Development of a Practical Laser-Guided Deep-Hole Boring Robot

深孔钻孔机器人的设计和制造是为了钻取无限深度的精密孔。机器人由激光束沿着直线或曲线引导。它由一个反镗头、前后执行器单元、两个执行器之间的内置电机、一个主动旋转挡板和一个进给单元组成。可以得到以下结果：检测了直径为20mm的切割区和电机上的热生成与孔精度的关系。在车床上用模型咬痕检测切削区的平均温升。转速为60和270 rpm时，面积上升幅度分别为2和25℃。切割深度和进给量分别为0.5 mm和0.5 mm/rev。工件为硬质铝合金（jis型A2017-T4）。内置式电机在正常转速为60转时温升为17℃，空转45分钟后最高转速为80转时温升为23℃。代替自动控制机器人滚动的进给单元，主动旋转挡板和进给单元是分开制作的。对这两种装置的性能进行了检验。旋转塞子的转速为0.15°/s。进料单元移动速度为0.14 mm/s。采用即将商业化生产的激光导向深孔钻具对导向性能进行了测试。提出了精确检测机器人位置和倾斜度的方法。因此，可以沿着直线或曲线精确地控制机器人。在上述性能测试的基础上，对机器人主体部分进行了改造，并配有防滚装置进行性能测试。机器人滚动自动控制的进给装置在速度和精度上有较大的提高。

The deep-hole drilling robot is designed and produced to bore a precise hole with a limitless depth. The robot is guided by a laser beam along a straight or curved line. It consists of a counter-boring head, front and rear actuator units, a built-in type motor between the two actuators, an active rotation stopper and a feed unit. The following results can be obtained.1. Heat generations in the cutting zone with 20 mm diameter and on the motor are examined connected with hole accuracy. The average temperature rise of the cutting zone is examined using a model bite on a lathe. The rises of the area are 2 and 25 ℃ at the rotational speeds of 60 and 270 rpm, respectively. Cutting depth and feed are 0.5 mm and 0.5 mm/rev, respectively. Workpiece is Duralumin (JIS-type A2017-T4). The temperature rises of built-in type motor are 17 and 23 ℃ at a normal rotational speed of 60 rpm and a top speed of 80 rpm after idling of 45 minutes, respectively.2. Instead of the feed unit with rolling of the robot controlled automatically, an active rotation stopper and feed unit are made, separately. The performances of the two units are examined. The rotational speed of the rotation stopper is 0.15 °/s. The moving speed of feed unit is 0.14 mm/s.3. Performance of the guiding is examined using the laser-guided deep-hole boring tool which is going to be produced on a commercial basis. The method of detecting robot's position and its inclination precisely is thought out. As a result, the robot can be controlled precisely along a straight or curved line.4. On the basis of the above performance tests, main part of the robot is reformed and can be used for performance tests with a rolling proof device. The feed unit with robot' rolling controlled automatically needs its improvements in speed and accuracy.