阅读说明：本技术 一种钻孔装置的自动钻孔系统及其实现方法 (Automatic drilling system of drilling device and implementation method thereof ) 是由 闫金亮 于 2021-09-16 设计创作，主要内容包括：本申请公开了一种钻孔装置的自动钻孔系统,包括主控模块、驱动模块和PLC模块,驱动模块用于驱动横移伺服电机、钻孔主轴伺服电机、钻孔进给伺服电机、攻丝进给伺服电机和去毛刺进给伺服电机,所述PLC模块包括PLC控制器U1和PLC输入U2,PLC控制器U1的型号为AS228T-A,PLC输入U2的型号为AS16AM10N-A。具有以下优点：能够一次性实现钻孔、去毛刺、攻丝、冲屑等多种工序,各个工序位于同一条生产线,钻孔完成后自动依次进行攻丝和去毛刺,在去毛刺、攻丝的同时能够实现冲屑,各个工序之间衔接和配合精确,并采用机器人进行上下料,完全实现自动化,提高了加工效率,节省了大量人力。(The application discloses drilling equipment's automatic drilling system, including host system, drive module and PLC module, drive module is used for driving sideslip servo motor, drilling main shaft servo motor, drilling and feeds servo motor, tapping and feeds servo motor and burring and feed servo motor, the PLC module includes PLC controller U1 and PLC input U2, and PLC controller U1's model is AS228T-A, and PLC input U2's model is AS16AM 10N-A. Has the following advantages: can once only realize drilling, burring, tapping, towards multiple processes such as bits, each process is located same production line, and automatic tapping and the burring of carrying on in proper order after the drilling is accomplished can be realized towards the bits in burring, tapping, links up between each process and cooperates accurately to adopt the robot to go up unloading, realize the automation completely, improved machining efficiency, saved a large amount of manpowers.)

1. An automatic drilling system of a drilling device, characterized in that: the device comprises a main control module, a driving module and a PLC module, wherein the driving module is used for driving a transverse moving servo motor, a drilling spindle servo motor, a drilling feeding servo motor, a tapping feeding servo motor and a deburring feeding servo motor, the PLC module comprises a PLC U1 and a PLC input U2, the model of the PLC U1 is AS228T-A, and the model of the PLC input U2 is AS16AM 10N-A;

the main control module comprises a three-phase power supply R line, an S line, a T line and an N line, the three-phase power supply R line, the S line and the T line are connected with one end of a breaker QF1, and the other end of the breaker QF1 is connected with an L12 line, an L22 line and an L32 line of the three-phase power supply;

the L12 line and the N line are connected with one end of a breaker QF07, the other end of the breaker QF07 is connected with one end of a switch power supply SK1, the breaker QF07 line and the 4N line are connected out to serve as a PLC power supply, the other end of the switch power supply SK1 is connected with a power supply 24V1 line and a 0V1 line, a power supply 24V2 line and a 0V2 line, and a power supply 24V3 line and a 0V3 line and used for a direct-current power supply; the L22 line and the N line are connected with one end of a breaker QF08, the other end of the breaker QF08 is connected with an L14 line and a 5N line of a power supply to serve as a power supply of the screw lubricating oil pump, the L12 line, the L22 line and the L32 line are connected with one end of a breaker QF09, the other end of the breaker QF09 is connected with one end of a filter, the other end of the filter is connected with one end of a servo transformer T1, and the other end of the servo transformer T1 outputs an RB line, an SB line and a TB line of the power supply;

the power supply RB line, the power supply SB line and the power supply TB line are connected with one end of a breaker QF10, the other end of the breaker QF10 outputs a power supply R1 line, a power supply S1 line and a power supply T1 line, the power supply RB line, the power supply SB line and the power supply TB line are connected with one end of a breaker QF11, the other end of the breaker QF11 outputs a power supply R2 line, a power supply S2 line and a power supply T2 line, the power supply RB line, the power supply SB line and the power supply TB line are connected with one end of a breaker QF12, the other end of the breaker QF12 outputs a power supply R3 line, a power supply S3 line and a power supply T3 line, the power supply RB line, the power supply SB line and the power supply TB line are connected with one end of a breaker QF13, the other end of the breaker QF13 outputs a power supply R4 line, a power supply S4 line and a T4 line, the power supply RB line and the power supply TB line are connected with one end of a breaker 14, and the other end of a breaker QF14 is connected with the other end of a breaker QF 5 line, a S5 line and a T5 line.

2. An automatic drilling system of a drilling apparatus according to claim 1, characterized in that: the line L12, the line L22 and the line L32 of the three-phase power supply are connected with one end of a breaker QF02, the other end of the breaker QF02 is connected with an R pin, an S pin and a T pin of a frequency converter Q1, a U pin, a V pin and a W pin of a frequency converter Q1 are connected with a motor M1 for tapping motor control, a MI1 pin of the frequency converter Q1 is connected with one end of a relay KA6 switch, a MI2 pin of the frequency converter Q1 is connected with one end of a relay KA5 switch, and the other end of the relay KA6 switch and the other end of the relay KA5 switch are connected with a DCOM pin of the frequency converter Q1; the line L12, the line L22 and the line L32 of the three-phase power supply are connected with one end of a breaker QF03, the other end of the breaker QF03 is connected with one end of a contactor KM1, the other end of the contactor KM1 is connected with one end of a thermal relay FR1, and the other end of the thermal relay FR1 is connected with a motor M2 for controlling a deburring motor; the L12 line, the L22 line and the L32 line of the three-phase power supply are connected with one end of a breaker QF04, the other end of the breaker QF04 is connected with one end of a contactor KM2, the other end of the contactor KM2 is connected with one end of a thermal relay FR2, and the other end of the thermal relay FR2 is connected with a motor M3 for controlling the cutting fluid water pump; the lines L12, L22 and L32 of the three-phase power supply are connected with one end of a breaker QF05, and the other end of the breaker QF05 is connected with a modular socket.

3. An automatic drilling system of a drilling apparatus according to claim 1, characterized in that: the driving module comprises a servo driver S1, the R pin, the S pin and the T of the servo driver S1 are connected with a R1 line, an S1 line and a T1 line, and the U pin, the V pin and the W pin of the servo driver S1 are connected with a motor M4 for controlling the transverse movement servo motor; the driving module further comprises a servo driver S2, the R pin, the S pin and the T of the servo driver S2 are connected with a R2 line, an S2 line and a T2 line, and the U pin, the V pin and the W pin of the servo driver S2 are connected with a motor M5 for controlling a drilling spindle servo motor;

the driving module further comprises a servo driver S3, wherein R, S and T of the servo driver S3 are connected with R3, S3 and T3 lines, and U, V and W pins of the servo driver S3 are connected with a motor M6 for controlling the drilling and feeding servo motor; the driving module further comprises a servo driver S4, the R pin, the S pin and the T of the servo driver S4 are connected with a R4 line, an S4 line and a T4 line, and the U pin, the V pin and the W pin of the servo driver S4 are connected with a motor M7 for controlling the tapping and feeding servo motor;

the driving module further comprises a servo driver S5, wherein R, S and T pins of the servo driver S5 are connected with R5, S5 and T5 lines, and U, V and W pins of the servo driver S5 are connected with a motor M8 for controlling a deburring and feeding servo motor; the drive module still includes guide rail oil pump D1, and 2 feet of guide rail oil pump D1 are connected with the L14 line, and 3 feet of guide rail oil pump D1 are connected with the 5N line, and 4 feet of guide rail oil pump D1 are connected with relay K20 switch one end, and the relay K20 switch other end is connected with the 5N line, and 5 feet and the 7 feet of guide rail oil pump D1 are connected with 0V1 line.

4. An automatic drilling system of a drilling apparatus according to claim 1, characterized in that: the X0.0 pin of the PLC U1 is connected with one end of a proximity switch SQ1, the other end of the proximity switch SQ1 is connected with a power supply 24V1 line and a 0V line, the part is used for positive limit control of a drilling spindle, the X0.1 pin of the PLC U1 is connected with one end of a proximity switch SQ2, the other end of the proximity switch SQ2 is connected with a power supply 24V1 line and a 0V line, the part is used for negative limit control of the drilling spindle, the X0.2 pin of the PLC U1 is connected with one end of a proximity switch SQ3, the other end of the proximity switch SQ3 is connected with a power supply 24V1 line and a 0V line, the part is used for positive limit control of the drilling, the X0.3 pin of the PLC U1 is connected with one end of a proximity switch SQ4, the other end of the proximity switch 4 is connected with a power supply 24V1 line and a 0V line, the part is used for negative limit control of the drilling, the X0.3 pin of the PLC U1 is connected with one end of a proximity switch SQ5, the proximity switch SQ5 and the other end of the proximity switch SQ1 and the power supply 24V line 360V 1, the part is used for positive limit control of tapping, the X0.4 pin of the PLC U1 is connected with one end of a proximity switch SQ6, the other end of the proximity switch SQ6 is connected with a power supply 24V1 line and a 0V line, the part is used for negative limit control of tapping, the X0.6 pin of the PLC U1 is connected with one end of a proximity switch SQ7, the other end of the proximity switch SQ7 is connected with a power supply 24V1 line and a 0V line, the part is used for left-shift limit control, the X0.7 pin of the PLC U1 is connected with one end of a proximity switch SQ8, the other end of the proximity switch SQ8 is connected with a power supply 24V1 line and a 0V line, and the part is used for right-shift limit control.

5. An automatic drilling system of a drilling apparatus according to claim 1, characterized in that: the X0.8 pin of the PLC U1 is connected with one end of a button SE1, the other end of the button SE1 is connected with a 0V1 wire, the part is used for over-travel release button control, the X0.9 pin of the PLC U1 is connected with an automatic end of a button SE2, the automatic other end of the button SE2 is connected with a 0V1 wire, the part is used for automatic knob control, the X0.10 pin of the PLC U1 is connected with a manual end of a button SE2, the manual other end of the button SE2 is connected with a 0V1 wire, the part is used for manual knob control, the X0.11 pin of the PLC U1 is connected with one end of a button SE3, the other end of the button SE3 is connected with a 0V1 wire, the part is used for starting button control, the X0.12 pin of the PLC U1 is connected with one end of a button SE4, the other end of the button 4 end is connected with a 0V1 wire, the part is used for emergency stop button SE 6955, the X0.13 pin of the PLC U2 is connected with an automatic button 5, the other end of the SE 8653 is connected with an automatic button SE5, the SE is used for reset button 5, the X0.14 pin of the PLC U1 is connected with one end of a proximity switch SQ9, and the other end of the proximity switch SQ9 is connected with a 0V1 wire, and the part is used for workpiece detection control.

6. An automatic drilling system of a drilling apparatus according to claim 1, characterized in that: the Y0.0 pin of the PLC U1 is connected with one end of a coil of a relay K1, the other end of the coil of the relay K1 is connected with a 24V1 wire, the part is used for workpiece clamping control, the Y0.1 pin of the PLC U1 is connected with one end of a coil of a relay K2, the other end of the coil of the relay K2 is connected with a 24V1 wire, the part is used for workpiece loosening control, the Y0.2 pin of the PLC U1 is connected with one end of a coil of a relay K3, the other end of the coil of the relay K3 is connected with a 24V1 wire, the part is used for table-board scrap flushing control, the Y0.3 pin of the PLC U1 is connected with one end of a coil of a relay K4, the other end of a coil of a relay K4 is connected with a 24V1 wire, the part is used for mounting surface scrap flushing control, the Y0.4 pin of the PLC U1 is connected with one end of a coil of a relay K5, the other end of the coil of the relay K5 is connected with a 24V1 wire, the part is used for wire head control, the part is connected with one end of a coil 1 of a Y0.5 pin of a forward rotation controller U6, the other end of the coil of the relay K6 is connected with a 24V1 wire which is used for reverse rotation control of a tapping head, a Y0.6 pin of a PLC 1 is connected with one end of the coil of the relay K7, the other end of the coil of the relay K7 is connected with a 24V1 wire which is used for deburring and forward rotation control;

the Y0.7 foot of PLC controller U1 is connected with relay K8 coil one end, relay K8 coil other end is connected with 24V1 line, this part is used for drilling main shaft towards bits control, PLC controller U1's Y0.8 foot is connected with relay K9 coil one end, relay K9 coil other end is connected with 24V1 line, this part is used for the burring to dash bits control, PLC controller U1's Y0.9 foot is connected with relay K10 coil one end, relay K10 coil other end is connected with 24V1 line, this part is used for tapping head cutting fluid lubrication control.

7. An automatic drilling system of a drilling apparatus according to claim 1, characterized in that: the Y0.10 pin of the PLC U1 is connected with one end of a relay K11 coil, the other end of the relay K11 coil is connected with a 24V1 wire, the part is used for feeding permission-robot control, the Y0.10 pin of the PLC U1 is connected with one end of a relay K12 coil, the other end of the relay K12 coil is connected with a 24V1 wire, the part is used for feeding permission-robot control, the Y1.0 pin of the PLC U1 is connected with one end of a relay K13 coil, the other end of the relay K13 coil is connected with a 24V1 wire, the part is used for alarm signal-robot control, the Y1.1 pin of the PLC U1 is connected with one end of a relay K14 coil, the other end of the relay K14 coil is connected with a 24V1 wire, the part is used for safety condition-robot control, the Y1.7 pin of the PLC U1 is connected with one end of a relay K20 coil, the other end of the relay K20 coil is connected with a 24V1 wire, and the part is used for screw lubrication starting control.

8. An automatic drilling system of a drilling apparatus according to claim 1, characterized in that: the Y1.2 pin of the PLC U1 is connected with one end of a relay K15 coil, the other end of the relay K15 coil is connected with a 24V1 wire, the part is used for full-origin lamp control, the Y1.3 pin of the PLC U1 is connected with one end of a relay K16 coil, the other end of the relay K16 coil is connected with a 24V1 wire, the part is used for three-color lamp-green control, the Y1.4 pin of the PLC U1 is connected with one end of a relay K17 coil, the other end of the relay K17 coil is connected with a 24V1 wire, the part is used for three-color lamp-yellow control, the Y1.5 pin of the PLC U1 is connected with one end of a relay K18 coil, the other end of the relay K18 coil is connected with a 24V1 wire, the part is used for three-color lamp-red control, the Y1.6 pin of the PLC U1 is connected with one end of a relay K19 coil, the other end of a relay K19 coil is connected with a 24V1 wire, and the part is used for three-color lamp-buzzer control.

9. An automatic drilling system of a drilling apparatus according to claim 1, characterized in that: the X1.0 pin of the PLC input U2 is used for emptying completion and robot detection, the X1.1 pin of the PLC input U2 is used for locking and robot detection, the X1.2 pin of the PLC input U2 is used for liquid level switch control, the X1.3 pin of the PLC input U2 is used for pressure switch control, the X1.4 pin of the PLC input U2 is used for air pressure switch control, the X1.5 pin of the PLC input U2 is used for tapping frequency conversion alarm control, the X1.6 pin of the PLC input U2 is used for deburring heat relay alarm control, and the X1.7 pin of the PLC input U2 is used for taking completion and robot control;

the Y1.08 pin of the PLC input U2 is connected with one end of a relay K21 coil, and the other end of the relay K21 coil is connected with a 24V1 wire for emptying permission-robot control; the Y1.09 pin of the PLC input U2 is connected with one end of a relay K22 coil, and the other end of the relay K22 coil is connected with a 24V1 wire for material taking permission-robot control.

10. An implementation method of an automatic drilling system of a drilling device is characterized in that: the implementation method is applied to the automatic drilling system of the drilling device as claimed in any one of claims 1-9, and comprises the following steps:

s101, traversing walking is servo-carried to a material receiving position, and then S102 is carried out;

step S102, allowing a robot emptying signal to be equal to 1, and entering step S103 after the robot emptying signal is finished;

step S103, judging whether the robot is placed completely, finishing the step S104, and if not, returning to the step S103;

step S104, allowing a robot emptying signal to be equal to 0 by a work price clamping clamp, and entering step S105 after completion;

step S105, the station mark is equal to 1, and step S106 is executed after the station mark is finished;

step S106, judging whether the station mark is equal to 0, if so, entering step S107, otherwise, entering step S112;

step S107, traversing walking is servo-carried out to a material receiving position, and then the step S108 is carried out;

step S108, loosening the workpiece clamp, and entering step S109 after the workpiece clamp is loosened;

step S109, allowing the robot to take the material signal to be equal to 1, and entering step S110 after the material taking signal is finished;

step S110, judging whether the robot finishes taking materials, if so, entering step S11, otherwise, continuing to execute step S110;

step S111, allowing the robot emptying signal to be equal to 0, and returning to execute the step S101 after the robot emptying signal is finished;

step S112, judging whether the station mark is equal to 1, if so, entering step S113, otherwise, entering step S120;

step S113, traversing the walking servo drilling position, and entering step S114 after completion;

step S114, starting a drilling main shaft, starting chip flushing of the drilling main shaft, and entering step S115 after completion;

step S115, feeding by a drilling feeding motor, and entering step S116 after the drilling feeding motor feeds;

step S116, feeding in place, and entering step S117 after the feeding is finished;

step S117, the drilling feeding motor retreats, and after the completion, the step S118 is executed;

step S118, stopping the drilling main shaft, stopping chip flushing of the drilling main shaft, and entering step S119 after completion;

step S119, the station mark is equal to 2, and the step S106 is executed after the station mark is finished;

step S120, judging whether the station mark is equal to 2, if so, entering step S121, otherwise, entering step S128;

step S121, traversing and walking the servo tapping position, and entering step S122 after the completion;

step S122, starting a tapping motor, starting tapping scraps, and entering step S123 after the tapping is finished;

step S123, tapping servo feeding, and entering step S124 after the tapping servo feeding is finished;

step S124, feeding in place, and entering step S125 after the feeding is finished;

step S125, the tapping servo retreats, and the step S126 is executed after the tapping servo retreating is finished;

step S126, stopping the tapping motor, stopping tapping and chip flushing, and entering step S127 after the tapping is finished;

step S127, the station mark is equal to 3, and the step S106 is executed after the station mark is finished;

step S128, judging whether the station mark is equal to 3, if so, entering step S129, otherwise, entering step S106;

step S129, the transverse moving servo deburring position is performed, and the step S130 is performed after the completion;

step S130, starting a deburring motor, starting deburring lubrication, and entering step S131 after the deburring motor is started;

step S131, starting deburring servo feed, and entering step S132 after the deburring servo feed is finished;

step S132, feeding in place, and entering step S133 after the feeding is finished;

step S133, deburring and servo backing, and entering step S134 after completion;

step S134, stopping the deburring motor, stopping deburring lubrication, and entering step S135 after the deburring motor is stopped;

and step S135, the station mark is equal to 0, and the step S106 is executed after the station mark is finished.

Technical Field

The invention discloses an automatic drilling system of a drilling device and an implementation method thereof, and belongs to the technical field of full-automatic part machining.

Background

At present, a traditional numerical control machine tool basically has only one function, such as a milling machine has only a milling function, a drilling machine has only a drilling function, a tapping machine has only a tapping function, and each machine tool has a single function.

Of course, people can process the workpieces in all processes by selecting the machining center, but the machining center can only process one specification process each time when machining is carried out, and when machining needs to be carried out in another process, tool changing operation needs to be carried out, namely different types of machining are alternately realized through frequent tool changing, so that the machining efficiency is not high.

Although the prior art can process two or more working procedures at one time, the one-time processing of the whole working procedure is difficult to realize, and the difficulty is that the connection and the matching among the working procedures are difficult to realize accurately.

Disclosure of Invention

The technical problem to be solved by the invention is to provide an automatic drilling system of a drilling device and an implementation method thereof, which can realize multiple working procedures of drilling, deburring, tapping, chip punching and the like at one time, wherein each working procedure is positioned on the same production line, tapping and deburring are automatically and sequentially carried out after drilling is finished, chip punching can be realized while deburring and tapping are carried out, the working procedures are accurately linked and matched, and a robot is adopted for loading and unloading, so that automation is completely realized, the processing efficiency is improved, and a large amount of manpower is saved.

In order to solve the technical problems, the invention adopts the following technical scheme:

an automatic drilling system of a drilling device comprises a main control module, a driving module and a PLC module, wherein the driving module is used for driving a transverse moving servo motor, a drilling spindle servo motor, a drilling feeding servo motor, a tapping feeding servo motor and a deburring feeding servo motor, the PLC module comprises a PLC U1 and a PLC input U2, the model of the PLC U1 is AS228T-A, and the model of the PLC input U2 is AS16AM 10N-A;

the main control module comprises a three-phase power supply R line, an S line, a T line and an N line, the three-phase power supply R line, the S line and the T line are connected with one end of a breaker QF1, and the other end of the breaker QF1 is connected with an L12 line, an L22 line and an L32 line of the three-phase power supply;

the L12 line and the N line are connected with one end of a breaker QF07, the other end of the breaker QF07 is connected with one end of a switch power supply SK1, the breaker QF07 line and the 4N line are connected out to serve as a PLC power supply, the other end of the switch power supply SK1 is connected with a power supply 24V1 line and a 0V1 line, a power supply 24V2 line and a 0V2 line, and a power supply 24V3 line and a 0V3 line and used for a direct-current power supply; the L22 line and the N line are connected with one end of a breaker QF08, the other end of the breaker QF08 is connected with an L14 line and a 5N line of a power supply to serve as a power supply of the screw lubricating oil pump, the L12 line, the L22 line and the L32 line are connected with one end of a breaker QF09, the other end of the breaker QF09 is connected with one end of a filter, the other end of the filter is connected with one end of a servo transformer T1, and the other end of the servo transformer T1 outputs an RB line, an SB line and a TB line of the power supply;

the power supply RB line, the power supply SB line and the power supply TB line are connected with one end of a breaker QF10, the other end of the breaker QF10 outputs a power supply R1 line, a power supply S1 line and a power supply T1 line, the power supply RB line, the power supply SB line and the power supply TB line are connected with one end of a breaker QF11, the other end of the breaker QF11 outputs a power supply R2 line, a power supply S2 line and a power supply T2 line, the power supply RB line, the power supply SB line and the power supply TB line are connected with one end of a breaker QF12, the other end of the breaker QF12 outputs a power supply R3 line, a power supply S3 line and a power supply T3 line, the power supply RB line, the power supply SB line and the power supply TB line are connected with one end of a breaker QF13, the other end of the breaker QF13 outputs a power supply R4 line, a power supply S4 line and a T4 line, the power supply RB line and the power supply TB line are connected with one end of a breaker 14, and the other end of a breaker QF14 is connected with the other end of a breaker QF 5 line, a S5 line and a T5 line.

Furthermore, lines L12, L22 and L32 of the three-phase power supply are connected with one end of a breaker QF02, the other end of the breaker QF02 is connected with an R pin, an S pin and a T pin of a frequency converter Q1, a U pin, a V pin and a W pin of a frequency converter Q1 are connected with a motor M1 for controlling a tapping motor, a MI1 pin of the frequency converter Q1 is connected with one end of a switch of a relay KA6, a MI2 pin of the frequency converter Q1 is connected with one end of a switch of a relay KA5, and the other ends of the switch of the relay KA6 and the switch of the relay KA5 are connected with a DCOM pin of the frequency converter Q1; the line L12, the line L22 and the line L32 of the three-phase power supply are connected with one end of a breaker QF03, the other end of the breaker QF03 is connected with one end of a contactor KM1, the other end of the contactor KM1 is connected with one end of a thermal relay FR1, and the other end of the thermal relay FR1 is connected with a motor M2 for controlling a deburring motor; the L12 line, the L22 line and the L32 line of the three-phase power supply are connected with one end of a breaker QF04, the other end of the breaker QF04 is connected with one end of a contactor KM2, the other end of the contactor KM2 is connected with one end of a thermal relay FR2, and the other end of the thermal relay FR2 is connected with a motor M3 for controlling the cutting fluid water pump; the lines L12, L22 and L32 of the three-phase power supply are connected with one end of a breaker QF05, and the other end of the breaker QF05 is connected with a modular socket.

Further, the driving module comprises a servo driver S1, wherein R, S and T pins of the servo driver S1 are connected with R1, S1 and T1 lines, and U, V and W pins of the servo driver S1 are connected with a motor M4 for controlling the traversing servo motor; the driving module further comprises a servo driver S2, the R pin, the S pin and the T of the servo driver S2 are connected with a R2 line, an S2 line and a T2 line, and the U pin, the V pin and the W pin of the servo driver S2 are connected with a motor M5 for controlling a drilling spindle servo motor;

the driving module further comprises a servo driver S3, wherein R, S and T of the servo driver S3 are connected with R3, S3 and T3 lines, and U, V and W pins of the servo driver S3 are connected with a motor M6 for controlling the drilling and feeding servo motor; the driving module further comprises a servo driver S4, the R pin, the S pin and the T of the servo driver S4 are connected with a R4 line, an S4 line and a T4 line, and the U pin, the V pin and the W pin of the servo driver S4 are connected with a motor M7 for controlling the tapping and feeding servo motor;

the driving module further comprises a servo driver S5, wherein R, S and T pins of the servo driver S5 are connected with R5, S5 and T5 lines, and U, V and W pins of the servo driver S5 are connected with a motor M8 for controlling a deburring and feeding servo motor; the drive module still includes guide rail oil pump D1, and 2 feet of guide rail oil pump D1 are connected with the L14 line, and 3 feet of guide rail oil pump D1 are connected with the 5N line, and 4 feet of guide rail oil pump D1 are connected with relay K20 switch one end, and the relay K20 switch other end is connected with the 5N line, and 5 feet and the 7 feet of guide rail oil pump D1 are connected with 0V1 line.

Further, the PLC module comprises a PLC U1, the PLC U1 is in the model of AS228T-A, the X0.0 pin of the PLC U1 is connected with one end of a proximity switch SQ1, the other end of the proximity switch SQ1 is connected with a power supply 24V1 line and a 0V line, the part is used for positive limit control of the drilling spindle, the X0.1 pin of the PLC U1 is connected with one end of the proximity switch SQ2, the other end of the proximity switch SQ2 is connected with a power supply 24V1 line and a 0V line, the part is used for negative limit control of the drilling spindle, the X0.2 pin of the PLC U1 is connected with one end of the proximity switch SQ3, the other end of the proximity switch SQ3 is connected with the power supply 24V1 line and the 0V line, the part is used for positive limit control of the drilling, the X0.3 pin of the PLC U1 is connected with one end of the proximity switch SQ4, the other end of the proximity switch SQ4 is connected with the power supply 24V1 line and the 0V line, the part is used for negative limit control of the PLC U1 pin 5, the other end of the proximity switch SQ5 is connected with a power supply 24V1 line and a 0V line, the part is used for tapping positive limit control, the X0.4 pin of the PLC U1 is connected with one end of the proximity switch SQ6, the other end of the proximity switch SQ6 is connected with a power supply 24V1 line and a 0V line, the part is used for tapping negative limit control, the X0.6 pin of the PLC U1 is connected with one end of the proximity switch SQ7, the other end of the proximity switch SQ7 is connected with a power supply 24V1 line and a 0V line, the part is used for left-shift limit control, the X0.7 pin of the PLC U1 is connected with one end of the proximity switch SQ8, the other end of the proximity switch SQ8 is connected with a power supply 24V1 line and a 0V line, and the part is used for right-shift limit control.

Further, the X0.8 pin of the PLC U1 is connected with one end of a button SE1, the other end of the button SE1 is connected with a 0V1 wire, the part is used for over-travel release button control, the X0.9 pin of the PLC U1 is connected with one end of a button SE2 automatically, the other end of the button SE2 is connected with a 0V1 wire, the part is used for automatic knob control, the X0.10 pin of the PLC U1 is connected with one end of a button SE2 manually, the other end of the button SE2 manually is connected with a 0V1 wire, the part is used for manual knob control, the X0.11 pin of the PLC U1 is connected with one end of a button SE3, the other end of the button SE3 is connected with a 0V1 wire, the part is used for starting button control, the X0.12 pin of the PLC U1 is connected with one end of a button SE4, the other end of the button SE4 is connected with a 0V1 wire, the part is used for emergency stop button SE1, the other end of the X0.13 pin of the PLC U1 is connected with an automatic button SE5, the other end of the button SE 8653 is connected with an automatic button SE 8427 wire, the part is used for reset button control of a whole worker, a pin X0.14 of the PLC U1 is connected with one end of a proximity switch SQ9, the other end of the proximity switch SQ9 is connected with a 0V1 wire, and the part is used for workpiece detection control.

Furthermore, a Y0.0 pin of the PLC U1 is connected with one end of a coil of a relay K1, the other end of the coil of the relay K1 is connected with a 24V1 wire, the part is used for workpiece clamping control, a Y0.1 pin of the PLC U1 is connected with one end of a coil of a relay K2, the other end of the coil of the relay K2 is connected with a 24V1 wire, the part is used for workpiece loosening control, a Y0.2 pin of the PLC U1 is connected with one end of the coil of the relay K3, the other end of the coil of the relay K3 is connected with a 24V1 wire, the part is used for table top scrap punching control, a Y0.3 pin of the PLC U1 is connected with one end of the coil of the relay K4, the other end of the coil of the relay K4 is connected with a 24V1 wire, the part is used for mounting surface scrap punching control, a Y0.4 pin of the PLC U1 is connected with one end of a coil of the relay K5, the other end of the coil of the relay K5 is connected with a 24V1 wire, the part is used for forward rotation of a screw tap of the PLC U1, the other end of the coil of the relay K6 is connected with a 24V1 wire which is used for reverse rotation control of a tapping head, a Y0.6 pin of a PLC 1 is connected with one end of the coil of the relay K7, the other end of the coil of the relay K7 is connected with a 24V1 wire which is used for deburring and forward rotation control;

the Y0.7 foot of PLC controller U1 is connected with relay K8 coil one end, relay K8 coil other end is connected with 24V1 line, this part is used for drilling main shaft towards bits control, PLC controller U1's Y0.8 foot is connected with relay K9 coil one end, relay K9 coil other end is connected with 24V1 line, this part is used for the burring to dash bits control, PLC controller U1's Y0.9 foot is connected with relay K10 coil one end, relay K10 coil other end is connected with 24V1 line, this part is used for tapping head cutting fluid lubrication control.

Further, a Y0.10 pin of the PLC U1 is connected with one end of a relay K11 coil, the other end of a relay K11 coil is connected with a 24V1 wire, the part is used for feeding permission-robot control, a Y0.10 pin of the PLC U1 is connected with one end of a relay K12 coil, the other end of a relay K12 coil is connected with a 24V1 wire, the part is used for feeding permission-robot control, a Y1.0 pin of the PLC U1 is connected with one end of a relay K13 coil, the other end of the relay K13 coil is connected with a 24V1 wire, the part is used for alarm signal-robot control, a Y1.1 pin of the PLC U1 is connected with one end of a relay K14 coil, the other end of the relay K14 coil is connected with a 24V1 wire, the part is used for safety condition-robot control, a Y1.7 pin of the PLC U1 is connected with one end of a relay K20 coil, the other end of the relay K20 coil is connected with a 24V1 wire, this section is used for screw lubrication start control.

Furthermore, a Y1.2 pin of the PLC U1 is connected with one end of a coil of a relay K15, the other end of a coil of a relay K15 is connected with a 24V1 wire, the part is used for full-origin lamp control, a Y1.3 pin of the PLC U1 is connected with one end of a coil of a relay K16, the other end of the coil of the relay K16 is connected with a 24V1 wire, the part is used for three-color lamp-green control, a Y1.4 pin of the PLC U1 is connected with one end of a coil of a relay K17, the other end of the coil of the relay K17 is connected with a 24V1 wire, the part is used for three-color lamp-yellow control, a Y1.6 pin of the PLC U1 is connected with one end of a coil of a relay K18, the other end of the coil of the relay K18 is connected with a 24V 368 wire, the part is used for three-color lamp-red control, and a Y1.6 pin of the PLC U1 is connected with one end of a coil of a relay K19, the other end of the coil of the relay K19, and the part is used for three-color lamp-buzzer.

Further, the PLC module further comprises a PLC input U2, the model of the PLC input U2 is AS16AM10N-A, an X1.0 pin of the PLC input U2 is used for emptying completion-robot detection, an X1.1 pin of the PLC input U2 is used for locking-robot detection, an X1.2 pin of the PLC input U2 is used for liquid level switch control, an X1.3 pin of the PLC input U2 is used for pressure switch control, an X1.4 pin of the PLC input U2 is used for air pressure switch control, an X1.5 pin of the PLC input U2 is used for tapping frequency conversion alarm control, an X1.6 pin of the PLC input U2 is used for deburring heat relay alarm control, and an X1.7 pin of the PLC input U2 is used for taking completion-robot control;

the Y1.08 pin of the PLC input U2 is connected with one end of a relay K21 coil, and the other end of the relay K21 coil is connected with a 24V1 wire for emptying permission-robot control; the Y1.09 pin of the PLC input U2 is connected with one end of a relay K22 coil, and the other end of the relay K22 coil is connected with a 24V1 wire for material taking permission-robot control.

An implementation method of an automatic drilling system of a drilling device comprises the following steps:

s101, traversing walking is servo-carried to a material receiving position, and then S102 is carried out;

step S102, allowing a robot emptying signal to be equal to 1, and entering step S103 after the robot emptying signal is finished;

step S103, judging whether the robot is placed completely, finishing the step S104, and if not, returning to the step S103;

step S104, allowing a robot emptying signal to be equal to 0 by a work price clamping clamp, and entering step S105 after completion;

step S105, the station mark is equal to 1, and step S106 is executed after the station mark is finished;

step S106, judging whether the station mark is equal to 0, if so, entering step S107, otherwise, entering step S112;

step S107, traversing walking is servo-carried out to a material receiving position, and then the step S108 is carried out;

step S108, loosening the workpiece clamp, and entering step S109 after the workpiece clamp is loosened;

step S109, allowing the robot to take the material signal to be equal to 1, and entering step S110 after the material taking signal is finished;

step S110, judging whether the robot finishes taking materials, if so, entering step S11, otherwise, continuing to execute step S110;

step S111, allowing the robot emptying signal to be equal to 0, and returning to execute the step S101 after the robot emptying signal is finished;

step S112, judging whether the station mark is equal to 1, if so, entering step S113, otherwise, entering step S120;

step S113, traversing the walking servo drilling position, and entering step S114 after completion;

step S114, starting a drilling main shaft, starting chip flushing of the drilling main shaft, and entering step S115 after completion;

step S115, feeding by a drilling feeding motor, and entering step S116 after the drilling feeding motor feeds;

step S116, feeding in place, and entering step S117 after the feeding is finished;

step S117, the drilling feeding motor retreats, and after the completion, the step S118 is executed;

step S118, stopping the drilling main shaft, stopping chip flushing of the drilling main shaft, and entering step S119 after completion;

step S119, the station mark is equal to 2, and the step S106 is executed after the station mark is finished;

step S120, judging whether the station mark is equal to 2, if so, entering step S121, otherwise, entering step S128;

step S121, traversing and walking the servo tapping position, and entering step S122 after the completion;

step S122, starting a tapping motor, starting tapping scraps, and entering step S123 after the tapping is finished;

step S123, tapping servo feeding, and entering step S124 after the tapping servo feeding is finished;

step S124, feeding in place, and entering step S125 after the feeding is finished;

step S125, the tapping servo retreats, and the step S126 is executed after the tapping servo retreating is finished;

step S126, stopping the tapping motor, stopping tapping and chip flushing, and entering step S127 after the tapping is finished;

step S127, the station mark is equal to 3, and the step S106 is executed after the station mark is finished;

step S128, judging whether the station mark is equal to 3, if so, entering step S129, otherwise, entering step S106;

step S129, the transverse moving servo deburring position is performed, and the step S130 is performed after the completion;

step S130, starting a deburring motor, starting deburring lubrication, and entering step S131 after the deburring motor is started;

step S131, starting deburring servo feed, and entering step S132 after the deburring servo feed is finished;

step S132, feeding in place, and entering step S133 after the feeding is finished;

step S133, deburring and servo backing, and entering step S134 after completion;

step S134, stopping the deburring motor, stopping deburring lubrication, and entering step S135 after the deburring motor is stopped;

and step S135, the station mark is equal to 0, and the step S106 is executed after the station mark is finished.

By adopting the technical scheme, compared with the prior art, the invention has the following technical effects:

can once only realize drilling, burring, tapping, towards multiple processes such as bits, each process is located same production line, and automatic tapping and the burring of carrying on in proper order after the drilling is accomplished can be realized towards the bits in burring, tapping, links up between each process and cooperates accurately to adopt the robot to go up unloading, realize the automation completely, improved machining efficiency, saved a large amount of manpowers.

Drawings

In order to more clearly illustrate the detailed description of the invention or the technical solutions in the prior art, the drawings that are needed in the detailed description of the invention or the prior art will be briefly described below. Throughout the drawings, like elements or portions are generally identified by like reference numerals. In the drawings, elements or portions are not necessarily drawn to scale.

Fig. 1 to 3 are electrical schematic diagrams of a main control module according to the present invention;

fig. 4 to 6 are electrical schematic diagrams of the driving module of the present invention; (ii) a

FIGS. 7 and 8 are electrical schematic diagrams of a PLC controller according to the present invention;

FIGS. 9 and 10 are electrical schematic diagrams of PLC inputs in the present invention;

FIG. 11 is an electrical schematic of the solenoid control of the present invention;

fig. 12 is a flow chart of an implementation method of the automatic drilling system of the present invention.

Detailed Description

Embodiment 1, an automatic drilling system of drilling equipment, including host system, drive module and PLC module.

As shown in fig. 1, the main control module includes a three-phase power supply R line, an S line, a T line and an N line, the three-phase power supply R line, the S line and the T line are connected with one end of a breaker QF1, the other end of the breaker QF1 is connected with an L12 line, an L22 line and an L32 line of the three-phase power supply, the L12 line, the L22 line and the L32 line of the three-phase power supply are connected with one end of a breaker QF02, the other end of the breaker QF02 is connected with an R pin, an S pin and a T pin of a converter Q1, a U pin, a V pin and a W pin of the converter Q1 are connected with a motor M1 for tapping motor control, an MI1 pin of the converter Q1 is connected with one end of a switch KA6, an MI2 pin of the converter Q1 is connected with one end of a switch of a relay KA5, and the other end of the switch of a relay 6 and the other end of the switch of the relay KA5 are connected with a DCOM pin of the switch Q1; the line L12, the line L22 and the line L32 of the three-phase power supply are connected with one end of a breaker QF03, the other end of the breaker QF03 is connected with one end of a contactor KM1, the other end of the contactor KM1 is connected with one end of a thermal relay FR1, and the other end of the thermal relay FR1 is connected with a motor M2 for controlling a deburring motor; the L12 line, the L22 line and the L32 line of the three-phase power supply are connected with one end of a breaker QF04, the other end of the breaker QF04 is connected with one end of a contactor KM2, the other end of the contactor KM2 is connected with one end of a thermal relay FR2, and the other end of the thermal relay FR2 is connected with a motor M3 for controlling the cutting fluid water pump; the lines L12, L22 and L32 of the three-phase power supply are connected with one end of a breaker QF05, and the other end of the breaker QF05 is connected with a modular socket.

As shown in fig. 2, the L12 line and the N line are connected with one end of a breaker QF07, the other end of the breaker QF07 is connected with one end of a switching power supply SK1, and is connected with a power supply QF07 line and a 4N line to serve as a PLC power supply, the other end of the switching power supply SK1 is connected with a power supply 24V1 line and a 0V1 line, a power supply 24V2 line and a 0V2 line, and a power supply 24V3 line and a 0V3 line for a dc power supply; the L22 line and the N line are connected with one end of a breaker QF08, the other end of the breaker QF08 is connected with an L14 line and a 5N line of a power supply to serve as a power supply of the screw lubricating oil pump, the L12 line, the L22 line and the L32 line are connected with one end of a breaker QF09, the other end of the breaker QF09 is connected with one end of a filter, the other end of the filter is connected with one end of a servo transformer T1, and the other end of the servo transformer T1 outputs an RB line, an SB line and a TB line of the power supply.

As shown in fig. 3, the RB, SB, and TB lines of the power supply are connected to one end of a breaker QF10, the other end of the breaker QF10 outputs a R1, S1, and T1 lines, the RB, SB, and TB lines of the power supply are connected to one end of a breaker QF11, the other end of the breaker QF11 outputs a R2, S2, and T2 lines, the RB, SB, and TB lines of the power supply are connected to one end of a breaker QF12, the other end of the breaker QF12 outputs a R3, S3, and T3 lines, the RB, SB, and TB lines of the power supply are connected to one end of a breaker QF13, the other end of a breaker QF13 outputs a R4, S4, and T4 lines, the RB, SB, and TB lines of the power supply are connected to one end of a breaker 14, and the other end of a breaker QF14 outputs a R5, S5, and T5 lines.

As shown in fig. 4, the driving module includes a servo driver S1, the R, S and T legs of the servo driver S1 are connected with R1, S1 and T1 lines, and the U, V and W legs of the servo driver S1 are connected with a motor M4 for controlling the traverse servo motor; the driving module further comprises a servo driver S2, wherein R, S and T pins of the servo driver S2 are connected with R2 lines, S2 lines and T2 lines, and U, V and W pins of the servo driver S2 are connected with a motor M5 for controlling a drilling spindle servo motor.

As shown in fig. 5, the driving module further comprises a servo driver S3, the R, S and T legs of the servo driver S3 are connected with a R3 line, a S3 line and a T3 line, and the U, V and W legs of the servo driver S3 are connected with a motor M6 for controlling the drilling feed servo motor; the driving module further comprises a servo driver S4, wherein R, S and T pins of the servo driver S4 are connected with R4 lines, S4 lines and T4 lines, and U, V and W pins of the servo driver S4 are connected with a motor M7 for controlling the tapping and feeding servo motor.

As shown in fig. 6, the driving module further comprises a servo driver S5, the R, S and T legs of the servo driver S5 are connected with a R5 line, a S5 line and a T5 line, and the U, V and W legs of the servo driver S5 are connected with a motor M8 for controlling the deburring feeding servo motor; the drive module still includes guide rail oil pump D1, and 2 feet of guide rail oil pump D1 are connected with the L14 line, and 3 feet of guide rail oil pump D1 are connected with the 5N line, and 4 feet of guide rail oil pump D1 are connected with relay K20 switch one end, and the relay K20 switch other end is connected with the 5N line, and 5 feet and the 7 feet of guide rail oil pump D1 are connected with 0V1 line.

AS shown in fig. 7, the PLC module includes a PLC controller U1, the model of the PLC controller U1 is AS228T-a, the X0.0 pin of the PLC controller U1 is connected with one end of a proximity switch SQ1, the other end of the proximity switch SQ1 is connected with a power supply 24V1 line and a 0V line, the part is used for positive limit control of the drilling spindle, the X0.1 pin of the PLC controller U1 is connected with one end of a proximity switch SQ2, the other end of the proximity switch SQ2 is connected with a power supply 24V1 line and a 0V line, the part is used for negative limit control of the drilling spindle, the X0.2 pin of the PLC controller U1 is connected with one end of a proximity switch SQ3, the other end of the proximity switch SQ3 is connected with a power supply 24V1 line and a 0V line, the part is used for positive limit control of the drilling, the X0.3 pin of the PLC controller U1 is connected with one end of a proximity switch SQ4, the other end of the proximity switch SQ4 is connected with a power supply 24V1 line and a 0V 460V line, the other end of the proximity switch SQ5 is connected with a power supply 24V1 line and a 0V line, the part is used for tapping positive limit control, the X0.4 pin of the PLC U1 is connected with one end of the proximity switch SQ6, the other end of the proximity switch SQ6 is connected with a power supply 24V1 line and a 0V line, the part is used for tapping negative limit control, the X0.6 pin of the PLC U1 is connected with one end of the proximity switch SQ7, the other end of the proximity switch SQ7 is connected with a power supply 24V1 line and a 0V line, the part is used for left-shift limit control, the X0.7 pin of the PLC U1 is connected with one end of the proximity switch SQ8, the other end of the proximity switch SQ8 is connected with a power supply 24V1 line and a 0V line, and the part is used for right-shift limit control.

The X0.8 pin of the PLC U1 is connected with one end of a button SE1, the other end of the button SE1 is connected with a 0V1 wire, the part is used for over-travel release button control, the X0.9 pin of the PLC U1 is connected with an automatic end of a button SE2, the automatic other end of the button SE2 is connected with a 0V1 wire, the part is used for automatic knob control, the X0.10 pin of the PLC U1 is connected with a manual end of a button SE2, the manual other end of the button SE2 is connected with a 0V1 wire, the part is used for manual knob control, the X0.11 pin of the PLC U1 is connected with one end of a button SE3, the other end of the button SE3 is connected with a 0V1 wire, the part is used for starting button control, the X0.12 pin of the PLC U1 is connected with one end of a button SE4, the other end of the button 4 end is connected with a 0V1 wire, the part is used for emergency stop button SE 6955, the X0.13 pin of the PLC U2 is connected with an automatic button 5, the other end of the SE 8653 is connected with an automatic button SE5, the SE is used for reset button 5, the X0.14 pin of the PLC U1 is connected with one end of a proximity switch SQ9, and the other end of the proximity switch SQ9 is connected with a 0V1 wire, and the part is used for workpiece detection control.

As shown in fig. 8, a pin Y0.0 of the PLC controller U1 is connected with one end of a coil of a relay K1, the other end of the coil of the relay K1 is connected with a 24V1 wire, the part is used for workpiece clamping control, a pin Y0.1 of the PLC controller U1 is connected with one end of a coil of the relay K2, the other end of the coil of the relay K2 is connected with a 24V1 wire, the part is used for workpiece loosening control, a pin Y0.2 of the PLC controller U1 is connected with one end of a coil of the relay K3, the other end of the coil of the relay K3 is connected with a 24V1 wire, the part is used for table top scrap punching control, a pin Y0.4 of the PLC controller U1 is connected with one end of a coil of the relay K5, the other end of the coil of the relay K5 is connected with a 24V 365 wire, the part is used for forward rotation control of a screw head, and one end of a pin Y580.5 of the coil of the relay K585 wire of the PLC controller U4623 is connected with one end of the relay K1, the other end of the coil of the relay K6 is connected with a 24V1 wire which is used for reverse rotation control of a tapping head, a Y0.6 pin of the PLC U1 is connected with one end of the coil of the relay K7, the other end of the coil of the relay K7 is connected with a 24V1 wire which is used for deburring forward rotation control.

The Y0.7 foot of PLC controller U1 is connected with relay K8 coil one end, relay K8 coil other end is connected with 24V1 line, this part is used for drilling main shaft towards bits control, PLC controller U1's Y0.8 foot is connected with relay K9 coil one end, relay K9 coil other end is connected with 24V1 line, this part is used for the burring to dash bits control, PLC controller U1's Y0.9 foot is connected with relay K10 coil one end, relay K10 coil other end is connected with 24V1 line, this part is used for tapping head cutting fluid lubrication control.

The Y0.10 pin of the PLC U1 is connected with one end of a relay K11 coil, the other end of the relay K11 coil is connected with a 24V1 wire, the part is used for feeding permission-robot control, the Y0.10 pin of the PLC U1 is connected with one end of a relay K12 coil, the other end of the relay K12 coil is connected with a 24V1 wire, the part is used for feeding permission-robot control, the Y1.0 pin of the PLC U1 is connected with one end of a relay K13 coil, the other end of the relay K13 coil is connected with a 24V1 wire, the part is used for alarm signal-robot control, the Y1.1 pin of the PLC U1 is connected with one end of a relay K14 coil, the other end of the relay K14 coil is connected with a 24V1 wire, the part is used for safety condition-robot control, the Y1.7 pin of the PLC U1 is connected with one end of a relay K20 coil, the other end of the relay K20 coil is connected with a 24V1 wire, and the part is used for screw lubrication starting control.

The Y1.2 pin of the PLC U1 is connected with one end of a relay K15 coil, the other end of the relay K15 coil is connected with a 24V1 wire, the part is used for full-origin lamp control, the Y1.3 pin of the PLC U1 is connected with one end of a relay K16 coil, the other end of the relay K16 coil is connected with a 24V1 wire, the part is used for three-color lamp-green control, the Y1.4 pin of the PLC U1 is connected with one end of a relay K17 coil, the other end of the relay K17 coil is connected with a 24V1 wire, the part is used for three-color lamp-yellow control, the Y1.5 pin of the PLC U1 is connected with one end of a relay K18 coil, the other end of the relay K18 coil is connected with a 24V1 wire, the part is used for three-color lamp-red control, the Y1.6 pin of the PLC U1 is connected with one end of a relay K19 coil, the other end of a relay K19 coil is connected with a 24V1 wire, and the part is used for three-color lamp-buzzer control.

AS shown in fig. 9, the PLC module further includes a PLC input U2, the model of the PLC input U2 is AS16AM10N-a, X1.0 of the PLC input U2 is used for emptying completion-robot detection, X1.1 of the PLC input U2 is used for locking-robot detection, X1.2 of the PLC input U2 is used for liquid level switch control, X1.3 of the PLC input U2 is used for pressure switch control, X1.4 of the PLC input U2 is used for air pressure switch control, X1.5 of the PLC input U2 is used for tapping frequency conversion alarm control, X1.6 of the PLC input U2 is used for deburring heat relay alarm control, and X1.7 of the PLC input U2 is used for material taking completion-robot control.

As shown in fig. 10, the Y1.08 pin of the PLC input U2 is connected to one end of a coil of a relay K21, and the other end of the coil of the relay K21 is connected to a 24V1 wire for emptying permission-robot control; the Y1.09 pin of the PLC input U2 is connected with one end of a relay K22 coil, and the other end of the relay K22 coil is connected with a 24V1 wire for material taking permission-robot control.

As shown in fig. 11, one end of the switch of the relay K1 is connected with a 24V1 wire, the other end of the switch of the relay K1 is connected with one end of an electromagnetic valve YV1, and the other end of the electromagnetic valve YV1 is connected with a 0V1 wire for workpiece clamping control; one end of a relay K2 switch is connected with a 24V1 wire, the other end of the relay K2 switch is connected with one end of a solenoid valve YV2, the other end of the solenoid valve YV2 is connected with a 0V1 wire for workpiece loosening control, one end of a relay K3 switch is connected with a 24V1 wire, the other end of the relay K3 switch is connected with one end of a solenoid valve YV3, the other end of a solenoid valve YV3 is connected with a 0V1 wire for table top scrap flushing control, one end of the relay K4 switch is connected with a 24V1 wire, the other end of the relay K4 switch is connected with one end of a solenoid valve YV4, the other end of the solenoid valve YV4 is connected with a 0V 4 wire for mounting surface scrap flushing control, one end of the relay K4 switch is connected with a 24V 4 wire, the other end of the relay K4 switch is connected with one end of a solenoid valve YV4 wire for deburring control, one end of the relay K4 switch is connected with one end of a solenoid valve YV4, the other end of the electromagnetic valve YV6 is connected with a 0V1 line and used for controlling chip flushing of a drilling spindle, one end of a relay K10 switch is connected with a 24V1 line, the other end of the relay K10 switch is connected with one end of an electromagnetic valve YV7, and the other end of the electromagnetic valve YV7 is connected with a 0V1 line and used for controlling lubrication of a tapping head.

As shown in fig. 12, an implementation method of an automatic drilling system of a drilling apparatus includes the following steps:

s101, traversing walking is servo-carried to a material receiving position, and then S102 is carried out;

step S102, allowing a robot emptying signal to be equal to 1, and entering step S103 after the robot emptying signal is finished;

step S103, judging whether the robot is placed completely, finishing the step S104, and if not, returning to the step S103;

step S104, allowing a robot emptying signal to be equal to 0 by a work price clamping clamp, and entering step S105 after completion;

step S105, the station mark is equal to 1, and step S106 is executed after the station mark is finished;

step S106, judging whether the station mark is equal to 0, if so, entering step S107, otherwise, entering step S112;

step S107, traversing walking is servo-carried out to a material receiving position, and then the step S108 is carried out;

step S108, loosening the workpiece clamp, and entering step S109 after the workpiece clamp is loosened;

step S109, allowing the robot to take the material signal to be equal to 1, and entering step S110 after the material taking signal is finished;

step S110, judging whether the robot finishes taking materials, if so, entering step S11, otherwise, continuing to execute step S110;

step S111, allowing the robot emptying signal to be equal to 0, and returning to execute the step S101 after the robot emptying signal is finished;

step S112, judging whether the station mark is equal to 1, if so, entering step S113, otherwise, entering step S120;

step S113, traversing the walking servo drilling position, and entering step S114 after completion;

step S114, starting a drilling main shaft, starting chip flushing of the drilling main shaft, and entering step S115 after completion;

step S115, feeding by a drilling feeding motor, and entering step S116 after the drilling feeding motor feeds;

step S116, feeding in place, and entering step S117 after the feeding is finished;

step S117, the drilling feeding motor retreats, and after the completion, the step S118 is executed;

step S118, stopping the drilling main shaft, stopping chip flushing of the drilling main shaft, and entering step S119 after completion;

step S119, the station mark is equal to 2, and the step S106 is executed after the station mark is finished;

step S120, judging whether the station mark is equal to 2, if so, entering step S121, otherwise, entering step S128;

step S121, traversing and walking the servo tapping position, and entering step S122 after the completion;

step S122, starting a tapping motor, starting tapping scraps, and entering step S123 after the tapping is finished;

step S123, tapping servo feeding, and entering step S124 after the tapping servo feeding is finished;

step S124, feeding in place, and entering step S125 after the feeding is finished;

step S125, the tapping servo retreats, and the step S126 is executed after the tapping servo retreating is finished;

step S126, stopping the tapping motor, stopping tapping and chip flushing, and entering step S127 after the tapping is finished;

step S127, the station mark is equal to 3, and the step S106 is executed after the station mark is finished;

step S128, judging whether the station mark is equal to 3, if so, entering step S129, otherwise, entering step S106;

step S129, the transverse moving servo deburring position is performed, and the step S130 is performed after the completion;

step S130, starting a deburring motor, starting deburring lubrication, and entering step S131 after the deburring motor is started;

step S131, starting deburring servo feed, and entering step S132 after the deburring servo feed is finished;

step S132, feeding in place, and entering step S133 after the feeding is finished;

step S133, deburring and servo backing, and entering step S134 after completion;

step S134, stopping the deburring motor, stopping deburring lubrication, and entering step S135 after the deburring motor is stopped;

and step S135, the station mark is equal to 0, and the step S106 is executed after the station mark is finished.

The drilling device comprises a conveyor belt production line, drilling equipment, tapping equipment and deburring equipment are sequentially mounted on the conveyor belt production line, the deburring equipment and the tapping equipment are connected with a cutting fluid water tank and used for flushing scraps, and a robot is further arranged on the conveyor belt production line and used for feeding and discharging materials.

The description of the present invention has been presented for purposes of illustration and description, and is not intended to be exhaustive or limited to the invention in the form disclosed. Many modifications and variations will be apparent to practitioners skilled in this art. The embodiment was chosen and described in order to best explain the principles of the invention and the practical application, and to enable others of ordinary skill in the art to understand the invention for various embodiments with various modifications as are suited to the particular use contemplated.