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

深孔钻削机器人是为钻削无限深度的精密孔而设计和制造的。机器人由激光束沿着直线或曲线引导。它由一个埋头镗头、前后驱动单元、两个驱动单元之间的一个内置式电机、一个主动旋转止动器和一个进给单元组成。可以得到以下结果. 1.在20 mm直径的切削区和电机上的发热与孔精度有关。切削区的平均温升是使用车床上的模型咬入来检查的。在60 rpm和270 rpm转速下，面积分别升高2 ℃和25 ℃。切削深度和进给量分别为0.5 mm和0.5 mm/rev。工件为硬铝（JIS型A2017-T4）。内置式电机在正常转速60 rpm和最高转速80 rpm下，空转45 min后的温升分别为17 ℃和23 ℃.代替自动控制机器人滚动的进给单元，分别制造主动旋转止动器和进给单元。两个单位的性能进行了检查。旋转止动器的旋转速度为0.15 °/s。进给单元的移动速度为0.14 mm/s。使用将在商业基础上生产的激光引导深孔镗削工具来检查引导的性能。提出了精确检测机器人位置和倾角的方法。因此，机器人可以精确地控制沿着直线或曲线。4.在上述性能试验的基础上，对机器人的主要部分进行了改造，使其可以进行防滚装置的性能试验。自动控制机器人滚动的送料装置在速度和精度上都需要提高。

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.