Production management system and self-adaptive control method and system of robot radial drilling machine

Abstract

The invention discloses a production management system of a robot radial drilling machine and a self-adaptive control method and system, and relates to the technical field of self-adaptive control, comprising the steps of integral coordination of repeated positioning precision calibration, lower tip pre-positioning identification, automatic feeding and discharging and intelligent self-adaptive control; the repeated positioning precision is calibrated through a laser ranging reference network and a mechanical compensation mechanism, deviation is calculated according to a distance equation set, and the joint angle is adjusted; a visual camera and an electromagnetic induction sensor are used for double positioning of a lower center pre-positioning position, image identification initial positioning is carried out, and then fine positioning is carried out according to electromagnetic field intensity distribution; all assemblies of the automatic feeding and discharging system cooperate, the layered stock bin, conveying of the conveying belt, grabbing of the pneumatic mechanical claw and tray placement achieve full-process automation, and efficiency is improved. Besides, the central controller integrates information of various sensors and intelligently controls operation of all mechanisms according to parameters such as positioning, conveying and grabbing, and overall cooperation is achieved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of adaptive control, in particular to a production management system and adaptive control method and system of a robot radial drilling machine. BACKGROUND

[0002] In the field of modern manufacturing, the collaborative work of industrial robots and radial drilling machines has gradually become an important way to improve production efficiency and machining precision. Industrial robots can efficiently complete workpiece handling, positioning and other operations due to their flexible movement and programmable characteristics; radial drilling machines are widely used in the machining of various mechanical parts due to their powerful drilling capabilities. However, current robot radial drilling machines still face many technical challenges in practical applications, which restrict the further improvement of their machining precision, automation level and production management efficiency. Firstly, in terms of positioning accuracy, the repeatability of industrial robots directly affects the machining quality of radial drilling machines. Traditional robots are prone to positioning deviations due to factors such as mechanical wear, joint clearance changes, load fluctuations and environmental temperature changes during long-term operation. In existing technologies, position calibration is mostly dependent on the robot's own kinematic model, but this method cannot compensate for dynamic errors caused by complex working conditions in real time, resulting in insufficient hole position precision and high scrap rates. Secondly, in the pre-positioning of the lower center of the radial drilling machine, traditional positioning methods mostly use mechanical limiting or single visual positioning. The mechanical limiting method has the problem of rigid contact wear, and the positioning accuracy decreases significantly after long-term use; while single visual positioning is easily affected by environmental factors such as light conditions, workpiece surface reflection, oil stains, etc., and often fails to position or has large deviations in complex workshop environments, leading to workpiece clamping misalignment, affecting drilling precision and even causing equipment collision accidents. In terms of system collaborative control, the control of traditional robot radial drilling machines mostly adopts a decentralized architecture, with laser ranging, visual recognition, sensor detection and other subsystems working independently, resulting in data processing and instruction execution lag. The central controller lacks the ability to fuse and process multi-source sensor information, and cannot realize real-time collaborative optimization of robot positioning compensation, pre-positioning adjustment and feeding and unloading actions, resulting in slow overall system response and weak adaptability to complex working conditions. In terms of production management, the traditional production mode relies on manual scheduling, which has problems such as long planning cycle, unreasonable resource allocation, poor emergency response capability, etc. When faced with multi-variety small-batch orders, urgent order insertion or equipment failure, it is difficult to quickly generate an optimal production plan and dynamically adjust resource allocation, resulting in low production efficiency, delayed order delivery and other problems.

[0003] Therefore, developing a robot radial drilling machine system with high-precision self-adaptive control capability, efficient collaborative working mechanism and intelligent production management function has become a technical problem to be solved in the current industrial automation field. SUMMARY

[0004] (I) Technical problems solved In view of the deficiencies of the prior art, the present application provides a production management system and self-adaptive control method and system of a robot radial drilling machine, which solves the problems mentioned in the background art.

[0005] (II) Technical solutions To achieve the above object, the present application is implemented by the following technical solutions: a self-adaptive control method of a robot radial drilling machine, comprising the following steps: First step, repeat positioning accuracy calibration: First, n fixed laser ranging reference points are set in the working area of the industrial robot, wherein the laser ranging reference points are distributed in the working space of the robot to form a three-dimensional reference network; The laser range finder is installed on the end effector of the industrial robot, and before the robot starts to work each time, the distance between each reference point is measured by the laser range finder on the end effector; By measuring the distances of multiple laser ranging reference points, an equation set is established, and the actual position coordinates of the robot end effector are obtained by solving the equation set, and then the actual position coordinates are compared with the preset theoretical position coordinates, and the position deviation is determined; Then, according to the calculated position deviation, the joint angle of the robot is adjusted by using the mechanical compensation mechanism; Second step, lower center pre-positioning identification: An electromagnetic induction mark is installed at the lower center pre-positioning of the radial drilling machine, which can generate a specific frequency electromagnetic field; at the same time, a visual camera and an electromagnetic induction sensor are installed on the industrial robot; The visual camera collects image information at the lower center pre-positioning, and through image recognition algorithm, the collected image is processed, and then the shape feature is recognized to preliminarily determine the position of the lower center pre-positioning; On the basis of the preliminary positioning by the visual camera, the electromagnetic induction sensor starts to work, detects the electromagnetic field intensity around, and marks it as E; When the robot approaches the electromagnetic induction mark at the lower center pre-positioning, the electromagnetic field intensity E changes; Then, by comparing it with a pre-set electromagnetic field intensity threshold E0: When E>E0, it indicates that the robot has approached the lower center predetermined position; at this time, according to the electromagnetic field intensity distribution detected by the electromagnetic induction sensor, the position of the robot is further adjusted, so that the robot accurately reaches the lower center predetermined position; The third step is automatic feeding and discharging: The automatic feeding and discharging system mainly comprises a stock bin, a conveying mechanism, a grabbing mechanism and a placing mechanism. The stock bin is used for storing workpieces to be processed. The conveying mechanism conveys the workpieces from the stock bin to the grabbing position. The grabbing mechanism is responsible for grabbing the workpieces and placing them in the machining position of the radial drilling machine, and after the machining is completed, the grabbing mechanism grabs the workpieces from the machining position and places them in the discharging position. The placing mechanism is used for collecting the workpieces.

[0006] As a further scheme of the present application, the distance measurement between each reference point is as follows: The coordinates of the i-th reference point in the robot coordinate system are (x i0 ,y i0 ,z i0 ), and the distance measured by the laser range finder from the i-th reference point is d i , which is according to the distance formula between two points in space: Where (x, y, z) is the current position of the robot end effector in the robot coordinate system, i=1, 2, …, n, and n is the number of laser ranging reference points.

[0007] As a further scheme of the present application, the mechanical compensation mechanism comprises a plurality of servo motors and transmission components, and each servo motor corresponds to a robot joint; by controlling the rotation angle of the servo motor, the position of the robot joint is adjusted, so that the position of the robot end effector reaches the theoretical position.

[0008] As a further scheme of the present application, the position deviation calculation method is as follows: The position deviation (xc, yc, zc) is calculated by: Where (x r ,y r ,z r ) is the actual position coordinate; (x t ,y t ,z t ) is the preset theoretical position coordinate.

[0009] As a further scheme of the present application, the image processing method is as follows: ​Firstly, the image is grayed to convert the color image into a gray image, so as to reduce the calculation amount; Then, the Canny edge detection algorithm is used to extract the edge information in the image; By analyzing the edge information, the shape feature of the lower center positioning position is recognized.

[0010] As a further scheme of the present application: the stock bin adopts a layered structure, and each layer stores a specified number of workpieces; The conveying mechanism adopts a conveyor belt structure, the conveyor belt is driven by a motor, and the conveying speed of the workpiece can be adjusted by controlling the rotating speed of the motor; photoelectric sensors are installed at the starting end and the end of the conveyor belt respectively, for detecting the position and quantity of the workpiece; when the photoelectric sensor at the starting end detects that a workpiece enters the conveyor belt, the motor starts to drive the conveyor belt to run and convey the workpiece to the grabbing position; when the photoelectric sensor at the end detects that the workpiece reaches the grabbing position, the motor stops running; The grabbing mechanism adopts a pneumatic mechanical claw, the pneumatic mechanical claw is connected with the air source through an air pipe, and the opening and closing of the mechanical claw are controlled by controlling the air pressure in the air pipe; a force sensor is installed on the mechanical claw, for detecting the grabbing force when the workpiece is grabbed; When the mechanical claw reaches the grabbing position, the air pressure in the air pipe is adjusted according to the grabbing force detected by the force sensor, so that the mechanical claw can stably grab the workpiece; After the workpiece is grabbed, the industrial robot carries the workpiece to the machining position of the radial drilling machine, and accurately places the workpiece on the machining position by controlling the movement of the robot; After the machining is completed, the grabbing mechanism grabs the workpiece again and carries it to the discharging position; The placing mechanism is arranged at the discharging position, and the placing mechanism is a tray, which is driven by a motor to perform lifting and rotating movements; After the workpiece is placed on the tray, the tray performs lifting and rotating movements according to a preset program to arrange the workpieces neatly on the tray; When the number of workpieces on the tray reaches a certain number, the tray is taken off from the placing mechanism by manual operation, and the discharging operation is completed.

[0011] As a further scheme of the present application: it further includes an intelligent self-adaptive control overall coordination step; The central controller receives information from various sensors such as laser range finder, visual camera, electromagnetic induction sensor, photoelectric sensor, force sensor, position sensor and pressure sensor; According to the information provided by the laser range finder, the visual camera and the electromagnetic induction sensor, the central controller calculates the position deviation of the industrial robot and the accurate position at the lower center pre-positioning position, and then sends control instructions to the mechanical compensation mechanism and the joint servo motor of the robot to adjust the position of the robot, so as to ensure the repeat positioning accuracy and accurately reach the lower center pre-positioning position. During the automatic feeding and discharging process, the central controller controls the motor of the conveying mechanism according to the workpiece position and quantity information detected by the photoelectric sensor, controls the air pressure of the pneumatic gripper according to the grabbing force information detected by the force sensor, and controls the motion of the industrial robot and the working state of the pneumatic gripper according to the information monitored by the position sensor and the pressure sensor.

[0012] As a further scheme of the application, the central controller integrates a data processing module and an instruction sending module for processing sensor information and sending control instructions.

[0013] The application also provides an adaptive control system of a robot radial drilling machine, which comprises: The industrial robot body is the core component for performing machining operations, adopts a multi-joint series structure, has six degrees of freedom, and can move flexibly in a three-dimensional space and complete complex actions; High-precision angle encoders are installed at the joints of the robot body for real-time feedback of joint angle information; The robot end effector adopts a modular design and can quickly replace tools according to different machining tasks, such as a pneumatic gripper for grabbing workpieces and a drill chuck for installing a drill bit for drilling; The laser ranging calibration module is composed of a plurality of laser ranging reference points fixed in the working area and a laser range finder installed on the robot end effector; the laser ranging reference points are distributed at different positions in the robot working space to form a three-dimensional reference network; each reference point has an accurate coordinate, and the coordinate information is pre-stored in the system database; the laser range finder adopts a pulse laser ranging principle and can quickly and accurately measure the distance from each reference point; The visual and electromagnetic induction positioning module: the visual positioning part adopts an industrial-grade high-definition camera, which is installed on the robot body and has a viewing angle that can cover the lower center pre-positioning area of the radial drilling machine; the camera is equipped with a high-resolution image sensor and can collect clear workpiece image information; the electromagnetic induction positioning part is composed of an electromagnetic induction mark installed at the lower center pre-positioning position and an electromagnetic induction sensor on the robot; The automatic feeding and discharging module comprises: The stock bin adopts a multi-layer three-dimensional structure and is composed of a metal frame and a partition plate, and each layer can store a certain number of workpieces; The bottom of the hopper is provided with an electric lifting mechanism, a screw nut pair is driven by a motor to realize the lifting movement of the hopper layer, and the workpiece is conveniently stored and taken.

[0014] The conveying mechanism adopts a belt type conveying line which is composed of a motor, a belt, a roller and a tensioning device. The motor drives the roller to rotate through a speed reducer, and drives the belt to run, so that the workpiece is conveyed from the hopper to the grabbing position. Photoelectric sensors are installed on both sides of the conveying line to detect the position and quantity of the workpiece. The grabbing mechanism takes a pneumatic mechanical claw as the core, and the mechanical claw is composed of a cylinder, a finger and a connecting piece. The cylinder is connected with an air source through an air pipe, and the opening and closing actions of the mechanical claw are realized by controlling the air inlet and air outlet of the cylinder. A micro force sensor is installed on the mechanical claw to monitor the size of the grabbing force in real time. The placing mechanism is composed of a liftable and rotatable tray and a driving device. The tray is made of metal material and has a smooth surface, so that the workpiece can be prevented from being damaged during the placing process. The driving device comprises a motor, a speed reducer and a rotating bearing, and the lifting and rotating movements of the tray are realized by controlling the rotation of the motor, so that the finished workpieces can be arranged neatly. The mechanical compensation mechanism is installed at the joint part of the robot, and each joint corresponds to a set of compensation devices. The compensation device mainly comprises a servo motor, a ball screw, a linear guide rail and a connecting piece. The servo motor is connected with the ball screw through a shaft coupling, and the ball screw nut pair is connected with the linear guide rail slider. When the system detects that the position of the robot deviates, the servo motor drives the ball screw to rotate, drives the linear guide rail slider to move, and adjusts the position of the robot joint, so that the motion error of the robot is compensated. The central controller adopts an industrial-grade high-performance programmable logic controller, is equipped with multiple input and output interfaces, and communicates with devices such as a laser range finder, a camera, an electromagnetic induction sensor, a photoelectric sensor, a force sensor and a servo motor driver. The central controller collects the data of various sensors in real time through a high-speed data bus, processes and analyzes the data according to a preset program and a control algorithm, and then sends control instructions to various executing mechanisms.

[0015] The application also provides a production management system of the robot radial drilling machine, which comprises: The production scheduling module is used for generating an optimal production plan and dynamically adjusting a scheduling strategy according to order demand, equipment state and material inventory information. As a further scheme of the present application: the specific way of production scheduling module is as follows: Step 1, production task database establishment: Establish a production task database and store the following key information: Order information: including workpiece type, denoted as GJL, order quantity, denoted as N, delivery period, denoted as JHQ; Equipment parameters: processing capacity of radial drilling machine, denoted as JGN, load limit of industrial robot, denoted as FZE, maximum daily working time of equipment, denoted as ZGS; Material information: inventory quantity of workpieces to be processed, denoted as KCS, unit: pieces, warehouse location code, denoted as LWM, material type and order matching relationship, denoted as PM, PM=1 indicates matching, PM=0 indicates not matching; Step 2, intelligent scheduling algorithm: Adopt priority-based scheduling algorithm, steps as follows: Calculate the order priority score YXZ through the formula: Wherein, λ1, λ2, λ3 are preset weight coefficients, the value range is 0-1 and λ1+λ2+λ3=1; DQR refers to the current date, JXS refers to the urgency coefficient, JXS = 2 when order is marked as "urgent", normal order JXS = 1 Sort orders from high to low according to priority score YXZ to form an initial production sequence; Then dynamically adjust the production sequence, the way as follows: Real-time acquisition of equipment failure rate and workpiece processing time, and record them as GZL and GJS respectively; When GZL>5% or GJS exceeds 20% of the average time, then recalculate the priority score of the affected orders and adjust the sequence; Step 3, production resource allocation: According to the production sequence, allocate robot and drilling machine resources, and calculate the number of allocated robots FPS a and the number of allocated drilling machines FPS b through the formula: ; Wherein, is the ceiling function; GJS(b) is the processing time of a single workpiece on the radial drilling machine, unit: minutes / piece; Step 4, scheduling adjustment mechanism: When there is an urgent order insertion, then adjust the scheduling: Calculate the influence degree YXD of the urgent order on the original plan through: Wherein, NC is the number of urgent orders, N​​​a is the original planned order quantity; When YXD> 20%, then the robot and drilling machine resources are re-allocated, the loading / unloading priority is adjusted, the conveyor belt conveying rhythm CSZ is updated synchronously, and the formula is adjusted as follows: ; Wherein, CSZ new is the new conveyor belt conveying rhythm, CSZ a is the original set conveyor belt conveying rhythm.

[0016] (Three) beneficial effects The present application provides a production management system and adaptive control method and system for a robot radial drilling machine. Compared with the prior art, the following beneficial effects are achieved: The present application sets up a three-dimensional laser ranging reference network in the robot working area, measures the distance from the end laser ranging instrument to each reference point before each work, establishes an equation group to solve the actual position coordinates, and compares with the theoretical coordinates to obtain the deviation. Then, the joint angle is adjusted through the mechanical compensation mechanism composed of a servo motor and a transmission component, which can effectively calibrate the repeated positioning accuracy, reduce the position deviation caused by mechanical error, cumulative error, etc., and ensure that the robot end effector can accurately reach the preset position, providing an accurate basis for subsequent machining, grabbing and other operations, and improving the overall machining quality.

[0017] The present application combines visual camera and electromagnetic induction sensor for double positioning: the visual camera preliminarily identifies the shape features and position of the lower center pre-positioning place through image processing methods such as grayscale processing and Canny edge detection; the electromagnetic induction sensor uses the strength change of a specific frequency electromagnetic field to further adjust the position according to the field strength distribution when approaching, realizing the transition from coarse positioning to fine positioning, greatly improving the accuracy and reliability of the lower center pre-positioning, and avoiding processing failure or workpiece damage caused by inaccurate positioning.

[0018] The present application, the automatic feeding and discharging system is composed of a stock bin, a conveying mechanism, a grabbing mechanism and a placing mechanism, and each part works cooperatively: the layered stock bin stores workpieces in order, the conveyor belt conveying mechanism realizes automatic conveying and position detection of workpieces in combination with photoelectric sensors, the pneumatic mechanical claw is matched with a force sensor to stably grab workpieces and adjust the grabbing force, and the placing mechanism realizes neat collection of workpieces through lifting and rotating of the tray. The whole process does not need manual intervention, reduces the time cost and error of manual operation, realizes the full-process automation of workpieces from storage, conveying, machining to collection, improves the production efficiency, ensures the continuity of feeding and discharging, and is suitable for batch production scenes.

[0019] The production scheduling module based on priority algorithm dynamically generates the optimal production plan by combining the order urgency, equipment state and material inventory. When the equipment fails, the processing time is abnormal or the urgent order is inserted, the resource allocation, conveyor belt rhythm and production sequence are adjusted in real time through the influence degree calculation, which maximizes the equipment utilization and shortens the delivery cycle.

[0020] The central controller is the core of the application, which receives information of various devices such as laser range finder, visual camera, electromagnetic induction sensor, photoelectric sensor and force sensor, and makes comprehensive analysis and decision. For different parameters such as positioning deviation, pre-positioning position, workpiece conveying and grabbing force, control instructions are sent to mechanical compensation mechanism, servo motor, conveying motor and pneumatic system respectively to realize intelligent linkage of each link. This overall cooperative control mode enables the system to automatically adjust the operating state according to the real-time working condition, enhances the adaptability to different workpieces and different processing requirements, improves the stability and reliability of system operation, and reduces the failure rate. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 is the module flow chart of the production scheduling module in the production management system of the robot radial drilling machine of the application.

[0022] Figure 2 is the system block diagram of the adaptive control system of the robot radial drilling machine of the application.

[0023] Figure 3 is the flowchart of the adaptive control method of the robot radial drilling machine of the application. DETAILED DESCRIPTION

[0024] The technical solutions in the embodiments of the application will be clearly and completely described below with reference to the drawings in the embodiments of the application. Obviously, the described embodiments are only part of the embodiments of the application, not all the embodiments. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the application.

[0025] Please refer to Figures 1 to 3 The technical solutions provided by the embodiments of the application are as follows: As an embodiment of the application: The embodiment provides a production management system of a robot radial drilling machine, which comprises a production scheduling module for generating an optimal production plan and dynamically adjusting a scheduling strategy according to order demand, equipment state and material inventory information; Step 1, establish a production task database: A production task database is established and the following key information is stored: Order information: including workpiece type, recorded as GJL, such as GJL1 for bearing workpiece, GJL2 for gear workpiece, etc., order quantity, recorded as N, unit is piece, delivery period, recorded as JHQ, format is year / month / day; Device parameters: processing capacity of radial drilling machine, recorded as JGN, unit is piece / hour, load limit of industrial robot, recorded as FZE, unit is kg, maximum working time of device per day, recorded as ZGS, unit is hour; Material information: inventory quantity of workpiece to be processed, recorded as KCS, unit is piece, silo location code, recorded as LWM, such as LWM1-1 represents first silo on first floor, material type and order matching relationship, recorded as PM, PM=1 indicates matching, PM=0 indicates non-matching; Step 2, intelligent scheduling algorithm: Priority-based scheduling algorithm is adopted, steps are as follows: Calculate order priority score YXZ through formula: Wherein, λ1, λ2, λ3 are preset weight coefficients, value range is 0-1 and λ1+λ2+λ3=1; DQR refers to current date, JXS refers to urgency coefficient, JXS = 2 when order is marked as "urgent", normal order JXS = 1 ; Order is sorted from high to low according to priority score YXZ to form initial production sequence; Then, production sequence is dynamically adjusted, its mode is as follows: Device failure rate and workpiece processing time are collected in real time, and recorded as GZL and GJS respectively; When GZL>5% or GJS exceeds average time consumption by 20%, then priority score of affected order is recalculated and sequence is adjusted; Step 3, production resource allocation: According to production sequence, robot and drilling machine resource are allocated, and through formula: Robot allocation quantity FPS a and drilling machine allocation quantity FPS b are calculated; Wherein, is ceiling function; GJS(b) is single workpiece processing time of radial drilling machine, unit is minute / piece; For example, when order quantity N=100 pieces, ZGS=8 hours, GJS=5 minutes / piece, That is, 2 robots need to be allocated; Step 4, scheduling adjustment mechanism: When there is an urgent order inserted, then scheduling adjustment is carried out: Through: ​, calculate the impact degree YXD of the urgent order on the original plan; Wherein, NC is the number of urgent orders, N a is the number of original planned orders; When YXD> 20%, the robot and drill bed resources are re-allocated, the loading / unloading priority is adjusted, and the conveyor belt conveying rhythm CSZ is updated synchronously, which is in meters / minute, and the adjustment formula is: Wherein, CSZ new is the new conveyor belt conveying rhythm, CSZ a is the original set conveyor belt conveying rhythm; For example, the originally set conveyor speed CSZ a = 2 m / min, N a = 100, NC = 30, then m / min ; The robot radial drill bed production management system provided in the embodiment one provides comprehensive data support for production scheduling by establishing a production task database containing order, equipment and material key information. The intelligent scheduling algorithm based on priority combined with the dynamic adjustment mechanism can respond to urgent order demand in priority through scientific formula calculation of order priority score, and dynamically optimize the production sequence according to real-time data such as equipment failure rate and processing time, so as to ensure the flexibility and rationality of the production plan. The production resource allocation link accurately calculates the allocation number of robots and drill beds through a quantitative formula, realizes efficient use of resources; and the scheduling adjustment mechanism for urgent orders effectively reduces the interference of order insertion on the original plan through impact degree evaluation and synchronous optimization of the conveyor belt rhythm. The system realizes intelligent management of the whole process from production plan generation, resource allocation to dynamic adjustment, significantly improves the scientificity of production scheduling, resource utilization rate and timeliness of order delivery, and is suitable for multi-variety and variable-batch production scene requirements.

[0026] As the embodiment two of the present application: In the specific implementation of the present application, compared with the embodiment one, the technical scheme of the embodiment two is only different from the embodiment one in that in the embodiment two, the present application is a self-adaptive control method for a robot radial drill bed, and in order to ensure the repeat positioning accuracy of the industrial robot, a double calibration mechanism based on laser ranging and mechanical compensation is adopted; In this embodiment, laser ranging reference points are arranged in a "spatial triangular grid" mode in the working area of the industrial robot, and the total number n of reference points is set to 6, of which 4 are basic reference points and 2 are redundant check points; Each reference point adopts a metal reflective ball with a diameter of 5mm, which is fixed on the rigid structure such as the column and the ground of the working area through a bolt, so as to ensure no displacement during long-term use; A three-coordinate measuring instrument with a precision of 0.001mm is used to pre-calibrate the coordinates (xi0 y i0 ,z i0 ), where i = 1, 2, …, 6, wherein: The first to fourth reference points constitute a regular tetrahedron distribution, and the bottom three points form an equilateral triangle (with a side length of 2m), and the fourth point is located vertically above the center of the triangle at a height of 1.5m; The fifth to sixth reference points are respectively arranged at the edges of the working area and form a cross-verification relationship with the basic reference points; All coordinate data are stored in the non-volatile memory of the central controller, and are recalibrated once every quarter to eliminate the influence of mechanical deformation; Wherein, the laser range finder adopts a phase laser sensor with an accuracy of ±0.01mm, is installed at the center position of the end effector flange, and the measurement frequency is set to 50Hz; When initializing each time, the following operations are performed: The end effector moves to the preset measurement pose of the six reference points in turn to ensure that the laser beam is perpendicular to the surface of the reflective ball; The distance value di is measured continuously for three times at each reference point, and the average value is taken as the effective measurement value, and the calculation formula is: Wherein, d i，1 , d i，2 , d i，3 are the three measurement values of the i-th reference point, respectively; At the same time, according to the spatial two-point distance formula, the following equation is established: ; In the formula, (x, y, z) is the current actual coordinate of the end effector, and (x i0 , y i0 , z i0 ) is the preset coordinate of the i-th reference point in the robot coordinate system; Select the first to fourth reference points to establish an equation group, and subtract the spatial two-point distance formula of i = 1 from the spatial two-point distance formula of i = 2; That is: After arrangement, the linear equation is obtained: (Formula three) Similarly, subtract i = 1 from i = 3 and i = 4 respectively to obtain another two equations to form a three-element linear equation group: Wherein: a1=2(x 10 -x 20 ), b1=2(y 10 -y20 ), c1=2(z 10 -z 20 ); e1=d2 2 -d1 2 -(x 20 2 +y 20 2 +z 20 2 -x 10 2 -y 10 2 -z 10 2 ) a2=2(x 10 -x 30 ), b2=2(y 10 -y 30 ), c2=2(z 10 -z 30 ), e2=d3 2 -d1 2 -(x 30 2 +y 30 2 +z 30 2 -x 10 2 -y 10 2 -z 10 2 ) a3=2(x 10 -x 40 ), b3=2(y 10 -y 40 ), c3=2(z 10- z 40 ); e3=d4 2 -d1 2 -(x 40 2 +y 40 2 +z 40 2 -x 10 2 -y 10 2 -z 10 2 ) Then the equations are solved by Cramer's rule to obtain the actual position coordinates (x r , yr ,z r ); Then use the 5-6 reference point for verification, calculate the verification error: Where, γ i ∈{γ5, γ6}; When γ5≤0.02mm and γ6≤0.02mm are true, determine the measurement effective; Otherwise start the re-measurement process; Where, 0.02mm is the pre-set verification threshold; At the same time, the pre-set theoretical position coordinates (x t ,y t ,z t ) are generated by programming software and imported into the central controller, and through: ; Calculate the position deviation (xc, yc, zc); The mechanical compensation mechanism adopts the "joint incremental correction" mode. For a 6-axis robot, the calculation steps of the joint angle correction amount θX1-θX6 are as follows: The mapping relationship between the robot end position and the joint angle is known: x t =f(θ1,θ2,θ3,θ4,θ5,θ6) y t =g(θ1,θ2,θ3,θ4,θ5,θ6) z t =h(θ1,θ2,θ3,θ4,θ5,θ6) Where f, g, h are forward kinematics functions; The differential method is used to calculate the joint correction amount. For θ1 correction caused by xc: In the formula, is the change rate of x direction when θ1 changes, which is obtained through the robot factory parameters; Similarly, calculate the joint correction amount caused by yc and zc, and superimpose to get the total correction amount: Where, i=1, 2, ……6; When the servo motor receives the correction command, it executes the rotation according to the accuracy of 0.1 degrees / step. After each compensation, the position deviation is re-measured until |xc|, |yc|, |zc| are less than or equal to 0.01mm; Where, 0.01mm is the pre-set deviation threshold; When the compensation process fails for 5 consecutive times, the advanced compensation mode is triggered, that is, the number of reference points is increased to 6 to recalculate; The embodiment adopts a dual calibration mechanism based on laser ranging and mechanical compensation. Laser ranging reference points are arranged in a specific mode in the working area of the industrial robot. The actual position coordinates of the end effector are calculated by using a high-precision laser range finder and a three-coordinate measuring instrument, combining the spatial two-point distance formula and the Cramer rule, and are verified. At the same time, the position deviation is calculated according to the preset theoretical position coordinates, and the joint angle of the robot is adjusted through the "joint incremental correction" mode of the mechanical compensation mechanism. This mechanism can effectively ensure the repeatability of the industrial robot, reduce errors caused by mechanical deformation and other factors, and maintain high-precision positioning for a long time through regular recalibration and dynamic compensation, meeting the stringent requirements for robot positioning accuracy and stability in industrial production. As Embodiment Three of the Invention: In the specific implementation of the present application, compared with Embodiment Two, the technical solution of the present embodiment is only different from that of Embodiment Two in that, in the present embodiment, a dual positioning method based on visual recognition and electromagnetic induction assistance is adopted to enable the industrial robot to recognize the lower center pre-positioning position for a long time; An electromagnetic induction mark is installed at the lower center pre-positioning position of the radial drilling machine. The electromagnetic induction mark can generate a specific frequency electromagnetic field. At the same time, a visual camera and an electromagnetic induction sensor are installed on the industrial robot. In this embodiment, the visual camera is a 2 million pixel industrial camera with a lens focal length of 8 mm, which is installed on the side of the end effector and forms a 90-degree angle with the laser range finder, covering an area of 300 mm x 300 mm above the lower center. The camera frame rate is set to 15 frames per second, and the exposure time is automatically adjusted according to the ambient light. The visual camera collects image information at the lower center pre-positioning position, and processes the collected image through an image recognition algorithm in the following manner: First, the image is processed by grayscale processing to convert the color image into a grayscale image to reduce the calculation amount. The grayscale processing adopts a weighted average algorithm: Wherein, R, G, B are the three channel values of the pixel, and Gray is the gray value. The processed image is stored as an 8-bit bitmap with a resolution of 640 x 480 pixels. Then, the Canny edge detection algorithm is used to extract the edge information in the image. The Canny edge detection algorithm is a prior art. By analyzing the edge information, the shape features of the lower center pre-positioning position, such as circles, squares, etc., are recognized. According to the identified shape features, the position of the lower center is preliminarily determined; Canny edge detection parameter setting: Gaussian filter uses 3x3 convolution kernel, σ=0.8, convolution formula: Sobel operator calculates gradient: Wherein, P1 to P9 are gray values of 3x3 neighborhood pixels; The double threshold is set to high threshold H=80 and low threshold L=40, and the edge connection uses 8-neighborhood search method; Shape recognition uses improved Hough circle detection: For the circular feature of the lower center, a specified size of radius search range is set; Hough space accumulation formula: Wherein, (a, b, r) is a parameter for describing a circle, and the specific meaning is as follows: a: represents the x-axis coordinate of the center of the circle in the image coordinate system, i.e. the horizontal position; b: represents the y-axis coordinate of the center of the circle in the image coordinate system, i.e. the vertical position; r: represents the radius of the circle; Edge(x, y) is an edge image, and the edge point is 1 and the non-edge point is 0; δ is an impulse function, and C(a, b, r) is the accumulation value of the parameter (a, b, r); Then take (a, b, r) with the maximum C value as the recognition result, i.e. the center coordinates (a, b) of the lower center; On the basis of the preliminary positioning of the visual camera, the electromagnetic induction sensor starts to work; In this embodiment, the electromagnetic induction mark installed at the lower center pre-positioning place is composed of a coil wound by an enameled wire, and a 15 kHz alternating electromagnetic field is generated by connecting a 12V alternating current power supply; Wherein, the diameter of the coil is 30mm, and the number of turns is 500 turns; The electromagnetic induction sensor uses a three-axis magnetic field sensor with a sensitivity of 0.1mV / μT, and is installed 50mm below the camera; The relationship model between electromagnetic field intensity and distance: in the interference-free environment, the electromagnetic field intensity detected by the sensor is: In the formula: K is a constant, namely 0.02 μT·m² / A·turn; L is the coil current, the measured value is 200 mA; N is the number of turns of the coil, 500 turns; D is the linear distance between the sensor and the mark; The electromagnetic field intensity detected by the electromagnetic induction sensor is marked as E; When the robot approaches the electromagnetic induction mark at the predetermined position of the lower center, the electromagnetic field intensity E changes; Then by comparing it with a pre-set electromagnetic field intensity threshold E0: When E>E0, when E>E0, then start the accurate positioning: The accurate positioning start process is as follows: Control the robot to move a pre-specified distance Jx in the x direction, and then measure the electromagnetic field intensities Ea and Eb of the two points respectively; Then according to: Ea, Eb and D b 2 =D a 2 +Jx 2 -2×D a ×Jx×cosα, together with the solution of the mark in the x direction offset; Where, α is the angle between the line and the x axis, D b , D a are the linear distances between the sensor and the mark after the robot moves in the x direction respectively; Similarly, move in the y direction to measure the corresponding offset, and determine the mark center coordinates (a0, b0); Then through: Calculate the deviation DC from the visual recognition result: When DC≤5mm, then take the average of the two as the final position; otherwise, start the abnormal troubleshooting process; Where, 5mm is the pre-set deviation threshold corresponding to the deviation DC; The embodiment uses a double positioning method based on visual recognition and electromagnetic induction assistance, installs an electromagnetic induction mark at the predetermined position of the lower center of the radial drilling machine, and equips the industrial robot with a visual camera and an electromagnetic induction sensor. The visual camera preliminarily positions the lower center position through image greying, edge detection, shape recognition and other algorithms, and the electromagnetic induction sensor preliminarily positions the lower center position on the basis of the preliminary positioning, and accurately positions according to the electromagnetic field intensity change. This scheme solves the problem of difficult identification of the lower center position of the industrial robot after a long time of work, and can accurately identify the lower center position even under complex working conditions and long time operation, providing accurate position information for subsequent machining operation, improving the accuracy and reliability of machining, and enhancing the applicability of the robot in actual production.

[0027] As an embodiment of the present application: Compared with Embodiment Two and Embodiment Three, the technical scheme of the present embodiment is to combine the schemes of Embodiment Two and Embodiment Three. The difference between the technical scheme of the present embodiment and Embodiment Two and Embodiment Three is that the present embodiment further provides a specific implementation of automatic feeding and discharging: The automatic feeding and discharging system mainly consists of a hopper, a conveying mechanism, a grabbing mechanism and a placing mechanism; The hopper is used to store workpieces to be processed; The hopper adopts a layered structure, and each layer stores a specified number of workpieces; The conveying mechanism conveys the workpieces from the hopper to the grabbing position; The conveying mechanism adopts a conveyor belt structure, and the conveyor belt is driven by a motor. The conveying speed of the workpieces can be adjusted by controlling the rotating speed of the motor. Photoelectric sensors are installed at the starting end and the end of the conveyor belt respectively, which are used to detect the position and number of the workpieces. When the photoelectric sensor at the starting end detects that a workpiece enters the conveyor belt, the motor starts to drive the conveyor belt to run and convey the workpiece to the grabbing position. When the photoelectric sensor at the end detects that the workpiece reaches the grabbing position, the motor stops running; The grabbing mechanism is responsible for grabbing the workpieces and placing them in the machining position of the radial drilling machine. After the machining is completed, the grabbing mechanism grabs the workpieces from the machining position and places them in the discharging position; The grabbing mechanism adopts a pneumatic mechanical claw, which is connected to the air source through an air pipe. The opening and closing of the mechanical claw are controlled by adjusting the air pressure in the air pipe. A force sensor is installed on the mechanical claw to detect the grabbing force when grabbing the workpiece; When the mechanical claw reaches the grabbing position, the air pressure in the air pipe is adjusted according to the grabbing force detected by the force sensor, so that the mechanical claw can stably grab the workpiece; After grabbing the workpiece, the industrial robot carries the workpiece to the machining position of the radial drilling machine, and accurately places the workpiece on the machining position by controlling the movement of the robot; After the machining is completed, the grabbing mechanism grabs the workpiece again and carries it to the discharging position; The placing mechanism is used to collect the workpieces; The placing mechanism is provided at the discharging position, and the placing mechanism is a tray which is driven by a motor to perform lifting and rotating movements; After the workpieces are placed on the tray, the tray performs lifting and rotating movements according to the preset program to arrange the workpieces neatly on the tray; When the number of workpieces on the tray reaches a certain number, the tray is taken off from the placing mechanism by manual operation, and the discharging operation is completed; The specific implementation of automatic feeding and discharging: Step One, linkage control of the hopper and the conveying mechanism In this embodiment, the silo adopts a four-layer drawer structure, with 10 workpiece slots built into each layer; The size of each layer of the silo is 500mm×300mm×100mm, and the workpiece slot is suitable for cylindrical workpieces with a diameter of 50mm; A vibration motor of model M20 is installed at the bottom of the silo, with a power of 50W and a vibration frequency of 50Hz; When the photoelectric sensor on a certain layer cannot detect the workpiece, the vibration motor is triggered to work for 2 seconds to drop the workpiece on the upper layer for replenishment; The conveying mechanism consists of a conveyor belt with a width of 100 mm. The driving motor adopts a stepper motor with an encoder, a reduction ratio of 5:1, and the set conveying speed is: v=s / t; Where s is the length of the conveyor belt and t is the preset conveying time; The signal logic of the photoelectric sensor S1 corresponding to the silo outlet and the photoelectric sensor S2 corresponding to the grab position is as follows: After the photoelectric sensor S1 detects the workpiece for 1 second, the motor starts; Motor running time ; Where CL is the distance from S1 to S2, and CL0 is the length of the workpiece; If S2 still does not detect a signal after TY, it is determined that the workpiece is stuck, and the conveyor belt is triggered to reverse and restart after 0.5 seconds; Step 2: Force control adjustment strategy of the gripping mechanism The pneumatic mechanical gripper uses two parallel jaws connected to an 8mm diameter air tube to the air source; The force sensor is installed on the gripper fingertip, and the gripping force control process is as follows: The minimum gripping force is then calculated based on the workpiece weight m: ; Where g = 9.8 m / s², Q is the safety factor; The grasping force under different air pressures was measured experimentally, and a linear relationship was established: ; Wherein, p is the air pressure, and in this embodiment, 80 is the linear relationship coefficient value; Dynamic Adjustment: Extract the initial ventilation pressure p0, i.e. the actual grasping force F detected; If F < F min , then by: , calculate the increased pressure difference Zp: Among them, the new air pressure value added is: ; If F>F min , then by: , calculate the reduced pressure difference Jp: Wherein, the new air pressure value reduced to is: ; When placing the workpiece, the air pressure is gradually reduced to 0.4 MPa, and then to 0.1 MPa after confirming the contact of the workpiece with the positioning surface, and then the air is completely cut off to avoid the workpiece bouncing; During the entire automatic feeding and discharging process, the working state of each component is monitored in real time by the sensor; The position of the industrial robot is monitored by the position sensor, the air pressure of the pneumatic mechanical claw is monitored by the pressure sensor, and the position and quantity of the workpiece are monitored by the photoelectric sensor; According to the information monitored by the sensor, the control system controls each component in real time to ensure the smooth progress of the automatic feeding and discharging process, and realizes unmanned operation; The automatic feeding and discharging system is introduced in this embodiment. The system is composed of a stock bin, a conveying mechanism, a grabbing mechanism and a placing mechanism. Through the coordinated work of the layered stock bin, the conveying belt conveying mechanism, the pneumatic mechanical claw grabbing mechanism and the tray type placing mechanism, the full process automation operation of the workpiece from storage, conveying, grabbing, processing to discharging is realized. In the automatic feeding and discharging process, the photoelectric sensor is used to detect the position and quantity of the workpiece, and the force sensor is used to adjust the grabbing force to ensure accurate operation of each link. This embodiment greatly improves the automation degree of industrial production, reduces manual intervention, reduces labor cost, improves production efficiency, and ensures the continuity and stability of the production process.

[0028] As an embodiment of the present application: Compared with embodiment one, embodiment two, embodiment three and embodiment four, the difference between this embodiment and embodiment one, embodiment two, embodiment three and embodiment four is that this embodiment further comprises a central controller, which receives information from various sensors such as laser range finder, visual camera, electromagnetic induction sensor, photoelectric sensor, force sensor, position sensor and pressure sensor; According to the information provided by the laser range finder and the visual camera, the electromagnetic induction sensor, the central controller calculates the position deviation of the industrial robot and the accurate position of the lower center pre-positioning, and then sends control instructions to the mechanical compensation mechanism and the robot joint servo motor to adjust the position of the robot, ensuring the repeatability and accuracy of the lower center pre-positioning; During the automatic feeding and discharging process, the central controller controls the motor of the conveying mechanism according to the information of the workpiece position and quantity detected by the photoelectric sensor; controls the air pressure of the pneumatic mechanical claw according to the grabbing force information detected by the force sensor; controls the movement of the industrial robot and the working state of the pneumatic mechanical claw according to the information monitored by the position sensor and the pressure sensor; Through intelligent control and collaborative management of the central controller, adaptive control of the robot radial drilling machine is realized, and the purpose of long-time stable work and unmanned operation is achieved. The embodiment adds a central controller, which is responsible for receiving various sensor information such as laser range finder, visual camera, electromagnetic induction sensor, etc. Based on this information, the central controller can accurately calculate the position deviation of the industrial robot and the accurate position of the lower center positioning, and then send control instructions to the mechanical compensation mechanism and the robot joint servo motor to realize the position adjustment of the robot. In the automatic feeding and discharging link, according to the feedback information of each sensor, the conveying mechanism, pneumatic mechanical gripper, industrial robot, etc. are controlled in real time. Through the intelligent control and collaborative management of the central controller, the subsystems are organically integrated, the adaptive control of the robot radial drilling machine is realized, the equipment can work stably for a long time under complex working conditions, and the unmanned operation goal is truly achieved, which improves the intelligent level and operation efficiency of the whole production system.

[0029] As an embodiment of the present application: Compared with embodiment one, embodiment two, embodiment three, embodiment four and embodiment five, the technical scheme of the present embodiment is to combine the above-mentioned embodiment one, embodiment two, embodiment three, embodiment four and embodiment five.

[0030] Example six, by integrating all the technical solutions of examples one to five, a set of full-process, integrated robot radial drilling machine intelligent production management and control system is constructed. The system takes intelligent production scheduling as the core, combines the double calibration mechanism of laser ranging and mechanical compensation, ensures the repeatability of industrial robots, effectively reduces the mechanical deformation error; the introduction of visual recognition and electromagnetic induction auxiliary double positioning method solves the problem of lower center positioning recognition under long time work, guarantees the positioning accuracy and stability. The automatic feeding and discharging system realizes the full automation operation of workpiece conveying, grabbing and placing through real-time monitoring and force control adjustment strategy of sensor, reduces the manual intervention; the central controller as the core hub, the sensor data of each subsystem is centralized processing and collaborative control, realizes the intelligent linkage of production scheduling, equipment calibration, positioning recognition, material handling and other links. Finally, the combined scheme achieves the long-term stable operation, high-precision machining and full-process unmanned operation of the robot radial drilling machine, fully improves the intelligent level, running efficiency and machining quality of the production system, meets the strict demands of modern industrial production for high efficiency, precision and automation. ​ ​ ​ ​ ​ ​ ​ ​ ​ The present application also provides an adaptive control system of a robot radial drilling machine, comprising: The industrial robot body is the core component of the system for performing machining operations, adopts a multi-joint series structure, has six degrees of freedom, can move flexibly in three-dimensional space and complete complex actions. High-precision angle encoders are installed at the joints of the robot body, which are used to feedback joint angle information in real time. The resolution of the angle encoder reaches microns, which can accurately measure the joint rotation angle and provide basic data for the position control of the robot. The end effector of the robot adopts modular design, which can quickly replace tools according to different machining tasks, such as pneumatic mechanical gripper for grabbing workpieces and drill chuck for installing drill bits for drilling.

[0031] The laser ranging calibration module is composed of a plurality of laser ranging reference points fixed in the working area and a laser range finder installed on the end effector of the robot; the laser ranging reference points are distributed at different positions of the robot workspace to form a three-dimensional reference network; each reference point has accurate coordinates, and the coordinate information is stored in the system database in advance; the laser range finder adopts a pulsed laser ranging principle and can quickly and accurately measure the distance from each reference point; The visual and electromagnetic induction positioning module: the visual positioning part adopts an industrial-grade high-definition camera, which is installed on the robot body and has a visual angle covering the predetermined positioning area of the lower center of the radial drilling machine; the camera is equipped with a high-resolution image sensor and can collect clear workpiece image information; the electromagnetic induction positioning part is composed of an electromagnetic induction mark installed at the lower center positioning position and an electromagnetic induction sensor on the robot; The automatic feeding and discharging module comprises: The stock bin adopts a multi-layer three-dimensional structure and is composed of a metal frame and a partition plate, and a certain number of workpieces can be stored in each layer; The bottom of the stock bin is provided with an electric lifting mechanism, which drives the screw nut pair through the motor to realize the lifting movement of the stock bin layer, facilitating the storage and retrieval of workpieces.

[0032] The conveying mechanism adopts a belt type conveying line, which is composed of a motor, a belt, a roller and a tensioning device; The motor drives the roller to rotate through a speed reducer, drives the belt to run, and conveys the workpieces from the stock bin to the grabbing position; Photoelectric sensors are installed on both sides of the conveying line to detect the position and number of workpieces; The grabbing mechanism takes a pneumatic mechanical claw as the core, and the mechanical claw is composed of a gas cylinder, a finger and a connecting piece; The gas cylinder is connected with the gas source through a gas pipe, and the opening and closing action of the mechanical claw is realized by controlling the air inlet and air outlet of the gas cylinder; A micro force sensor is installed on the mechanical claw to monitor the grabbing force in real time, so that the workpiece is not damaged due to excessive force, and the workpiece is not dropped due to insufficient force; The placing mechanism is composed of a liftable and rotatable tray and a driving device; The tray is made of metal material and has a smooth surface to prevent the workpiece from being damaged during placement; The driving device includes a motor, a speed reducer and a rotating bearing, and the lifting and rotating movement of the tray is realized by controlling the rotation of the motor, so as to facilitate the neat arrangement of the finished workpieces; The mechanical compensation mechanism is installed at the joint part of the robot, and each joint corresponds to a set of compensation device; The compensation device is mainly composed of a servo motor, a ball screw, a linear guide rail and a connecting piece; The servo motor is connected with the ball screw through a coupling, and the ball screw nut pair is connected with the linear guide rail slider; When the system detects that the robot position deviates, the servo motor drives the ball screw to rotate, drives the linear guide rail slider to move, thereby adjusting the position of the robot joint, and compensates for the movement error of the robot. The central controller is an industrial high-performance programmable logic controller, which has powerful data processing and logic control capabilities. It is equipped with multiple input and output interfaces, and communicates with laser range finder, camera, electromagnetic induction sensor, photoelectric sensor, force sensor, servo motor driver and other devices. The central controller collects data of each sensor in real time through a high-speed data bus, processes and analyzes the data according to a preset program and control algorithm, and then sends control instructions to each actuator to realize coordinated control of the whole system.

[0033] It should be noted that all user data collected in this application is collected with the consent and authorization of the user, and the use of user data is legal and compliant, and the use and processing of user data comply with relevant laws, regulations and standards in the relevant region.

[0034] Meanwhile, the contents not described in detail in the specification all belong to the prior art known to those skilled in the art.

[0035] It should be noted that in this paper, relationship terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between the entities or operations. Moreover, the term "includes", "contains" or any other variant thereof is intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or device.

[0036] Although the embodiments of the present application have been shown and described, it can be understood by those skilled in the art that various changes, modifications, replacements and variations can be made to the embodiments without departing from the principles and spirits of the present application, and the scope of the present application is defined by the appended claims and their equivalents.

[0037] The computer program instructions can also be loaded onto a computer, other programmable data processing apparatus, or other processing devices to cause a series of operational steps to be performed on the computer, other programmable apparatus or other processing devices to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide processes for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks.

[0038] It is also noted that each of the blocks of the block diagrams and / or flowchart illustrations, and combinations of the blocks, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

[0039] Embodiments of the present application have been described above, with the understanding that these embodiments are exemplary only, and not exhaustive, and are not limited to the embodiments disclosed. Many modifications and variations of the described embodiments are possible, without departing from the scope and spirit of the described embodiments. The selection of terms to be used in the description is intended to best explain the principles of the embodiments, practical application, or improvement over technology in the art, or to enable others skilled in the art to understand the embodiments disclosed herein.

Claims

1. The production management system of the robot radial drilling machine is characterized by: include: The production scheduling module is used to generate the optimal production plan and dynamically adjust the scheduling strategy based on order requirements, equipment status, and material inventory information. The specific methods are as follows: Establish a production task database and store order information, equipment parameters, and material information: Order information: including workpiece type GJL, order quantity N, and delivery date JHQ; equipment parameters: radial drilling machine processing capacity JGN, industrial robot load limit FZE, and equipment daily maximum operating hours ZGS; material information: inventory quantity KCS of workpieces to be processed, silo location code LWM, and material type and order matching relationship PM; By formula: , calculate the order priority score YXZ; where λ1, λ2, and λ3 are preset weight coefficients, ranging from 0 to 1 and λ1+λ2+λ3=1; DQR refers to the current date, and JXS refers to the urgency coefficient; Orders are sorted from high to low by priority score YXZ to form the initial production sequence. The production sequence is then dynamically adjusted as follows: The equipment failure rate and workpiece processing time are collected in real time and recorded as GZL and GJS respectively; When GZL>5% or GJS exceeds the average time by 20%, the priority score of the affected orders is recalculated and the sequence is adjusted. Robot and drilling machine resources are allocated according to the production sequence and the formula is used: , calculate the number of robots assigned FPS a and drill press allocation number FPS b ; in, is a rounded-up function; GJS (b) is the machining time of a single workpiece on a radial drilling machine, in minutes per workpiece; When an urgent order is inserted, it is done through: , calculate the impact of the expedited order on the original plan YXD; where NC is the number of expedited orders, N a is the original planned order quantity; When YXD>20%, the robot and drilling machine resources are reallocated, the loading / unloading priority is adjusted, and the conveyor belt delivery rhythm CSZ is updated synchronously. The adjustment formula is: ； Among them, CSZ new Sending rhythm to the new conveyor belt, CSZ a The original set conveyor belt delivery rhythm.

2. The adaptive control method of the robot radial drilling machine is characterized in that: The following steps are involved: Repeatable positioning accuracy calibration: A dual calibration mechanism based on laser ranging and mechanical compensation is used. Multiple fixed laser ranging reference points are set up within the working area of ​​the industrial robot to form a three-dimensional reference network. The laser rangefinder is installed on the end effector of the industrial robot. Before each operation, the laser rangefinder on the end effector is used to measure the distance to each reference point. Based on the distance formula between two points in space, a set of equations is established and solved to obtain the current actual position coordinates of the robot end effector. The actual position coordinates are compared with the preset theoretical position coordinates to calculate the position deviation. A mechanical compensation mechanism composed of multiple high-precision servo motors and transmission components is used to adjust the robot joint position by controlling the rotation angle of the servo motors so that the robot end effector reaches the theoretical position. Lower center pre-positioning identification: A dual positioning method based on visual recognition and electromagnetic induction assistance is adopted. An electromagnetic induction marker that can generate an electromagnetic field of a specific frequency is installed at the lower center pre-positioning position of the radial drilling machine. A visual camera and an electromagnetic induction sensor are installed on the industrial robot. The visual camera collects image information, and the edge information is extracted through grayscale processing and Canny edge detection algorithm. The shape features of the lower center pre-positioning position are analyzed and identified to preliminarily determine the position. On this basis, the electromagnetic induction sensor detects the surrounding electromagnetic field strength and compares the detected electromagnetic field strength with a pre-set threshold. When the electromagnetic field strength is greater than the threshold, the robot position is accurately adjusted according to the electromagnetic field strength distribution.

3. The adaptive control method of the robotic radial drilling machine according to claim 2, characterized in that: It also includes automatic loading and unloading steps: the automatic loading and unloading system consists of a hopper, a conveying mechanism, a gripping mechanism and a placement mechanism. The hopper adopts a layered structure to store the workpieces to be processed. The conveying mechanism adopts a conveyor belt structure, which is driven by a motor. The photoelectric sensors at the starting and end of the conveyor belt are used to detect the position and quantity of the workpieces to control the operation of the motor and transport the workpieces to the gripping position. The gripping mechanism adopts a pneumatic mechanical claw, which is connected to the air source through an air pipe. A force sensor is installed on the mechanical claw. The air pressure of the air pipe is adjusted according to the gripping force detected by the force sensor to grip the workpiece. The industrial robot transports the workpiece to the processing position and unloading position. The placement mechanism is a motor-driven tray, which is used to collect the workpieces and arrange the workpieces by lifting and rotating according to the preset program.

4. The adaptive control method for a robotic radial drilling machine according to claim 3, wherein: The overall coordinated steps of intelligent adaptive control: receiving information from the laser rangefinder, visual camera, electromagnetic induction sensor, photoelectric sensor, force sensor, position sensor and pressure sensor through the central controller, calculating the position deviation and the exact position of the lower center pre-positioning according to the information from the laser rangefinder, visual camera and electromagnetic induction sensor, sending control instructions to the mechanical compensation mechanism and the robot joint servo motor, and in the process of automatic loading and unloading, controlling the operation of the conveying mechanism motor, the air pressure of the pneumatic mechanical claw, the movement of the industrial robot and the working status of the pneumatic mechanical claw respectively according to the information from the photoelectric sensor, force sensor, position sensor and pressure sensor; the laser ranging reference points are evenly distributed in the robot workspace.

5. The adaptive control method for a robotic radial drilling machine according to claim 2, wherein: Each servo motor in the mechanical compensation mechanism corresponds to a robot joint.

6. The adaptive control method for a robotic radial drilling machine according to claim 2, wherein: The electromagnetic field of a specific frequency generated by the electromagnetic induction marker is used to be detected and identified by the electromagnetic induction sensor.

7. The adaptive control method for a robotic radial drilling machine according to claim 3, wherein: The photoelectric sensors installed at the starting and ending ends of the conveyor belt of the conveying mechanism are used to accurately detect the position and quantity of the workpieces and control the start and stop of the motor.

8. The adaptive control method for a robotic radial drilling machine according to claim 3, wherein: The pneumatic mechanical claw of the grasping mechanism is opened and closed by controlling the air pressure in the trachea, and the force sensor installed on the mechanical claw is used to detect the grasping force in real time.

9. The adaptive control method for a robotic radial drilling machine according to claim 4, wherein: The central controller integrates a data processing module and an instruction sending module, and is used to process sensor information and send control instructions.

10. An adaptive control system for a robotic radial drilling machine, the system being used to execute the adaptive control method for a robotic radial drilling machine according to any one of claims 2 to 9, characterized in that: The system includes: The laser ranging calibration module consists of multiple laser ranging reference points fixed in the working area and a laser rangefinder installed on the robot's end effector; Vision and electromagnetic induction positioning module: The visual positioning part uses a visual camera, which is installed on the robot body; the electromagnetic induction positioning part consists of an electromagnetic induction mark installed at the lower center pre-positioning position and an electromagnetic induction sensor on the robot; The automatic loading and unloading module includes a silo consisting of a metal frame and partition plates, a conveying mechanism consisting of a motor, belt, roller and tensioning device, a gripping mechanism consisting of a cylinder, fingers and connectors, and a placement mechanism consisting of a liftable and rotatable tray and a drive device: The central controller uses an industrial-grade high-performance programmable logic controller to communicate with the laser rangefinder, camera, electromagnetic induction sensor, photoelectric sensor, force sensor, and servo motor driver.

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