一种基于激光测量的自动钻孔系统研究

针对弹药壳体等圆柱体工件表面的自动钻孔需求，基于激光测量技术提出一种龙门式机器人自动钻孔系统设计方法。采用激光位移测量技术实现了工件轴向基准接合面、预制孔中心轴向位置、预制孔中心圆周位置等参数的在线监测和计算，自动识别钻孔目标位置。通过伺服电机驱动三坐标桁架机械手实现钻孔机构在工件长度方向和圆周方向钻孔位置全覆盖，并利用PID控制算法实现钻孔深度的精确控制。经过试验证明：该钻孔系统运行稳定，预制孔中心位置测量标准差为0.02 mm，钻孔深度精度达到0.15 mm，提高了钻孔质量，实现了弹药壳体钻孔工序的人机隔离，能够满足实际生产需求。

Research on an Automatic Drilling System Based on Laser Measurement

Aiming at the demand of automatic drilling of cylindrical workpiece surface such as ammunition shell,a design method of automatic drilling system of gantry robot was proposed based on laser measurement technology.The laser displacement measurement technology was used to realize the on-line monitoring and calculation of the workpiece axial reference joint surface,the axial position of the prefabricated hole center,the circumscribed position of the prefabricated hole center,to realize the automatic identification of the drilling target position.A servo motor was used to drive the three-coordinate truss manipulator to realize the full coverage of the drilling position in the length direction and the circumference direction of the workpiece,and the PID control algorithm was used to realize the precise control of the drilling depth.The test results show that the drilling system runs stably,the standard deviation of the center position of the prefabricated hole reaches 0.02 mm,and the precision of the drilling depth reaches 0.15 mm.The drilling quality is improved,the man-machine isolation of the drilling process of the ammunition shell is realized,the system can meet the actual production demand.