Anchorage clamp piece automatic feeding and discharging punching device and control system thereof

Abstract

The application relates to the technical field of mechanical processing equipment, and discloses an automatic feeding and discharging and punching device for anchor clamps and a control system thereof, which comprises a fixing frame, a supporting column and a processing frame, the supporting column is fixedly connected with a supporting plate in the periphery, the top of the supporting plate is fixedly connected with a storage box, the processing frame is located at the top of the supporting column, the top of the processing frame is fixedly connected with a photoelectric sensor, image sensors are arranged on the two sides of the processing frame, and clamping assemblies are arranged on the two sides of the processing frame; a mechanical arm is fixedly connected with a supporting frame at the bottom, the supporting frame is fixedly connected to the bottom of the supporting plate, and the mechanical arm is used for transferring the clamping piece between the storage box and the processing frame; two connecting rods are fixedly connected with threaded rods at the top, and the threaded rods are connected with connecting blocks in the peripheries. The application realizes full automation of clamping piece punching, improves hole position precision, and effectively avoids the problem of drill breakage.

Description

Technical Field

[0001] This invention relates to the field of machining equipment technology, specifically to an automated loading, unloading, and drilling device for anchor clamps and its control system. Background Technology

[0002] Anchorages are key components in prestressed concrete structures used to maintain the tension of prestressed steel strands. The wedges within them typically have a frustum-shaped or specific inclined outer contour and are mostly made of high-hardness alloy steel. During the production process of the wedges, a central hole needs to be machined inside for the steel strands to pass through. Currently, when mass-producing these wedges, conventional vertical drilling machines or CNC drilling equipment are typically used in conjunction with specialized fixtures.

[0003] However, existing drilling equipment has some obvious defects in practical processing applications. Because the surface to be processed in anchor clamps often has a certain angle of inclination or presents an irregular curved surface, when the high-speed rotating drill bit first contacts the workpiece surface, the force on the bottom edge of the drill bit is extremely uneven. Influenced by the component force from the inclined surface, the drill tip easily slips laterally along the slope. This slippage not only causes the hole position to shift, making the processed clamps unable to meet the accuracy requirements of prestressed assembly, but also causes the drill bit to be subjected to a large lateral bending moment instantaneously, resulting in tool damage.

[0004] After the drill bit successfully enters the linear cutting stage of the deep hole, hard particles are easily present inside the wedge material, and the resistance to chip removal in the deep hole groove is high, leading to chip accumulation. Most existing drilling equipment uses a constant-rate mechanical or hydraulic downward feed mode, which cannot detect the dynamic changes in cutting resistance inside the hole in real time. When encountering poor chip removal or a sudden change in material causing a sharp increase in cutting torque, the equipment still maintains the original feed rate and forcibly presses down on the drill bit, which can easily cause the drill bit to jam or break in the hole, resulting in workpiece scrap and downtime for tool replacement.

[0005] Furthermore, existing loading, unloading, and positioning clamping mechanisms for anchor clamps, which have unique outer contours, have low levels of automation. Most equipment still requires manual placement, alignment, and locking, or uses simple two-point pneumatic grippers. This clamping method makes it difficult to achieve a tight fit with the conical outer surface of the clamp. Under high drilling torque and axial downward thrust, the workpiece is prone to slight loosening or circumferential rotation, and the efficiency of manual loading and unloading cannot meet the continuous high-speed production requirements of modern assembly lines. Summary of the Invention

[0006] To address the shortcomings of existing technologies, this invention provides an automated loading, unloading, and drilling device for anchor clamps and its control system. This solves the problems of existing anchor clamp drilling equipment, such as the drill bit easily slipping laterally and causing hole position displacement when machining inclined or irregular surfaces, the inability to dynamically adjust the feed rate according to sudden changes in cutting torque during deep hole drilling, which easily causes the drill bit to jam and break, and the low production efficiency and easy loosening of workpieces due to manual loading and unloading and conventional fixtures.

[0007] To achieve the above objectives, the present invention provides the following technical solution: This invention provides an automated loading, unloading, and drilling device for anchor clamp pieces, comprising: The assembly includes a fixed frame, a support column, and a processing frame. A support plate is fixedly connected to the outer periphery of the support column, and a storage box is fixedly connected to the top of the support plate. The processing frame is located on top of the support column, and a photoelectric sensor is fixedly connected to the top of the processing frame. Image sensors are provided on both sides of the processing frame, and clamping assemblies are provided on both sides of the processing frame. A robotic arm, the bottom of which is fixedly connected to a support frame, which is fixedly connected to the bottom of a support plate, is used to transfer clamping pieces between the storage box and the processing rack; A motor is fixedly connected to the bottom of the fixed frame, and a connecting rod is fixedly connected to the output end of the motor. There are two connecting rods. One connecting rod is fixedly connected to a pulley one, and the other connecting rod is fixedly connected to a pulley two. Both pulley one and pulley two are fitted with a synchronous belt. A threaded rod is fixedly connected to the top of both connecting rods, and a connecting block is threadedly connected to the outer periphery of the threaded rod. Two connecting blocks are provided, and an upper electric slide rail is fixedly connected between the two connecting blocks. The moving end of the upper electric slide rail is slidably connected to a lower electric slide rail, and the moving end of the lower electric slide rail is slidably connected to a connecting block. A motor is fixedly connected to the bottom of the connecting block, and a drill bit is fixedly connected to the output end of the motor.

[0008] Preferably, the clamping assembly includes two electric push-pull rods, which are fixedly connected to both sides of the processing frame. An adjusting block is fixedly connected to the output end of each electric push-pull rod. Two adjusting rods are rotatably connected to the center of each adjusting block. A clamping rod is connected to one end of each adjusting rod away from the adjusting block. Multiple arc-shaped clamping blocks (first type) are fixedly connected to one side of each clamping rod. Multiple arc-shaped clamping blocks (second type) are fixedly connected to the center of the processing frame. The multiple arc-shaped clamping blocks (first type) and the multiple arc-shaped clamping blocks (second type) fit together. A limiting groove is formed in the center of the processing frame, and the clamping rod is slidably connected to the center of the limiting groove.

[0009] Preferably, protective frames are provided on both sides of the processing frame, and a storage box is fixedly connected to the top of the support plate. The storage box is used to store the processed anchor clips.

[0010] Preferably, a limiting post is fixedly connected to the middle of the fixing frame, and the two connecting blocks are slidably connected to the outer periphery of the limiting post. The limiting post is used to limit the movement of the two connecting blocks.

[0011] A second aspect of the present invention provides a control system for an automated loading, unloading, and drilling device for anchor clamp pieces, applied to the aforementioned automated loading, unloading, and drilling device for anchor clamp pieces, comprising: The multi-view surface analysis module, which is electrically connected to the image sensor, is used to acquire multi-view images of the anchor clamping piece in the clamping state within the processing frame, and reconstruct the surface curvature gradient features of the area to be processed. An aerial linkage strategy formulation module, which is connected to the multi-view surface analysis module, is used to divide a single drilling action into a micro-track guiding stage and a linear feed stage based on the surface curvature gradient characteristics, and generate corresponding spatial control commands respectively. The micro-rail guidance control module is electrically connected to the aerial linkage strategy formulation module, the upper electric slide rail, the lower electric slide rail and the motor. It is used to control the upper electric slide rail and the lower electric slide rail to perform planar circular interpolation motion when the drill bit initially contacts the surface of the wedge, and to synchronously control the motor to perform a small amount of slow downward movement. An adaptive feed execution module, electrically connected to the motor and the motor, is used to perform drilling according to the linear feed stage command after the micro-rail guiding stage is completed, and to dynamically adjust the feed rate based on the real-time cutting load.

[0012] Preferably, the multi-view surface analysis module includes: The point cloud generation unit is used to process the multi-view images acquired by the image sensor through a stereo matching algorithm to generate three-dimensional point cloud data of the area to be processed of the anchor clamp piece; The normal vector calculation unit is used to perform local surface fitting on the three-dimensional point cloud data and extract the surface normal vector at the center point of the hole. The gradient output unit is used to calculate the angle between the surface normal vector and the system reference vertical coordinate axis, and output the angle as the surface curvature gradient feature to the aerial linkage strategy formulation module.

[0013] Preferably, the air-to-air coordination strategy formulation module includes: The threshold comparison unit is used to compare the included angle in the surface curvature gradient feature with a preset slip critical angle; The stage division unit is used to trigger the generation of the microrail guiding stage when the included angle is greater than the sliding critical angle; and to skip the microrail guiding stage and directly generate the linear feed stage when the included angle is less than or equal to the sliding critical angle. The instruction generation unit is used to calculate the interpolation direction parameters and interpolation radius of the planar circular interpolation motion based on the deflection direction of the included angle when the micro-track guidance stage is triggered, and to calculate the downward displacement depth data of the micro-slow downward movement based on the surface curvature gradient characteristics, and to generate a spatial control instruction containing the interpolation direction parameters, the interpolation radius and the downward displacement depth data.

[0014] Preferably, the microrail guidance control module includes: A position control signal generation unit is used to parse the spatial control command and generate two position control signals for controlling the upper electric slide rail and the lower electric slide rail, wherein there is a preset phase difference between the two position control signals; The interpolation motion execution unit is used to send the two position control signals to the upper electric slide rail and the lower electric slide rail respectively, and control the upper electric slide rail and the lower electric slide rail to perform the planar circular interpolation motion; A synchronous micro-feed unit is used to acquire the downward depth data in the spatial control command, control the motor to operate during the execution of the planar circular interpolation motion to perform the micro-slow downward movement, and stop the micro-slow downward movement when the downward depth reaches the downward depth data.

[0015] Preferably, the adaptive feed execution module includes: The load data acquisition unit is used to acquire the stator current data of the motor during the drilling process, and to perform low-pass filtering on the stator current data to obtain the current characteristic value characterizing the real-time cutting load. The gradient monitoring unit is used to calculate the time-varying gradient of the current characteristic value and compare the time-varying gradient with a preset safety threshold. The dynamic adjustment unit is used to reduce the rotation frequency of the motor and decrease the feed rate when the time change gradient is greater than the safety threshold; and to control the motor to maintain the initial feed rate when the time change gradient is less than or equal to the safety threshold.

[0016] Preferably, the micro-track guidance control module employs the following control steps when performing the planar circular interpolation motion: The space control commands generated by the air-to-air coordination strategy formulation module are analyzed, and the interpolation radius and interpolation direction parameters contained in the space control commands are extracted. According to the interpolation period set by the system, the interpolation radius and the interpolation direction parameters are discretized and calculated into a set of X-axis coordinate increments and a set of Y-axis coordinate increments by a point-by-point comparison interpolation algorithm. The X-axis coordinate increment set is converted into a first duty cycle control pulse to drive the upper electric slide rail to move, and the Y-axis coordinate increment set is converted into a second duty cycle control pulse to drive the lower electric slide rail to move. The first duty cycle control pulse and the second duty cycle control pulse are synchronously output to the control terminals of the upper and lower electric slide rails.

[0017] This invention provides an automated loading, unloading, and drilling device for anchor clamp pieces and its control system. It offers the following advantages: 1. This invention, by setting up a multi-view surface analysis module and a micro-rail guiding control module, utilizes a cross-shaped arrangement of upper and lower electric slide rails to perform two-dimensional planar circular interpolation motion in the initial stage of drilling, while simultaneously coordinating with a Z-axis motor to slowly move the drill bit downwards. This spatial three-axis micro-linkage method allows the drill bit to pre-mill a vertical, flat-bottomed guide pit on the inclined or irregular anchor clamp surface, physically eliminating the lateral slippage phenomenon that easily occurs when the drill bit contacts the inclined surface, thereby ensuring the geometric accuracy and perpendicularity of the hole position.

[0018] 2. This invention incorporates an adaptive feed execution module. This module collects and filters the stator current data of the motor in real time, calculates the time-varying gradient of the current characteristics to monitor fluctuations in the cutting load. When the detected torque variation gradient exceeds a preset safety threshold, the system directly and proportionally reduces the operating frequency of the Z-axis motor to decrease the downward feed rate. It can dynamically adjust machining parameters based on changes in chip accumulation or material hardness within the hole, effectively preventing drill bit jamming or breakage due to torque overload and extending tool life.

[0019] 2. The mechanical body of this invention integrates a robotic arm and a clamping assembly driven by an electric push-pull rod, which, together with photoelectric sensors, enables automatic workpiece gripping, positioning, and unloading. The clamping assembly employs a design of multiple sets of arc-shaped clamping blocks facing and closing, forming an accommodating cavity that matches the outer contour of the anchor clamping plates, providing high-rigidity circumferential support for high-strength deep-hole drilling. This structural design, combining automation and high stability, reduces reliance on manual operation, avoids workpiece displacement during processing, and improves the efficiency and yield of continuous batch production. Attached Figure Description

[0020] Figure 1 This is a perspective view of the punching device of the present invention; Figure 2 To highlight the schematic diagram of the upper electric slide rail structure of the present invention; Figure 3 To highlight the structural diagram of the robotic arm of the present invention; Figure 4 To highlight the schematic diagram of the threaded rod structure of the present invention; Figure 5 The schematic diagram of the processing frame structure of the present invention is shown in the figure. Figure 6 To highlight the schematic diagram of the electric push-pull rod structure of the present invention; Figure 7 This is a schematic diagram of the control system architecture of the present invention.

[0021] The components include: 1. Support column; 2. Support plate; 3. Storage box; 4. Collection box; 5. Processing rack; 6. Protective frame; 7. Fixing frame; 8. Limiting column; 9. Connecting block; 11. Robotic arm; 12. Upper electric slide rail; 13. Lower electric slide rail; 14. Threaded rod; 15. Motor; 16. Connecting rod; 17. Belt pulley one; 18. Belt pulley two; 19. Synchronous belt; 20. Connecting block; 21. Motor; 22. Support frame; 23. Image sensor; 24. Photoelectric sensor; 25. Electric push-pull rod; 26. Adjusting block; 27. Adjusting rod; 28. Clamping rod; 29. ​​Arc-shaped clamping block one; 30. Arc-shaped clamping block two; 31. Limiting groove. Detailed Implementation

[0022] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0023] Example 1: Please see the appendix Figure 1 -Appendix Figure 6 This invention provides an automated loading, unloading, and drilling device for anchor clamp pieces, comprising: The frame consists of a fixed frame 7, a support column 1, and a processing frame 5. A support plate 2 is fixedly connected to the outer periphery of the support column 1, and a storage box 3 is fixedly connected to the top of the support plate 2. The processing frame 5 is located on the top of the support column 1, and a photoelectric sensor 24 is fixedly connected to the top of the processing frame 5. Image sensors 23 are provided on both sides of the processing frame 5, and clamping components are provided on both sides of the processing frame 5. The support column 1 can easily support and fix the support plate 2 and the processing frame 5, making the processing frame 5 more stable. The support plate 2 can easily support and fix the storage box 3, and the storage box 3 can easily place and store the unprocessed anchor clips. The image sensor 23 can monitor the position of the anchor clips during operation, which can facilitate the operation of the robotic arm 11 and the control system, thereby reducing the labor intensity of the workers.

[0024] The robotic arm 11 has a support frame 22 fixedly connected to its bottom. The support frame 22 is fixedly connected to the bottom of the support plate 2. The robotic arm 11 is used to transfer clamping pieces between the storage box 3 and the processing frame 5. The robotic arm 11 can easily clamp and transport the anchor clamp pieces, and can also easily remove the anchor clamp pieces after processing, thereby reducing the labor intensity of workers, realizing automated processing, and improving work efficiency.

[0025] A motor 15 is fixedly connected to the bottom of the fixed frame 7. A connecting rod 16 is fixedly connected to the output end of the motor 15. There are two connecting rods 16. One connecting rod 16 is fixedly connected to a pulley 17, and the other connecting rod 16 is fixedly connected to a pulley 18. Both pulleys 17 and 18 are fitted with a synchronous belt 19. Threaded rods 14 are fixedly connected to the top of both connecting rods 16. A connecting block 9 is threadedly connected to the outer periphery of the threaded rod 14. The mounting bracket 7 can easily support and fix the motor 15. When the motor 15 is working, it can easily drive the connecting rod 16 to rotate simultaneously. When the connecting rod 16 rotates, it will drive the first pulley 17 to rotate simultaneously. When the first pulley 17 rotates, it can easily drive the second pulley 18 to rotate simultaneously through the synchronous belt 19, thereby easily driving the other connecting rod 16 to rotate synchronously. When the two connecting rods 16 rotate, they can easily drive the two threaded rods 14 to rotate synchronously in the same direction, and the two connecting rods 16 can easily support the two threaded rods 14. When the two threaded rods 14 rotate simultaneously, they will drive the two connecting blocks 9 to move synchronously.

[0026] There are two connecting blocks 9. An upper electric slide rail 12 is fixedly connected between the two connecting blocks 9. A lower electric slide rail 13 is slidably connected to the moving end of the upper electric slide rail 12. A connecting block 20 is slidably connected to the moving end of the lower electric slide rail 13. A motor 21 is fixedly connected to the bottom of the connecting block 20. A drill bit is fixedly connected to the output end of the motor 21.

[0027] The two connecting blocks 9 can easily support the upper electric slide rail 12 and facilitate the up and down movement of the upper electric slide rail 12. When the upper electric slide rail 12 is working, it can easily drive the lower electric slide rail 13 to move horizontally. When the lower electric slide rail 13 is working, it can easily drive the connecting block 20 to move horizontally. The connecting block 20 can easily connect the motor 21 to the lower electric slide rail 13 and can easily support and fix the motor 21, making the motor 21 more stable when it is working.

[0028] Please see the appendix Figure 1 -Appendix Figure 6 The clamping assembly includes two electric push-pull rods 25, which are fixedly connected to both sides of the processing frame 5. An adjustment block 26 is fixedly connected to the output end of the electric push-pull rod 25. Two adjustment rods 27 are rotatably connected to the middle of the adjustment block 26. A clamping rod 28 is connected to the end of the two adjustment rods 27 away from the adjustment block 26. Multiple arc-shaped clamping blocks 29 are fixedly connected to one side of the clamping rod 28. Multiple arc-shaped clamping blocks 30 are fixedly connected to the middle of the processing frame 5. The multiple arc-shaped clamping blocks 29 and the multiple arc-shaped clamping blocks 30 fit together. A limiting groove 31 is opened in the middle of the processing frame 5, and the clamping rod 28 is slidably connected to the middle of the limiting groove 31.

[0029] The processing frame 5 can easily support and fix the two electric push-pull rods 25. When the electric push-pull rods 25 are working, they will pull or push the adjusting block 26 to move. When the adjusting block 26 moves, it will drive the two adjusting rods 27 to move synchronously, which can easily drive the clamping rod 28 to move. When the clamping rod 28 moves, it can easily drive the multiple arc-shaped clamping blocks 29 to move, and then easily engage with the multiple arc-shaped clamping blocks 30. When the multiple arc-shaped clamping blocks 29 and the multiple arc-shaped clamping blocks 30 engage with each other, it can easily clamp and fix the multiple clamping pieces. This reduces the labor intensity of the workers, improves the efficiency of automated processing, and provides applicability. The limiting groove 31 can easily limit the clamping rod 28, thereby preventing the clamping rod 28 from deviating during movement.

[0030] Please see the appendix Figure 1 -Appendix Figure 6 The processing frame 5 is equipped with protective frames 6 on both sides. The top of the support plate 2 is fixedly connected to a storage box 4, which is used to store the processed anchor clips. The middle of the fixed frame 7 is fixedly connected to a limiting post 8. Two connecting blocks 9 are slidably connected to the outer periphery of the limiting post 8. The limiting post 8 is used to limit the movement of the two connecting blocks 9.

[0031] The protective frame 6 can easily protect the processing frame 5, and at the same time, the protective frame 6 provides support, making the processing frame 5 more stable. The limiting post 8 can easily limit the connecting block 9, thereby preventing the connecting block 9 from shifting when moving, making the connecting block 9 more stable when moving.

[0032] Example 2: Reference Figure 7 , Figure 7 This is a control system architecture diagram of an automated loading, unloading, and drilling device for anchor clamps according to an embodiment of the present invention.

[0033] To achieve high-precision drilling of workpieces such as anchor clamps whose surfaces may have curvature or slight tilting due to clamping, this invention provides a control system applied to an automated loading and unloading drilling device for anchor clamps as described in Embodiment 1. At its underlying hardware implementation, this control system relies on an industrial control computer or multi-axis motion controller equipped with a high-speed real-time industrial Ethernet bus (e.g., EtherCAT bus) communication interface. Through this Ethernet bus, it establishes microsecond-level synchronous electrical connections and data interaction with the image sensor 23, upper electric slide rail 12, lower electric slide rail 13, motor 15, and motor 21 on the device. Based on this hardware foundation, the control system architecture of this invention mainly includes four core control components: a multi-view surface analysis module, an aerial linkage strategy formulation module, a micro-rail guidance control module, and an adaptive feed execution module.

[0034] The multi-view surface analysis module is electrically connected to the image sensor 23. Once the multiple arc-shaped clamping blocks 29 and 30 in the clamping assembly engage to rigidly lock the anchor clamps within the processing frame 5, the multi-view surface analysis module operates. Unlike traditional visual addressing schemes that only obtain the center position of a circle in a two-dimensional XY coordinate system, the core function of this multi-view surface analysis module lies in the reconstruction and feature extraction of three-dimensional spatial topography. By fusing multi-view images acquired by the image sensors 23 on both sides of the processing frame 5, it performs depth sensing on the surface of the area to be processed where the drill bit is about to cut, and reconstructs the surface curvature gradient features reflecting the tilt or curvature characteristics of that area. This process provides high-precision data priors for subsequently preventing lateral slippage of the drill bit.

[0035] The aerial linkage strategy formulation module is connected to the multi-view surface analysis module, receiving surface curvature gradient feature data. To address the radial asymmetric resistance caused by the surface curvature of the clamping piece, the traditional CNC system's single Z-axis linear feed easily leads to hole position displacement or drill bit breakage. Therefore, this aerial linkage strategy formulation module innovatively decouples a single drilling action in its control logic and divides it into two sequential stages: a micro-track guiding stage and a linear feed stage. Based on the specific gradient characteristics of the current clamping piece surface, this module dynamically determines whether to enter the micro-track guiding stage and generates targeted spatial control commands for each stage, thereby endowing the entire drilling process with environmental adaptability.

[0036] The micro-track guidance control module is electrically connected to the aerial linkage strategy formulation module, the upper electric slide rail 12, the lower electric slide rail 13, and the motor 15. In the very early stages of the drill bit's initial contact with the clamping surface, directly applying a vertical drilling force can easily lead to drill deviation. At this point, the micro-track guidance control module takes over control of the aerial three-axis system, breaking the conventional use of the upper and lower electric slide rails 12 and 13 solely for pre-drilling planar addressing and positioning, and assigning them machining and cutting functions. Specifically, the micro-track guidance control module controls the cross-shaped upper and lower electric slide rails 12 and 13 to perform high-frequency, small-amplitude planar circular interpolation motion, and simultaneously controls the bottom motor 15 to drive the threaded rod 14, causing the aerial components to perform a small, slow downward movement. This spatial three-axis micro-linkage forces the drill bit's bottom edge at the end of the motor 21 to mill a small and flat reference concave surface on the inclined or curved workpiece surface, thereby completely eliminating the tendency for lateral slippage during subsequent deep hole machining at a physical level.

[0037] The adaptive feed execution module is responsible for the deep hole drilling process after the guide reference surface is established. It is electrically connected to motors 21 and 15. After the micro-rail guiding stage ends and the drill bit is stably guided by the flat reference surface, the system control logic seamlessly switches to the adaptive feed execution module. This module performs conventional drilling at great depths according to the linear feed stage instructions. To cope with the potential surge in chip removal resistance or hard material points that may occur after the drill bit penetrates deep into the wedge, the adaptive feed execution module abandons the open-loop constant speed feed strategy. Instead, it monitors the stator-side electrical data of motor 21 in real time to characterize its real-time cutting load and uses this as a feedback variable to dynamically adjust the rotation frequency of motor 15, thereby changing the descent feed rate of the overall air system driven by threaded rod 14 in real time. This closed-loop flexible feed mechanism based on load feedback effectively improves the service life of the drill bit and ensures the machining quality of the inner hole of the wedge.

[0038] Reference Figure 7To obtain the true physical surface morphology of the anchor clamp pieces after they are clamped and fixed, a multi-view surface analysis module is configured at the front end of the control system, and it is electrically connected to the image sensors 23 installed on both sides of the processing frame 5. When the electric push-pull rod 25 of the clamping assembly drives the adjustment mechanism to complete the rigid engagement and locking of multiple anchor clamp pieces, the workpiece in the processing frame 5 is in a static, waiting-to-process state. At this time, the multi-view surface analysis module is triggered to run. The multi-view surface analysis module is specifically composed of three execution levels: a point cloud generation unit, a normal vector calculation unit, and a gradient output unit. Its implementation details are as follows: The point cloud generation unit converts two-dimensional visual signals into three-dimensional spatial geometric data. In actual operation, the two image sensors 23 on both sides of the processing frame 5 form a binocular vision acquisition array, simultaneously acquiring multi-view images of the anchor clamp in the clamped state. The point cloud generation unit first performs epipolar correction on the acquired left and right images to eliminate radial and tangential distortion of the lens, ensuring that the epipolar lines of the two images are horizontally aligned. Subsequently, the point cloud generation unit uses a semi-global stereo matching algorithm to search for corresponding pixels in the left and right images and calculates the disparity value of the corresponding pixels in the horizontal direction. To obtain physical coordinates, the point cloud generation unit incorporates a depth transformation model, which converts disparity into depth information through camera calibration parameters. The transformation relationship of this process is expressed as: ; In the formula, This represents the depth value of the reconstructed point in the system's spatial coordinate system; Indicates the effective focal length of image sensor 23; This indicates the baseline physical distance between the optical centers of the two image sensors 23 on both sides of the processing frame 5; This represents the disparity value of the corresponding pixel extracted using a stereo matching algorithm. (This is used when obtaining depth values.) Then, combining pixel coordinates, this unit traverses the effective pixels of the area to be processed, generating a dataset composed of discrete spatial coordinate points. The three-dimensional point cloud data of the area to be processed for the anchor clamp.

[0039] The normal vector calculation unit receives 3D point cloud data and performs directional analysis on the local micro-morphology of the area about to contact the drill bit. Since the surface of the wedge often has curvature, and drilling only occurs in a central local region, global fitting would introduce unnecessary computational load and errors. Therefore, the normal vector calculation unit first extracts the target drilling center point in the 3D point cloud data based on the preset system drilling coordinates, and then uses the K-nearest neighbor algorithm to select a local neighborhood point set with this drilling center point as the center and a set search radius. Next, the normal vector calculation unit uses principal component analysis to perform small surface fitting on this local neighborhood point set. Specifically, the normal vector calculation unit constructs the covariance matrix of this local neighborhood point set: ; In the formula, Let be the covariance matrix of the local neighborhood point set; This represents the total number of nearest neighbors. The variable index represents the summation operation, and its value ranges from 1 to... ; For the local neighborhood point set, the first A three-dimensional coordinate column vector of data points; As a superscript, it indicates the superscript of the preceding column vector. Perform a matrix transpose operation to transform it into a row vector, thereby completing the outer product calculation of the vectors; For this The column vector of spatial centroid coordinates of each data point. This is derived from the covariance matrix. Perform eigenvalue decomposition and extract the unit eigenvector corresponding to the smallest eigenvalue. This unit eigenvector represents the surface normal vector at the center point of the hole. This normal vector accurately reflects the microscopic tilting attitude of the position where the drill bit is about to cut in.

[0040] The gradient output unit quantifies the tilt attitude, converting it into control parameters recognizable by subsequent aerial mechanisms. In the device's mechanical reference system, the motor 21 and drill bit are mounted on the upper electric slide rail 12 and lower electric slide rail 13, with their theoretical drilling direction along the vertical system coordinate axis. The gradient output unit defines the system reference vertical coordinate axis as a standard vector. The gradient output unit calculates the surface normal vector. With standard vector Angle in three-dimensional space This is used to quantify the tangent inclination of the clip surface, and its calculation logic is expressed as follows: ; In the formula, That is the included angle we are looking for; This represents the inner product of the surface normal vector and the standard perpendicular vector; and These are the magnitudes of the two vectors, respectively. This represents the inverse cosine trigonometric function, used to calculate the angle between two vectors by inversely calculating the ratio of the inner product of the vectors to the product of their magnitudes (i.e., the cosine value). Because... are unit vectors and Normalization was performed during fitting, and the calculation process can be simplified to direct extraction. The Z-axis component is calculated and its inverse cosine is obtained. Finally, the gradient output unit calculates the included angle. As a surface curvature gradient feature, it is output to the next-level aerial linkage strategy formulation module, providing basic data support for its decision on whether to activate micro-track guidance compensation.

[0041] Reference Figure 7 To transform the 3D topographic data acquired from the front end into specific mechanical action commands and to suppress drilling deviation at its source, the aerial linkage strategy formulation module, acting as the system's decision-making center, is connected to the multi-view surface analysis module. This aerial linkage strategy formulation module receives surface curvature gradient features output from the multi-view surface analysis module. Internally, it decouples and plans the motion trajectory of a single drilling action through three core functional units: a threshold comparison unit, a stage division unit, and a command generation unit.

[0042] The threshold comparison unit is used to assess the physical slip risk of the current borehole surface. This unit obtains the angle between the normal vector contained in the surface curvature gradient feature and the standard vertical coordinate axis. And compare it with the preset slip critical angle in the system's internal non-volatile memory. Perform numerical comparison. Slip critical angle. The value of is determined experimentally based on the width of the drill bit's chisel edge, the static friction coefficient, and the material hardness of the anchor clamp. It represents the critical state in which the radial lateral force generated during drilling feed is just able to overcome the tangential friction between the drill bit's chisel edge and the workpiece surface, thereby causing positional displacement.

[0043] The stage division unit makes branch decisions on the upcoming punching action sequence based on the output of the threshold comparison unit. When the comparison result is an angle... Greater than the critical slip angle When the current workpiece surface is tilted too much, directly lowering the drill bit vertically will cause significant deviation or even drill breakage. At this time, the segmentation unit triggers the generation of the micro-rail guiding stage, forcing the upper electric slide rail 12 and lower electric slide rail 13 to participate in auxiliary displacement in the early stage of drilling; conversely, when the comparison result is an angle Less than or equal to the critical slip angle When the surface where the hole is located is close to horizontal, the chisel edge of the drill bit has sufficient self-centering constraint capability. At this time, the stage division unit determination does not need to perform surface compensation, directly skips the micro-rail guiding stage and generates the conventional linear feed stage, that is, it only relies on the motor 15 to perform single-axis vertical downward exploration.

[0044] The instruction generation unit is activated when the stage division unit triggers the generation of the micro-rail guiding stage, and is responsible for calculating the specific compensation motion parameters. In order to grind a flat reference surface perpendicular to the drill bit axis on the inclined surface, the instruction generation unit needs to calculate the parameters of the coordinated motion of the upper electric slide rail 12 and the lower electric slide rail 13 in the XY plane, as well as the lowering parameters of the motor 15 in the Z axis.

[0045] The instruction generation unit is based on the surface normal vector. Calculate the deflection direction of the included angle. By extracting the components of the normal vector along the X and Y axes, calculate its azimuth angle on the XY reference plane. This azimuth angle That is, the interpolation direction parameter used for planar circular interpolation motion is used to determine the initial phase of the vibration motion of the upper electric slide rail 12 and the lower electric slide rail 13, ensuring that the entry point of the small circular interpolation motion is located on the highest side of the inclined surface.

[0046] Based on the tilt of the normal vector, the instruction generation unit calculates the interpolation radius used to determine the lateral compensation range. Interpolation radius and included angle There is a positive correlation between the two angles. The larger the angle, the wider the area that needs to be milled. This correlation can be obtained in the program by looking up a table or by directly multiplying by a fixed gain coefficient.

[0047] Finally, the instruction generation unit calculates the slow, incremental downward displacement depth data based on the surface curvature gradient characteristics. To ensure the drill bit's bottom cutting edge completely removes the inclined slope, forming a perfectly circular, flat-bottomed depression, the displacement depth must cover the geometric elevation difference within the drill bit's diameter. This displacement depth data... The computational logic is expressed as follows: ; In the formula, The calculated downward displacement depth data; The nominal radius of the drill bit installed at the output end of motor 21; Indicates the included angle; To ensure that the chisel edge of the drill bit is completely submerged in the wedge material, a preset depth allowance constant is used; This represents the tangent trigonometric function.

[0048] After completing the calculation of all the above parameters, the instruction generation unit will interpolate the direction parameters. interpolation radius and downshift depth data Digital packets are generated to produce spatial control commands containing multi-axis linkage timing relationships, which are then sent to the microrail guidance control module for execution.

[0049] Reference Figure 7To establish a vertical machining reference on the inclined or curved surface of the clamping piece and completely eliminate lateral slippage during the initial drilling stage, the micro-rail guidance control module, as the core underlying execution component of the control system, is electrically connected to the aerial linkage strategy formulation module, the upper electric slide rail 12, the lower electric slide rail 13, and the motor 15. This micro-rail guidance control module takes over the motion control of the aerial mechanism the instant the drill bit initially contacts the workpiece surface, driven by the motor 21. Internally, it includes a position control signal generation unit, an interpolation motion execution unit, and a synchronous micro-feed unit.

[0050] The position control signal generation unit converts macroscopic geometric commands issued from the front end into high-frequency electrical pulses recognizable by the underlying servo or stepper driver. This unit parses the spatial control commands generated by the air-to-ground linkage strategy formulation module and extracts the interpolation radius used for planar compensation. and interpolation direction parameters Subsequently, the position control signal generation unit initiates a point-by-point comparison interpolation algorithm according to the extremely short interpolation period (typically on the order of milliseconds) set by the system's built-in hardware timer. The purpose of this point-by-point comparison interpolation algorithm is to approximate an ideal, tiny circular arc trajectory within a discrete control grid.

[0051] During the execution of the point-by-point comparison interpolation algorithm, the controller uses the current cross intersection center of the upper electric slide rail 12 and the lower electric slide rail 13 as the logical origin to calculate the current tool position in real time. Error deviating from the ideal circular arc. The position control signal generation unit constructs a deviation discrimination function: ; In the formula, Indicates the first During each interpolation cycle, the X-axis coordinate value of the current tool position point in a two-dimensional coordinate system with the logical origin of the current cross intersection center of the upper electric slide rail 12 and the lower electric slide rail 13; Indicates the first During each interpolation cycle, the Y-axis coordinate value of the current tool position point in the above logical two-dimensional coordinate system; This refers to the interpolation radius extracted from the space control command issued from the front end (air-to-air linkage strategy formulation module) for plane compensation, which is the physical radius of the ideal small circular arc that the system expects to approximate.

[0052] For the first The position deviation value for each interpolation cycle. The point-by-point comparison interpolation algorithm is based on... Logical judgment is made based on the symbols: if This indicates that the current drill bit position is outside the ideal arc or on the circle. In this case, the system decides to output a pulse equivalent in the direction inward (e.g., the negative direction of the X-axis or Y-axis); if This indicates that the current position is inside the circle, and the system outputs a pulse equivalent in the direction outside the circle. By iterating the above logic point by point, the position control signal generation unit discretizes the macroscopic interpolation radius and interpolation direction parameters into a set of X-axis coordinate increments and a set of Y-axis coordinate increments.

[0053] Next, the position control signal generation unit converts the X-axis coordinate increment set into a first duty cycle control pulse to drive the upper electric slide rail 12 to move, and converts the Y-axis coordinate increment set into a second duty cycle control pulse to drive the lower electric slide rail 13 to move. Since the circular arc trajectory, when decomposed in a Cartesian coordinate system, exhibits a sine and cosine relationship in its X and Y direction motion velocities, the generated first and second duty cycle control pulses naturally have a preset phase difference in timing logic (typically manifested as a quarter-cycle electrical phase difference). This allows the two slide rails to synthesize a smooth two-dimensional planar circular arc trajectory during their respective single-axis linear motion.

[0054] The interpolation motion execution unit is responsible for the physical layer transmission and driving of the aforementioned pulse signals. This unit synchronously outputs the first duty cycle control pulse and the second duty cycle control pulse to the control terminals (i.e., the corresponding motor drivers) of the upper electric slide rail 12 and the lower electric slide rail 13. In terms of hardware response, the upper electric slide rail 12 performs high-frequency micro-amplitude reciprocating motion in the horizontal direction, while the lower electric slide rail 13 performs synchronous phase-differential motion on a horizontal plane perpendicular to the upper electric slide rail. The rigid mechanical coupling between the two causes the bottom motor 21 and the drill bit to move in the XY plane with an interpolation radius... It performs a planetary translational circular motion (i.e., planar circular interpolation motion) around the predetermined drilling center.

[0055] During planar circular interpolation, the synchronous micro-feed unit is responsible for depth control in the Z-axis direction. This synchronous micro-feed unit acquires the downward depth data from the spatial control command. It controls the operation of the motor 15 at the bottom of the fixed frame 7. The motor 15 drives the two threaded rods 14 to rotate synchronously at low speed through the pulley 17, the pulley 28 and the synchronous belt 19, so that the connecting block 9 drives the entire air slide mechanism and the motor 21 to perform extremely slow micro-movement (its Z-axis feed rate is much lower than the conventional vertical drilling rate).

[0056] Under the aforementioned three-axis spatial micro-coordination, the high-speed rotating conventional drill bit not only cuts downwards on the inclined chuck surface, but its bottom cutting edge also performs micro-expansion milling in the horizontal plane. As the motor 15 continues to slowly move downwards, the drill bit gradually flattens the uneven slope area. When the synchronous micro-feed unit detects through encoder feedback that the overall downward movement depth of the aerial system has reached the downward movement depth data... At this point, the system determines that the drill bit's chisel edge has completely cut into the material, and the inclined surface has been successfully ground to create a guide pit perpendicular to the drill bit's axis and with a flat bottom. Simultaneously, the synchronous micro-feed unit stops outputting micro-speed downward movement commands, and the interpolation motion execution unit stops outputting planar circular interpolation pulses. The micro-track guiding stage is thus completed, laying a physical reference without the risk of sideslip for subsequent large-hole deep linear feed.

[0057] Reference Figure 7 After the micro-rail guiding stage is successfully completed and the drill bit has machined a flat initial centering reference surface on the inclined or irregular anchor wedge surface, the execution logic of the control system seamlessly switches to the adaptive feed execution module. This adaptive feed execution module is electrically connected to the motor 21 responsible for driving the drill bit rotation and the motor 15 responsible for driving the overall lifting and lowering of the aerial structure. During deep hole linear cutting, the cutting resistance of the drill bit will fluctuate nonlinearly and drastically due to the microscopic non-uniformity of material distribution inside the wedge (such as hard particles) or the squeezing caused by the accumulation of iron chips in the chip removal groove. If a fixed rate of downward feed is maintained, production accidents such as drill bit jamming or even breakage can easily occur. This adaptive feed execution module constructs a closed-loop flexible feed mechanism based on real-time electrical feedback through its internal load data acquisition unit, gradient monitoring unit, and dynamic adjustment unit.

[0058] The load data acquisition unit, acting as a closed-loop sensing end, is configured inside the servo driver or frequency converter of the motor 21 to collect stator current data of the motor 21 in real time during the drilling process. In industrial settings, electromagnetic oscillations of the motor 21 and radio frequency interference from surrounding equipment can introduce a large amount of high-frequency noise into the original current signal. To extract the true physical load information, the load data acquisition unit performs discretization low-pass filtering on the sampled stator current data at the software level to obtain current characteristic values ​​representing the real-time cutting load. The system employs a first-order inertial digital filtering algorithm, the calculation logic of which is expressed as follows: ; In the formula, Indicates the first The filtered current characteristic value output in each sampling period; Indicates the first The raw stator current data acquired in each sampling period; This represents the current characteristic value stored in the previous sampling period; The preset filtering smoothing coefficient for the system ranges from 0 to 1. A smaller value indicates a stronger ability to filter out high-frequency interference, but the system response will be delayed. The current characteristic value after filtering... It can smoothly and realistically reflect the pure mechanical drilling torque that the drill bit is currently experiencing.

[0059] The gradient monitoring unit receives the aforementioned current characteristic values ​​and converts them into early warning indicators for deteriorating cutting conditions. In actual machining, the absolute current value will slowly increase with normal drill wear, which is a normal phenomenon. What truly indicates the risk of drill breakage is a sudden change in torque. Therefore, this gradient monitoring unit does not directly compare the absolute current value, but rather characterizes the severity of load changes by calculating the time-varying gradient of the current characteristic value. Its calculation logic is expressed as follows: ; In the formula, This represents the gradient of the current change over time calculated at the current moment; The sampling step size span contained within the sliding time window; This refers to the control sampling period at the system's underlying level. Indicates the first The filtered current characteristic value output in each sampling period; Indicates moving backward from the current time. The sampling step size (i.e. the nth sampling step) The filtered current characteristic value output by the system at each sampling period (in [number] sampling periods). The gradient monitoring unit calculates this in real time. Then, compare it with the preset security threshold in the memory. A comparison is performed. This security threshold... The torque increase rate corresponding to the yield limit of the drill bit material is determined and calibrated from previous experimental data.

[0060] The dynamic adjustment unit directly intervenes in the downward pressing action of the mechanical mechanism based on the comparison results of the gradient monitoring unit. When the comparison results show that the time-varying gradient is greater than the safety threshold (i.e., ... This indicates severe chip buildup in the hole or the encounter with a high-hardness area, posing a very high risk of drill bit breakage. In this case, the dynamic adjustment unit immediately sends a frequency reduction command to the motor 15 at the bottom of the mounting bracket 7, lowering the rotational frequency of the motor 15. On the mechanical transmission chain, the decrease in the motor 15's speed synchronously slows down the speed of the two threaded rods 14 via pulley 17, synchronous belt 19, and pulley 18, thereby reducing the overall descent speed of the upper electric slide rail 12, lower electric slide rail 13, and motor 21 driven by the connecting block 9, thus reducing the feed rate. The specific frequency reduction magnitude is calculated through proportional feedback logic. ; In the formula, The new target operating frequency is output to motor 15 by the dynamic adjustment unit; The initial reference operating frequency preset for the system during the normal linear feed phase; The feed adjustment proportional gain constant; This represents the current time-varying gradient calculated at the current moment (i.e., the degree of abrupt change in the actual cutting load / torque). This indicates the system's preset safety threshold (i.e., the maximum allowable rate of torque increase under safe conditions). As the feed rate decreases adaptively, the cutting depth per drill revolution (i.e., the cutting thickness) decreases accordingly, while simultaneously providing physical space for chip removal, thereby allowing the cutting load to quickly return to a safe level.

[0061] Conversely, when the comparison results indicate that the time-varying gradient is less than or equal to the safety threshold (i.e.) The system determines that the current cutting condition is stable. At this point, the dynamic adjustment unit does not trigger feedback speed reduction intervention, but instead controls motor 15 to maintain the initial reference operating frequency. (i.e., the initial feed rate) is operating normally, thereby maximizing the automated drilling production cycle of anchor wedges while ensuring drill bit safety and processing yield.

[0062] Working principle: When clamping and fixing the clamping pieces, the robotic arm 11 will operate. When the robotic arm 11 operates, it will clamp the clamping pieces from the middle of the storage box 3 and place them into the middle of the processing frame 5. When multiple clamping pieces are placed, the two electric push-pull rods 25 will operate. When the electric push-pull rods 25 operate, they will pull the adjusting block 26 to one side of the processing frame 5. When the adjusting block 26 moves, it will drive the two adjusting rods 27 to move. When the two adjusting rods 27 move simultaneously, they will drive the two clamping rods 28 to translate outwards. Simultaneously, the clamping rods 28 translate... This will cause multiple arc-shaped clamping blocks 29 to move. When the multiple arc-shaped clamping blocks 29 move, they will clamp and engage with multiple arc-shaped clamping blocks 30, thereby clamping and fixing multiple clamping pieces. After the clamping action is completed, the image sensor 23 acquires image data of the clamping piece surface. The multi-view surface analysis module processes the image data and calculates the angle between the surface normal vector at the center point of the clamping piece hole and the vertical coordinate axis. Subsequently, the air linkage strategy formulation module extracts the corresponding interpolation direction, interpolation radius and downward movement depth data according to the angle, and generates spatial control commands.

[0063] When drilling holes in the clamping piece, motor 15 operates, driving connecting rod 16 to rotate. This rotation of connecting rod 16, in turn, drives pulley 17 to rotate simultaneously. Pulley 17, via synchronous belt 19, drives pulley 18 to rotate simultaneously. Pulley 18, in turn, drives another connecting rod 16 to rotate simultaneously. The rotation of both connecting rods 16 drives two threaded rods 14 to rotate synchronously. This rotation of the two threaded rods 14 causes two connecting blocks 9 to move simultaneously downwards or upwards. The movement of the two connecting blocks 9 causes the upper electric slide rail 12 to move synchronously. The movement of the upper electric slide rail 12 causes the lower electric slide rail 13 to move simultaneously. The movement of the lower electric slide rail 13, via connecting block 20, drives motor 21 to move downwards. When motor 21 reaches the processing position, it operates, causing the drill bit to rotate, thus processing the clamping piece.

[0064] During the initial machining stage when the drill bit first contacts the workpiece, the micro-rail guide control module outputs a pulse sequence according to the spatial control command, driving the upper electric slide rail 12 and the lower electric slide rail 13 to perform two-dimensional planar circular interpolation motion on the horizontal plane, and simultaneously controlling the motor 15 to drive the threaded rod 14 to perform a small, slow downward movement. When the slow downward movement reaches the set downward depth, the adaptive feed execution module takes over the control and sends a conventional linear feed command to the motor 15. In the subsequent continuous machining process, the adaptive feed execution module extracts the stator current data of the motor 21 in real time, calculates the current time change gradient and compares it with the preset safety threshold. Based on the difference exceeding the threshold, it calculates a new target operating frequency and outputs this frequency to the motor 15, adjusting the speed of the motor 15 to change the feed rate of the threaded rod 14 driving the entire assembly downward.

Claims

1. An automated loading, unloading, and drilling device for anchor clamp pieces, characterized in that, include: The frame consists of a fixed frame (7), a support column (1), and a processing frame (5). A support plate (2) is fixedly connected to the outer periphery of the support column (1). A storage box (3) is fixedly connected to the top of the support plate (2). The processing frame (5) is located on the top of the support column (1). A photoelectric sensor (24) is fixedly connected to the top of the processing frame (5). Image sensors (23) are provided on both sides of the processing frame (5). Clamping components are provided on both sides of the processing frame (5). The robotic arm (11) has a support frame (22) fixedly connected to its bottom. The support frame (22) is fixedly connected to the bottom of the support plate (2). The robotic arm (11) is used to transfer clamping pieces between the storage box (3) and the processing frame (5). The bottom of the fixed frame (7) is fixedly connected to a motor (15), and the output end of the motor (15) is fixedly connected to a connecting rod (16). There are two connecting rods (16). One of the connecting rods (16) is fixedly connected to a pulley (17) on its outer periphery, and the other connecting rod (16) is fixedly connected to a pulley (18) on its outer periphery. Both pulleys (17) and pulleys (18) are fitted with a synchronous belt (19). Both connecting rods (16) are fixedly connected to a threaded rod (14) on their tops. The outer periphery of the threaded rod (14) is threadedly connected to a connecting block (9). Two connecting blocks (9) are provided. An upper electric slide rail (12) is fixedly connected between the two connecting blocks (9). A lower electric slide rail (13) is slidably connected to the moving end of the upper electric slide rail (12). A connecting block (20) is slidably connected to the moving end of the lower electric slide rail (13). A motor (21) is fixedly connected to the bottom of the connecting block (20). A drill bit is fixedly connected to the output end of the motor (21).

2. The automated loading, unloading, and drilling device for anchor clamp pieces according to claim 1, characterized in that, The clamping assembly includes an electric push-pull rod (25), and there are two electric push-pull rods (25). The two electric push-pull rods (25) are respectively fixedly connected to both sides of the processing frame (5). An adjustment block (26) is fixedly connected to the output end of the electric push-pull rod (25). Two adjustment rods (27) are rotatably connected to the middle of the adjustment block (26). The ends of the two adjustment rods (27) away from the adjustment block (26) are respectively connected to clamping rods (28). Multiple arc-shaped clamping blocks (29) are fixedly connected to one side of the clamping rod (28). Multiple arc-shaped clamping blocks (30) are fixedly connected to the middle of the processing frame (5). The multiple arc-shaped clamping blocks (29) and the multiple arc-shaped clamping blocks (30) fit together. A limiting groove (31) is opened in the middle of the processing frame (5). The clamping rod (28) is slidably connected to the middle of the limiting groove (31).

3. The automated loading, unloading, and drilling device for anchor clamp pieces according to claim 1, characterized in that, The processing frame (5) is equipped with protective frames (6) on both sides, and a storage box (4) is fixedly connected to the top of the support plate (2). The storage box (4) is used to store the processed anchor clips.

4. The automated loading, unloading, and drilling device for anchor clamp pieces according to claim 1, characterized in that, The middle part of the fixed frame (7) is fixedly connected to a limiting post (8), and the two connecting blocks (9) are slidably connected to the outer periphery of the limiting post (8). The limiting post (8) is used to limit the movement of the two connecting blocks (9).

5. A control system for an automated loading, unloading, and drilling device for anchor clamp pieces, applied to the automated loading, unloading, and drilling device for anchor clamp pieces as described in claims 1-4, characterized in that, include: The multi-view surface analysis module is electrically connected to the image sensor (23) to acquire multi-view images of the anchor clamping piece in the clamping state inside the processing frame (5) and reconstruct the surface curvature gradient features of the area to be processed. The aerial linkage strategy formulation module is used to divide a single drilling action into a micro-track guiding stage and a linear feed stage based on the surface curvature gradient characteristics, and generate corresponding spatial control commands for each stage. The micro-rail guidance control module is electrically connected to the above-ground linkage strategy formulation module, the upper electric slide rail (12), the lower electric slide rail (13) and the motor (15). It is used to control the upper electric slide rail (12) and the lower electric slide rail (13) to perform planar circular interpolation motion through the space control command when the drill bit initially contacts the surface of the wedge, and to synchronously control the motor (15) to perform a small amount of slow downward movement. An adaptive feed execution module, which is electrically connected to the motor (21) and the motor (15), is used to drill according to the linear feed stage command after the micro-rail guiding stage is completed, and to dynamically adjust the feed rate based on the real-time cutting load.

6. The control system for an automated loading, unloading, and drilling device for anchor clamp pieces according to claim 5, characterized in that, The multi-view surface analysis module includes: The point cloud generation unit is used to process the multi-view images acquired by the image sensor (23) through a stereo matching algorithm to generate three-dimensional point cloud data of the area to be processed of the anchor clamp piece; The normal vector calculation unit is used to perform local surface fitting on the three-dimensional point cloud data and extract the surface normal vector at the center point of the hole. The gradient output unit is used to calculate the angle between the surface normal vector and the system reference vertical coordinate axis, and output the angle as the surface curvature gradient feature to the aerial linkage strategy formulation module.

7. The control system for an automated loading, unloading, and drilling device for anchor clamp pieces according to claim 5, characterized in that, The air-to-air coordination strategy formulation module includes: The threshold comparison unit is used to compare the included angle in the surface curvature gradient feature with a preset slip critical angle; The stage division unit is used to trigger the generation of the microrail guiding stage when the included angle is greater than the sliding critical angle; and to skip the microrail guiding stage and directly generate the linear feed stage when the included angle is less than or equal to the sliding critical angle. The instruction generation unit is used to calculate the interpolation direction parameters and interpolation radius of the planar circular interpolation motion based on the deflection direction of the included angle when the micro-track guidance stage is triggered, and to calculate the downward displacement depth data of the micro-slow downward movement based on the surface curvature gradient characteristics, and to generate a spatial control instruction containing the interpolation direction parameters, the interpolation radius and the downward displacement depth data.

8. The control system for an automated loading, unloading, and drilling device for anchor clamp pieces according to claim 5, characterized in that, The micro-track guidance control module includes: A position control signal generation unit is used to parse the space control command and generate two position control signals for controlling the upper electric slide rail (12) and the lower electric slide rail (13), and there is a preset phase difference between the two position control signals; The interpolation motion execution unit is used to send the two position control signals to the upper electric slide rail (12) and the lower electric slide rail (13) respectively, and control the upper electric slide rail (12) and the lower electric slide rail (13) to perform the planar circular interpolation motion; The synchronous micro-feed unit is used to acquire the downward depth data in the space control command, and during the execution of the planar circular interpolation motion, control the motor (15) to run to perform the micro-slow downward movement, and stop the micro-slow downward movement when the downward depth reaches the downward depth data.

9. The control system for an automated loading, unloading, and drilling device for anchor clamp pieces according to claim 5, characterized in that, The adaptive feed execution module includes: The load data acquisition unit is used to acquire the stator current data of the motor (21) during the drilling process, and to perform low-pass filtering on the stator current data to obtain the current characteristic value that characterizes the real-time cutting load. The gradient monitoring unit is used to calculate the time-varying gradient of the current characteristic value and compare the time-varying gradient with a preset safety threshold. The dynamic adjustment unit is used to reduce the rotation frequency of the motor (15) and decrease the feed rate when the time change gradient is greater than the safety threshold; and to control the motor (15) to maintain the initial feed rate when the time change gradient is less than or equal to the safety threshold.

10. The control system for an automated loading, unloading, and drilling device for anchor clamp pieces according to claim 5, characterized in that, When performing the planar circular interpolation motion, the micro-track guidance control module employs the following control steps: The space control commands generated by the air-to-air coordination strategy formulation module are analyzed, and the interpolation radius and interpolation direction parameters contained in the space control commands are extracted. According to the interpolation period set by the system, the interpolation radius and the interpolation direction parameters are discretized and calculated into a set of X-axis coordinate increments and a set of Y-axis coordinate increments by a point-by-point comparison interpolation algorithm. The X-axis coordinate increment set is converted into a first duty cycle control pulse to drive the upper electric slide rail (12) to move, and the Y-axis coordinate increment set is converted into a second duty cycle control pulse to drive the lower electric slide rail (13) to move. The first duty cycle control pulse and the second duty cycle control pulse are synchronously output to the control terminals of the upper electric slide rail (12) and the lower electric slide rail (13).

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