10 results about "Hole Finding" patented technology

The invention provides an anchor rod drilling machine automatic hole finding and positioning system and method based on machine vision, and belongs to the technical field of anchor rod drilling machine automatic hole finding and positioning. In order to solve the technical problems of low manual operation precision, poor efficiency and poor automation scheme adaptability during anchor rod supporting, the adopted technical scheme is as follows: a binocular vision camera and a laser displacement sensor are arranged on an anchor rod drilling machine vehicle body; a drilling machine controller, a tilt angle sensor, an industrial switch, a drilling machine electric control box and a communication module are arranged in a jumbolter body, the drilling machine controller is connected with other modules or components through wires, a positioning target and a wireless AP base station are further arranged in a roadway, and the communication module is in wireless connection with the wireless AP base station through a wireless network. A positioning console is arranged in the control room, and a positioning control computer, a core switch and a drilling positioning server are further arranged in the positioning console; the method is applied to automatic hole finding and positioning of the jumbolter.

The present invention relates to the field of automatic measurement of the hole positions of industrial annular parts, and provides a convenient automatic circumferential hole finding and automatic hole center alignment detection method and device, which are used for the automated assembly of a certain large precision part in aerospace. During measurement, the annular part is first automatically aligned, and the XYZ axis of the four-coordinate truss robot is moved to align the rotation center of the measuring end with the center of the annular part. The sensor is then moved to the radial position of the hole position to be measured by the radial cylinder. The Z axis is slowly moved downward to the measuring plane. When the value of the optical fiber sensor is higher than the threshold value 1, the predetermined detection height is reached, and the movement of the Z axis is stopped. The rotating R axis drives the digital optical fiber sensor to rotate one circle. Through the change in the value of the optical fiber sensor, the circumferential scanning hole finding and hole center positioning of the small blind hole of the annular part are realized with the value below the threshold value 2 as the standard. The present invention adopts a non-contact measurement method to avoid scratches and bumps on precision parts to the greatest extent.

The utility model discloses a hydraulic system for a drill boom of a driving and anchoring machine and the driving and anchoring machine adopting the hydraulic system, which are characterized in that the reversing of a first hydraulic control reversing valve and a second hydraulic control reversing valve is controlled by controlling the reversing of a first reversing valve, so that an oil supply path of a swing motor is controlled to be switched between a high-speed action oil path and a low-speed action oil path; when quick hole finding is needed, a quick action oil way is switched to enable the up-down swing motor and the left-right swing motor to be in a high-speed motion state, when low-speed hole aligning is needed, a slow action oil way is switched to, and a throttling valve is arranged on the slow action oil way, so that the motion speed of the swing motors can be reduced, the hole aligning accuracy is improved, and the hole aligning efficiency is improved. Therefore, the hole aligning efficiency and the hole aligning precision are ensured at the same time, and the device has the advantages of simple structure, convenience in operation and low cost.

The application discloses a drilling and anchoring robot drilling arm trajectory planning method and system and electronic equipment, relates to the technical field of trajectory planning, and comprises the following steps: acquiring a three-dimensional working area model of a drilling and anchoring robot, a working starting point and a drilling point; determining an initial drilling arm path of the drilling and anchoring robot by using a rapidly-exploring random tree algorithm; the initial drilling arm path is a path of a drilling arm of the drilling and anchoring robot from the working starting point to the drilling point in the three-dimensional working area model; removing redundant points in the initial drilling arm path of the drilling and anchoring robot by using a connection method to obtain a first optimized path; and fitting the first optimized path by using a second-order Bezier curve to obtain a final drilling arm path of the drilling and anchoring robot. The drilling and anchoring robot drilling arm trajectory is optimized to assist in realizing fast and accurate hole finding and drilling.

The application provides a kind of anchor rod drilling rig automatic hole finding positioning system and method based on machine vision, belongs to anchor rod drilling rig automatic hole finding positioning technical field;In order to solve the technical problems of low precision, poor efficiency and poor adaptability of automatic scheme when artificial operation during anchor rod support, the technical scheme is that: binocular vision camera and laser displacement sensor are arranged on the anchor rod drilling rig vehicle body, drilling rig controller, inclination sensor, industrial switch, drilling rig electric control box and communication module are arranged inside the anchor rod drilling rig vehicle body, the drilling rig controller is connected with other modules or components through wire, positioning target and wireless AP base station are also arranged in the roadway, and the communication module is wirelessly connected with the wireless AP base station through wireless network;Positioning console is arranged in the control room, and positioning control computer, core switch and drilling positioning server are also arranged in the positioning console;The application is applied to anchor rod drilling rig automatic hole finding positioning.

The utility model relates to a kind of hole finding positioning mechanism, belong to water heater inner bag processing technical field, the hole finding positioning mechanism, including bearing assembly, it is characterized in that, the bearing assembly is equipped with two groups, two groups the bearing assembly all include installation bin, two The side of installation bin close together is jointly installed with conveying assembly, the top of two The installation bin all is slidably connected with clamping mechanism, two The clamping mechanism is placed with inner bag component or inner bag two with cooperation, the utility model is cooperated by bearing assembly, conveying assembly, positioning component one, clamping mechanism and jaw power mechanism, accurate positioning function to water heater inner bag can be realized, improve late product pass rate, and do not need operating personnel manual handling and hole finding, guarantee late hole finding efficiency, reduce operating personnel labor intensity, different model inner bag detection work can also be realized simultaneously, and then the functionality and practicality of the hole finding positioning mechanism late use can be improved.

The present application relates to the technical field of oil and gas field development, and particularly relates to a method for designing production system of a well transformed by seam following and hole finding, comprising: collecting parameter information of oil and gas wells which have been subjected to the "seam following and hole finding method" construction in the early stage; establishing a functional relationship between the production system and the parameter of the oil and gas well according to the collected parameter information; obtaining the parameter information of a target oil and gas well; bringing the parameter information of the target oil and gas well into the obtained functional relationship to calculate the preliminary data of the production system of the target oil and gas well; producing according to the preliminary data of the production system, and recording the production in a certain period; optimizing the production system of the target oil and gas well according to the production in a certain period; and repeating the foregoing steps until the target oil and gas well stops production. The present application comprehensively considers the influence of geological and engineering factors on the production system, establishes a dynamic design method of the production system of the oil and gas well after being transformed by the "seam following and hole finding method", and guides the efficient development of the oil and gas well subjected to the "seam following and hole finding method".

The present invention discloses an impeller pin driving device, comprising a frame, a pin hole finding device disposed on the frame, a workpiece mounting seat capable of accommodating an impeller pin, and a pin driving assembly. The pin hole finding device includes a rotation drive assembly capable of driving the main shaft of a fan head to rotate, and a sensing assembly capable of sensing whether the main shaft has rotated into position. The pin driving assembly includes a push piece for pushing the impeller pin out, and a pin driving driver capable of driving the push piece to move back and forth. The present invention can automatically find the pin hole position on the main shaft of the fan head and automatically install the impeller pin in the pin hole, thereby achieving a high degree of automation and reducing labor costs.

The present application belongs to the field of full-automatic anchor rod drilling rig, and particularly relates to a method for positioning and hole finding of anchor rod drilling rig based on mine high-precision positioning control valve; X(P) is the desired pose of the drilling rig jib movement of the anchor rod drilling rig, the inaccurate drilling rig jib movement leads to the pose offset ΔP of the drilling rig end of the anchor rod drilling rig, therefore, when the movement rotation angle of the drilling rig jib is θ, the drilling rig end pose is X(P+ΔP); therefore, the drilling rig jib performs action and pre-compensates -ΔP; the compensation joint angle Δθ of the drilling rig jib which needs to be compensated is calculated through the Jacobian matrix, the joint rotation angle θ-Δθ is obtained by subtracting the movement rotation angle θ from the compensation joint angle Δθ, when the drilling rig jib moves at the joint rotation angle θ-Δθ, the drilling rig end pose is consistent with the desired pose X(P) of the drilling rig jib movement; that is, the pre-compensation -ΔP offsets the pose offset ΔP generated by the drilling rig jib movement; the movement of the drilling rig jib is controlled by adjusting the flow of the explosion-proof control valve, and the positioning and hole finding accuracy of the drilling rig jib is improved.

This invention discloses a method for anti-jamming shaft hole assembly based on visual-tactile perception for unknown hand posture. One visual-tactile sensor with and without anchor points are installed on the robot gripper. The orientation of the main axis of the gripped shaft is calculated using the visual-tactile image without anchor points, and the gripper posture is adjusted to achieve pre-alignment before insertion. To correct insertion failures caused by shaft posture estimation errors, the visual-tactile image with anchor points is used to extract low-latency relative force feedback in real time through a dual-mask spatial averaging algorithm. This guides a helical search based on force-potential hybrid admittance control to establish a stable contact state, achieving tactile-guided hole finding. Finally, for shafts with complex surface textures that experience jamming due to abrupt friction changes, a bidirectional escape mechanism involving inward and outward contraction along the helical normal direction is employed to release contact constraints, achieving compliant insertion guided by tactile perception. This invention achieves visual-tactile insertion operation in situations where there are no wrist force sensors and the initial posture of the shaft within the gripper is unknown, significantly improving the assembly success rate and robustness in complex working conditions.