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

深孔钻探机器人的设计和生产是为了钻出无限深的精确孔。机器人由一束激光沿着直线或曲线引导。它由一个倒置钻头、前后执行机构、两个执行机构之间的内置式电机、一个主动旋转挡块和一个进给单元组成。可以得到以下结果：1.对直径为20 mm的切削区和电机上的发热量进行了检测，并与孔精度进行了比较。使用车床上的模型咬合来检测切削区的平均温升。在60rpm和270rpm的转速下，该区域的上升幅度分别为2和25℃。切割深度和进给量分别为0.5 mm和0.5 mm/rv。工件为硬质合金(JIS型A2017-T4)。内置式电机在正常转速60rpm时的温升为17℃，怠速45分钟后的最高转速为80rpm。代替了自动控制机器人滚动的进给单元，分别制造了主动旋转止动器和进给单元。对两台机组的性能进行了测试。旋转挡板的转速为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导引深孔钻具来检验导引的性能。给出了机器人位置和倾角的精确检测方法。因此，机器人可以沿着直线或曲线精确地进行控制。在上述性能试验的基础上，对机器人的主要部件进行了改造，可用于防滚装置的性能试验。机器人滚压自动控制的进给单元需要提高速度和精度。

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.