coaxially opposite to each other; a lifting platform (7) is provided on both sides of the workbench (1), and a plurality of V-shaped rollers (8) for conveying the pipe are provided on the lifting platform (7); Here’s how: S1. Set the initial position: The support platform of the first fixed-point moving device is located at the far right end, the pneumatic vise opening is at the maximum position, the pneumatic chuck opening angle is at the maximum, and the support platform of the second fixed-point moving device is located at the far left end, and the lifting platform is flush with the workbench; S2. Adjust the lifting platform: Adjust until the axis of the pipe coincides with the axis of the pneumatic chuck; S3. The V-shaped roller conveys the pipe, and the laser sensor detects the pipe position, calculates the first drilling position, and moves the pipe to the first drilling position and stops; S4. Determine the rotation angle of the second drilling position relative to the first drilling position: Rotation angle , the main drilling device completes the first drilling, the pneumatic vise clamps the pipe and moves left to the second drilling position, the pneumatic chuck clamps the pipe, the main drilling device completes the drilling, and the pneumatic vise and pneumatic chuck are reset; Rotation angle and , the main drilling device completes the first drilling, the pipe moves and rotates to the second drilling position, and the main drilling device completes the drilling; Rotation angle , the auxiliary drilling device moves to the second drilling position, and the main and auxiliary drilling devices drill holes simultaneously. After completion, the auxiliary drilling device resets; S5. Determine the rotation angle of the next drilling position relative to the main drill bit axis: Rotation angle , the pneumatic vise clamps the pipe and moves it to the left to the next drilling position, the pneumatic chuck clamps the pipe, the main drilling device completes the drilling, and the pneumatic vise and pneumatic chuck are reset; Rotation angle and , the pipe moves and rotates to the next drilling position, and the main drilling device completes the drilling; Rotation angle , the auxiliary drilling device moves to the next drilling position, and after the auxiliary drilling device is completed, the auxiliary drilling device is reset; S6. Repeat step S5 until the task is completed; In step S3, the horizontal distance between the right end face of the pneumatic vise and the axis of the drill bit of the main drilling device is D2, the horizontal distance between the first drilling position of the pipe and the top of the pipe is D1, and the horizontal distance between adjacent drilling positions is , the rotation angle of adjacent drilling positions is , m+1 is the number of drill holes; like , the pipe continues to move for time t: ； like and , the pipe continues to move for time t: ； like and , the pipe continues to move for time t: ； 1，2，3，…，m； in, v Indicates the moving speed of the pipe, n is The minimum integer value of .

2. The drilling method of the fully automatic pipe drilling platform according to claim 1, characterized in that: The fixed-point moving device (3) includes a limit box (31), a ball screw (32), a linear slide (33), a support platform (34) and a limit plate (35), wherein the limit box (31) and the limit plate (35) are connected by two sets of linear slides (33) arranged in parallel; the ball screw (32) is arranged between the two sets of linear slides (33), one end of which is connected to the stepping motor in the limit box (31) and the other end is fixed to the limit plate (35); the support platform (34) is slidably connected to the linear slide via a slider, and the bottom of the support platform is fixedly connected to the nut seat of the ball screw (32).

3. The drilling method of the fully automatic pipe drilling platform according to claim 1, characterized in that: A synchronous wheel (51) is provided on the fixture of the pneumatic chuck (5), and the synchronous wheel (51) is connected to the synchronous wheel of the stepping motor (53) through a synchronous belt (52) to control the rotation of the chuck fixture.

4. The drilling method of the fully automatic pipe drilling platform according to claim 1, characterized in that: The lifting platform (7) includes an upper tripod (71), a displacement device (72) and a lower tripod (73), wherein the upper tripod (71) is connected to the side of the workbench (1) via a slide rail (74); the displacement device (72) includes a pair of upper wedge blocks and lower wedge blocks in a mutually upper-lower relationship and having contact inclined surfaces with the same inclination angle, wherein the contact inclined surfaces are provided with a slide rail, the top surface of the upper wedge block is fixed to the bottom surface of the upper tripod (71), and the upper wedge block is connected to the nut seat of the ball screw to realize the directional movement of the upper wedge block; the lower tripod (73) is fixed to the side of the workbench (1), and the top surface of the lower tripod (73) is fixed to the bottom surface of the lower wedge block of the displacement device (72).

5. The drilling method of the fully automatic pipe drilling platform according to claim 2, characterized in that: A dust cover (9) is provided between the limit box (31) and the support platform (34), a dust cover (9) is provided between the support platform of the first fixed-point moving device and the pad below the pneumatic chuck, and a dust cover (9) is provided between the support platform of the second fixed-point moving device and the limit plate.

6. The drilling method of the fully automatic pipe drilling platform according to claim 4, characterized in that: In step S2, the vertical distance between the center of the V-shaped roller and the axis of the pneumatic chuck is r, and the radius of the pipe is ;like , the lowering distance of the top surface of the upper tripod is ;like , the rising distance of the top surface of the upper tripod is .

7. A drilling method for a fully automatic pipe drilling platform, characterized in that: The drilling method of the fully automatic pipe drilling platform is realized by the fully automatic pipe drilling platform, which comprises a workbench (1) and a drilling device (2), characterized in that two sets of fixed-point moving devices (3) are arranged in parallel on the workbench (1), a pneumatic vise (4) for moving the pipe is fixed on the support platform of the first fixed-point moving device, the pneumatic vise (4) is provided with a pneumatic chuck (5) for rotating the pipe along the moving direction of the pipe, and the pneumatic chuck (5) is fixed on the workbench (1); the pneumatic vise (4) and the pneumatic chuck (5) are arranged on the workbench (1); Laser sensors (6) for detecting the position of the pipe are provided on opposite sides; an auxiliary drilling device (22) is fixed on the support platform of the second fixed-point moving device, and a main drilling device (21) is provided opposite to the auxiliary drilling device (22); the drill bits of the main and auxiliary drilling devices are located between the pneumatic vise (4) and the pneumatic chuck (5); when the support platform of the second fixed-point moving device moves to the leftmost end, the two drill bits are coaxially opposite to each other; lifting platforms (7) are provided on both sides of the workbench (1), and a plurality of V-shaped rollers (8) for conveying pipes are provided on the lifting platforms (7); The horizontal distance between adjacent drilling positions of the pipe is , the rotation angles of adjacent drilling positions are , m+1 is the number of holes to be drilled; the horizontal distance between the right end face of the pneumatic vise and the drill bit axis of the main drilling device is D2, and the horizontal distance between the first drilling hole position of the pipe and the top of the pipe is D1; the method is as follows: S1. Set the initial position; S2. Adjust the lifting platform; S3. The V-shaped roller conveys the pipe, and the laser sensor detects the pipe position, calculates the first drilling position, and moves the pipe to the first drilling position and stops; S4. The auxiliary drilling device moves to the second drilling position, and the main and auxiliary drilling devices drill simultaneously. After completion, the auxiliary drilling device is reset; S5. The pneumatic vise grips the pipe and moves left to the next drilling position. The auxiliary drilling unit moves to the next drilling position. The primary and auxiliary drilling units drill simultaneously. Upon completion, the pneumatic vise and auxiliary drilling unit return to their original positions. S6. Repeat step S5 until the task is completed; In the step S3, like , the pipe continues to move for time t: ； like and , the pipe continues to move for time t: ； like and , the pipe continues to move for time t: ； 1，2，3，…，m； in, v Indicates the moving speed of the pipe, n is The minimum integer value of .

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