CN105642942B - A kind of boring processing three-shaft linkage mechanical arm - Google Patents

Abstract

The invention discloses a three-axis linkage mechanical arm for boring processing, which includes a cylindrical tool handle and a tool as a whole, and the tool is installed in the cutting section at the front end of the tool handle, and is characterized in that the rear end of the cutting section on the tool handle A radial feed control section for controlling the radial feed of the tool, a circumferential rotation control section for controlling the circumferential rotation of the cutting section of the tool, and an axial telescopic control section for controlling the axial expansion and contraction of the cutting section of the tool are sequentially formed backward. section, and the tool handle is also provided with a stable support device for the tool to be supported in the processed hole. The invention can realize boring independent processing, and has the advantages of large boring processing range, wide applicability, high processing precision and the like.

Description

A three-axis linkage mechanical arm for boring processing

technical field

The invention belongs to the field of boring processing of complex hole wall shapes, and in particular relates to a three-axis linkage mechanical arm for boring processing.

Background technique

Boring is the internal diameter cutting process of enlarging a hole or other circular profile with a tool. Its applications generally range from semi-roughing to finishing. The tool used is usually a boring tool or boring bar. Boring is the further processing of forged, cast or drilled holes, which is a kind of boring method. Boring can enlarge the aperture, improve precision, reduce surface roughness, and can better correct the deviation of the original hole axis.

The common boring tool structure generally includes a tool handle and a tool arranged at the front end of the tool handle, and the rear end of the tool handle is installed on the machine tool, and the machine tool is used to provide power for boring processing. However, for some situations that are not suitable for processing by machine tools, such as the technical transformation of some installed larger equipment that requires reaming and boring processing, it is difficult to use existing processing equipment to achieve processing.

In addition, the existing boring tools have limited boring processing performance. For deep hole boring processing with a depth greater than 6 times the diameter, and some more complex structures such as spiral partition grooves, straight grooves, inclined grooves, and arc grooves , thread, helical surface, arc surface, local expansion of the inner hole, etc., it is difficult to guarantee the accuracy and processing efficiency.

Contents of the invention

Aiming at the deficiencies of the above-mentioned prior art, the technical problem to be solved by the present invention is: how to provide a three-axis linkage mechanical arm for boring processing that can realize independent processing of boring, has a large range of boring processing, wide applicability, and high processing accuracy. .

In order to solve the problems of the technologies described above, the present invention adopts the following technical solutions:

A three-axis linkage mechanical arm for boring processing, including a cylindrical tool holder and a tool as a whole, the tool is installed in the cutting section at the front end of the tool holder, and is characterized in that the rear end of the cutting section on the tool holder is sequentially formed There is a radial feed control section for controlling the radial feed of the tool, a circumferential rotation control section for controlling the circumferential rotation of the cutting section of the tool, and an axial telescopic control section for controlling the axial expansion and contraction of the cutting section of the tool. There is also a stabilizing support device for the tool to be supported in the processed hole.

In this way, the mechanical arm can be supported inside the hole to be machined by the tool stabilizing support device, and then three-axis linkage can be generated during the machining process, and the rotary boring can be controlled by the circumferential rotation control section, and at the same time, the tool can be controlled to feed or expand in the radial direction Movement, thereby realizing the independent processing of boring, and can complete the boring processing of complex structures and deep hole structures. It has the characteristics of large boring processing range and wide applicability.

As an optimization, the cutting section includes a cutting section cylinder, the front position of the cutting section cylinder is provided with a tool installation slot and is used to install the cutter, and the cutter includes a cutter head part for forming a cutting edge and for realizing the installation and tool diameter. To the installation handle part of the feed transmission, the cutting edge position of the cutter head part exposes the tool installation groove. The cutter head part and the installation handle part are designed separately and connected by bolts. The inner surface of the installation handle part is provided with a transmission The rack is used to realize the radial feed transmission of the tool.

In this way, the tool is realized by the structure of the cutter head and the mounting handle, and the cutting edge is formed by the cutter head part. In this way, different materials can be used for different cutting and installation requirements, so as to improve the processing strength of the cutting edge and reduce the cost. At the same time, the cutting tool is divided into two parts, which is convenient for installing a transmission structure on the handle part to realize the radial feed transmission of the cutting tool. The transmission structure adopts a transmission rack, which can be easily meshed with the transmission input gear to realize the feed transmission of the tool. The structure is simple and is conducive to precise control of the transmission ratio.

As an optimization, the transmission rack includes a first transmission rack and a second transmission rack, the first transmission rack and the second transmission rack are juxtaposed and misplaced, and at the same time, they are used to realize the radial feed transmission of the tool. Engage the feed drive gear.

In this way, two transmission racks are set to mesh with the tool radial feed transmission gear at the same time, and the two transmission racks can be set by dislocation, so that the two adjacent gear teeth of the two transmission racks are respectively attached to the The tool radially feeds the front and rear sides of a tooth groove of the transmission gear; this eliminates the meshing gap that is easy to exist when using gear meshing transmission, and greatly reduces the requirements for gear manufacturing accuracy while reducing the transmission error caused by the small meshing gap .

Further, the inner wall on the front side of the tool installation groove is inclined, and the end of the inner wall on the front side that is consistent with the radial feed direction of the tool is inclined toward the direction close to the tool, and the inner wall on the front side of the tool installation groove is arranged in cooperation with the outer wall on the front side of the tool. There is a piece of inclined iron, the side of the inclined iron and the inner wall of the front side of the tool installation groove is a bevel, and the side of the inclined iron and the tool is a straight face consistent with the tool feed direction; this can better eliminate the axis caused by tool installation To the clearance and convenient tool installation. Further, the larger end of the slanting iron is fixed on the outer surface of the cylinder of the cutting section close to the front inner wall of the tool installation groove for limiting and fixing; this structure is simple and facilitates the limiting and fixing of the slanting iron. Still further, the first transmission rack and the second transmission rack are engaged by the concave-convex matching structure correspondingly arranged on the side parallel to each other to realize the engagement fit. In this way, when assembling, the first transmission rack and the second transmission rack are arranged side by side, and the concave-convex matching structure on the side where the two meet is first inserted along the oblique sliding matching surface to complete the partial embedding. Cooperate, install the tool radial feed transmission gear in place, and then insert the smaller end of the slanted iron from the larger end of the slanted iron installation space. Press the two transmission racks to move close to each other, relying on the cooperation of the oblique sliding mating surface in the concave-convex matching structure between the two transmission racks to drive the two transmission racks to move along their own transmission direction, until the tool The two sides of a tooth groove of the radial feed transmission gear are pressed against each other by one tooth of two transmission racks at the same time; at this time, the oblique iron can no longer be inserted, and the assembly is completed after the oblique iron is held in position and fixed. This kind of assembly process directly relies on the insertion fit of the inclined iron to eliminate the fit gap caused by the gear transmission and also eliminates the axial gap of the tool installation; it also greatly improves the assembly efficiency and ensures the assembly reliability. Still further, a plurality of roller grooves can be arranged on the side where the inclined iron and the cutter are attached along the direction perpendicular to the radial feed direction of the cutter, and the plurality of roller grooves are evenly spaced along the radial feed direction of the cutter, so Hollow rollers are installed in the roller grooves, and the outer surface of the hollow rollers is exposed in the roller grooves and is used to be attached to the front side of the tool. In this way, the hollow roller converts the sliding friction during the assembly process and the subsequent tool radial feeding process into rolling friction, which improves the smoothness of tool assembly and feed adjustment. At the same time, relying on the elasticity of the hollow roller, the gap can be better eliminated and Play a shock absorbing effect.

As an optimization, the radial feed control section includes a radial feed control section cylinder coaxially arranged at the front of the mechanical arm, the front end of the radial feed control section cylinder is fixedly connected with the cutting section cylinder, and the diameter A radial feed control motor is installed inside the cylinder of the feed control section. The output shaft of the radial feed control motor is set forward and connected with a reduction transmission system forward. The reduction transmission system includes a The drive rack meshes with the tool radial feed drive gear.

In this way, in the radial feed control section, the output rotation of the motor is controlled by the radial feed until the deceleration transmission system is decelerated, and then the rotation is transmitted to the transmission rack by the tool radial feed transmission gear and converted into a radially expandable flat surface of the tool. Motion, and then realize the control of the radial expansion and contraction of the tool, which has the advantages of simple structure and reliable control.

As an optimization, the deceleration transmission system includes a harmonic deceleration mechanism, the output end of the harmonic deceleration mechanism is connected to a radial feed transmission shaft, and the front end of the radial feed transmission shaft extends into the inner cavity of the cutting section cylinder and sets the tool Radial feed drive gear. In this way, using the harmonic reduction mechanism as the reduction transmission system can greatly reduce the transmission ratio, and can better improve the control accuracy of the radial feed output of the tool.

Further, the harmonic deceleration mechanism includes a harmonic input gear coaxially arranged on the output shaft of the radial feed control motor, and several harmonic intermediate gears are evenly arranged outside the harmonic input gear, and the harmonic intermediate gear and the harmonic input Gear meshing, the harmonic intermediate gear has a harmonic runner set coaxially with the harmonic input gear, the harmonic runner has an inner ring gear meshing with the harmonic intermediate gear, and the harmonic runner outer jacket is equipped with a harmonic soft spline The two ends of the outer surface of the harmonic runner along the diameter direction are also symmetrically installed with two wave generating members protruding radially outward, the outer ends of the wave generating members abut against the inner surface of the harmonic flex wheel and make the harmonic flex The deformation of the wheel is elliptical, and the outer surface of the harmonic flexspline is formed with an external ring gear, and the two ends of the long axis of the ellipse mesh with an internal gear that is relatively fixed to the cylinder of the radial feed control section. The front end of the harmonic flexspline is The output end of the harmonic reduction mechanism is connected with the rear end of the radial feed transmission shaft. In this way, during operation, the output shaft of the radial feed control motor drives the harmonic intermediate gear to rotate through the harmonic input gear, drives the harmonic runner to rotate, and then drives the harmonic flexwheel to cooperate with the fixed outer ring gear to generate a difference In this way, the harmonic intermediate gear first realizes the first-stage deceleration transmission in the harmonic reduction mechanism, and then the harmonic flexible gear realizes the differential transmission, and then drives the radial feed transmission shaft to rotate and output, so it can be greatly improved The reduction transmission effect is improved, the stability and controllability of the radial feed of the cutter are guaranteed, and the control precision of the radial feed is improved. Still further, the wave generating member is a roller arranged in the axial direction. The setting of the rollers in this way can form a rolling fit between the wave generating member and the harmonic flex wheel, which greatly reduces friction, reduces wear and improves transmission stability, and more importantly, the structural setting here makes it possible for the cutter to withstand cutting reverse After the pressure is transmitted here, it will be converted into the pressure of the rollers along the radial direction of the harmonic runner, and even if there are some component forces in other directions, they will be offset by the rotation of the rollers themselves, and will not be transmitted back again, resulting in a good The reverse self-locking effect greatly improves the working stability of the tool. Still further, the radial feed transmission shaft as a whole is in the shape of a stepped disc with a reduced diameter at the front end, and the two ends of the radial feed transmission gear on the radial feed transmission shaft are respectively installed on the cutting machine through a bearing. in the inner cavity of the cylinder. This can better ensure smooth transmission and improve stability. Still further, the rear end of the radial feed transmission shaft is provided with an insertion groove in the circumferential direction, and the insertion protrusion protruding outwards along the circumference of the front end of the harmonic flex wheel cooperates to realize the connection. In this way, there is a space in the insertion groove for the insertion protrusion at the front end of the harmonic flexspline to fluctuate in the radial direction. Using this kind of movable connection transmission can eliminate the vibration caused by the radial deformation of the harmonic flexspline to the transmission process, ensuring Transmission smoothness. Further, the front end of the cylinder body of the radial feed control section is sealed and fixed on the outside of the rear end of the cylinder body of the cutting section, and the internal gear is fixedly arranged on the surface of the inner cavity of the cylinder body at the rear end of the cutting section, so that the structural integrity is better And it is more conducive to the sealing setting. Further, the front end of the harmonic deceleration mechanism is also provided with a disc-shaped harmonic wheel seat, and the peripheral position of the harmonic wheel seat is fixed on a step surface at the front of the inner cavity of the radial feed control section, so that The gear rotating shaft inside the harmonic intermediate gear is installed and fixed on the harmonic wheel seat. In this way, the arrangement of the harmonic wheel seat is more convenient for the installation and arrangement of the components in the harmonic reduction mechanism. Further, the rear end surface of the harmonic runner has an outwardly protruding limiting protrusion and is inserted into a limiting groove on the front end surface of the harmonic wheel base to realize radial limitation of the harmonic runner. On the rear end face of the feed drive shaft facing the harmonic runner, there is an axially rearward limiting projection for positioning the harmonic runner axially. In this way, after assembly, the radial and axial positioning of the harmonic runner can be better realized, and an installation space is left between the rear end face of the radial feed transmission shaft and the front end face of the harmonic intermediate gear. Space is provided for the harmonic intermediate gear to install a limit pin at the front end of the gear shaft to realize assembly and positioning of the harmonic intermediate gear.

As an optimization, the circumferential rotation control section includes a circumferential rotation control section cylinder coaxially arranged in the middle of the mechanical arm, a circumferential rotation control motor is installed inside the circumferential rotation control section cylinder, and the circumferential rotation The output shaft of the control motor is connected to the rear end of the cylinder of the radial feed control section in front and is used to drive the cylinder of the radial feed control section to rotate. The front half of the cylinder of the circumferential rotation control section is coaxially arranged on the radial feed A slip ring brush is arranged outside the second half of the cylinder body of the control section and between the two.

In this way, the rear end of the cylinder body of the radial feed control section is driven by the circumferential rotation control motor to rotate as a whole to realize the control of the rotary machining of the cutter. The conduction of the control current of the motor ensures the reliability of the tool control.

Further, a rotation support bearing structure is also provided between the front half of the cylinder of the circumferential rotation control section and the rear half of the cylinder of the radial feed control section, and the rotation support bearing structure includes The ball assembly space between the cylinder body and the cylinder body of the radial feed control section. The spherical crown surface is used to cooperate with the ball, and it also has a cage cavity with a rectangular structure located between the two spherical crown surfaces. A cage with a ring of broken ends but a circular ring is installed in the cage cavity. , the cage is uniformly provided with ball fitting holes along the circumference for the balls to be rotatably embedded and fitted. In this way, the rotation support for the cylinder body of the radial feed control section can be better realized, and the stability of rotation can be greatly improved. Further, the outer surface of the cylinder of the circumferential rotation control section corresponds to the ball assembly space and is connected with a ball entry slot, and a slot block is fixed by a bolt when the ball enters the slot, and the inner surface of the slot block and the inner wall of the ball assembly space The surface is consistent. This makes it easier to load the balls and the cage.

As an optimization, the output shaft of the circumferential rotation control motor is provided with a rotation transmission driving gear, and a plurality of rotation transmission intermediate gears are evenly arranged on the outer circumference of the rotation transmission driving gear to engage with the rotation transmission driving gear, and the rotation transmission intermediate gears are simultaneously arranged on the radial The internal gear meshes with the rotation transmission internal gear on the surface of the inner cavity at the rear end of the cylinder body of the feed control section and drives the cylinder body of the radial feed control section to rotate. In this way, the arrangement of the rotary transmission intermediate gear facilitates the adjustment and control of the transmission ratio of the rotary transmission, and at the same time can further improve the stability of the transmission and improve the overall stability of the device.

Further, the inner cavity of the cylinder of the circumferential rotation control section extends inward along the middle part of the axial direction to form a partition, behind which a space for installing the circumferential rotation control motor is formed, and the output shaft of the circumferential rotation control motor is rotatably set through the partition, The rotary transmission intermediate gear is installed on the partition. This makes it easier to assemble and set each component.

As an optimization, the axial telescopic control section includes an axial telescopic control section cylinder coaxially arranged at the rear of the mechanical arm, an axial telescopic control motor is installed in the inner cavity at the rear end of the axial telescopic control section cylinder, The output shaft of the axial telescopic control motor is set forward and is connected to the rear end of the cylinder of the circumferential rotation control section through the steering transmission mechanism, and can drive the cylinder of the circumferential rotation control section to move forward and backward. In this way, the structure is simple and it is convenient to realize the axial expansion and contraction control of the tool.

As an optimization, the steering transmission mechanism includes a lead screw arranged coaxially with the mechanical arm, the rear end of the lead screw is connected to the output shaft of the axial telescopic control motor, the front end of the lead screw is inserted into a coaxially arranged nut barrel, and the nut The inner cavity at the rear end of the cylinder is provided with an internal thread to engage with the lead screw, the front end of the nut cylinder is connected to the rear end of the cylinder of the circumferential rotation control section, and the steering transmission mechanism also includes a guide structure for preventing the rotation of the cylinder of the circumferential rotation control section . In this way, relying on the setting of the screw nut transmission pair, the rotation output of the output shaft of the axial telescopic control motor is converted into the axial translation of the cylinder of the circumferential rotation control section with a simple structure, and the structure is simple and the control is reliable.

Further, the guide structure includes a guide section located at the front end of the cylinder body of the axial telescopic control section and extending forward to the rear half of the cylinder body of the circumferential rotation control section, including a guide section arranged axially on the outer surface of the cylinder body of the circumferential rotation control section The guide groove of the rear half also includes a guide slide block fixed on the inner surface of the guide section that fits in the guide groove. In this way, the guide structure is arranged outside the second half of the cylindrical body of the circumferential rotation control section, which can better improve the stability of the overall structure while facilitating assembly.

Further, a floating connection structure is provided between the front end of the nut cylinder and the rear end of the circumferential rotation control section cylinder, and the floating connection structure includes an articulation plate arranged at the front end of the nut cylinder and protruding outward along the circumferential direction and fixed on An articulated ring at the rear end of the cylinder of the circumferential rotation control section, the inner surface of the rear end of the articulated ring protrudes inwards and is articulated on the rear side of the articulated plate; the floating connection structure also includes a middle part of the front end surface of the nut cylinder and The cross connection block located between the middle part of the rear end face of the cylindrical body of the circumferential rotation control section, the first concave-convex matching structure is formed radially between the front side of the cross connection block and the rear end face of the cylindrical body of the circumferential rotation control section, the cross A second concave-convex matching structure is radially formed between the rear side of the connecting block and the front end surface of the nut cylinder, and the first concave-convex matching structure and the second concave-convex matching structure are set in directions perpendicular to each other and make the front side of the cross connecting block and the Floating gaps are left between the rear end faces of the cylinder body of the circumferential rotation control section and between the rear side surface of the cross connection block and the front end face of the nut cylinder body. In this way, the nut cylinder pushes the cylinder body of the circumferential rotation control section forward by the power transmitted by the cross connection block, and the cylinder body of the circumferential rotation control section is driven backward by the transmission power transmitted by the articulated ring and the articulated plate. The concave-convex matching structure on both sides of the connecting block can transmit torque and thrust, and at the same time, the floating gap can allow the cross connecting block to produce a certain angle of deflection without affecting the transmission of thrust and torque, thereby eliminating the occurrence of screw nut drive pair transmission. The jitter ensures the stability of the front-end transmission. A better choice is that in the first concave-convex matching structure and the second concave-convex matching structure, the abutment surfaces where the respective grooves and protrusions fit together are arc-shaped along the length direction of the groove. In this way, the arc fit can make the cross connection block rotate along the arc during the swing process without collision, and better improve the transmission stability.

As an optimization, the tool stabilizing support device includes a section of small-diameter outrigger installation section formed on the outer surface of the tool handle, and multiple sets of outriggers are evenly installed on the outrigger installation section along the circumferential direction. The outriggers include a controllable A radially outwardly projecting support. This facilitates the realization of the support of the tool handle itself in the processed hole. As a preference during implementation, the installation section of the outer support mechanism can be arranged on the outer surface of the cylinder of the axially telescopic control section and at the position of the inner screw, which can better support and stabilize the knife handle.

Further, the outrigger mechanism may be a link-type outrigger mechanism, and the link-type outrigger mechanism includes a hydraulic cylinder arranged in the axial direction and a two-link structure, and the two-link structure includes a first link, a second Two connecting rods and supports, one end of the first connecting rod is hinged on the installation section of the external support mechanism in front of the telescopic arm of the hydraulic cylinder, one end of the second connecting rod is hinged at the front end of the telescopic arm of the hydraulic cylinder, the first connecting rod and the second The other ends of the connecting rods are jointly hinged on the same hinge shaft inside the support so that when the telescopic arm of the hydraulic cylinder stretches out, it can drive the relatively far ends of the first connecting rod and the second connecting rod to move relative to each other and move the supporting member radially. Jack up outside. This has the advantages of simple structure, convenient control, etc. At the same time, the two-link structure can further make the support member stretched out and tightened on the inner wall of the processed hole, and the connecting rod is as close to the radial direction as possible. The cylinder does not need to bear a large clamping reaction force to ensure a stable and reliable support effect. Further, the hydraulic cylinder is a double-rod hydraulic cylinder, and the two-link structure is symmetrically arranged in front of the telescopic arms at both ends of the hydraulic cylinder. In this way, the front and rear support points are realized to better improve the support stability. As an optimization, the front end of the telescopic arm of the hydraulic cylinder is connected with a synchronous collar coaxially sleeved on the installation section of the outer support mechanism, and the second connecting rod is hinged on the synchronous collar. In this way, the consistency of the external support mechanisms of each group can be better ensured.

In addition, the outrigger mechanism can also be a wedge-type outrigger mechanism, and the wedge-type outrigger mechanism includes a hydraulic cylinder arranged in the axial direction, a wedge and a support member arranged in sequence in front of the telescopic arm of the hydraulic cylinder, and supports The whole piece has an arc-shaped block structure and one end in the arc direction is hinged on the mounting section of the outer support mechanism to form the inner end, and the other end abuts against the wedge to form the outer end under the action of a return spring, and the wedge is in contact with the support The side surface is a slope inclined radially inward toward the support member, and the end of the wedge block away from the support member is connected to the front end of the telescopic arm of the hydraulic cylinder. In this way, controlling the extension of the telescopic arm of the hydraulic cylinder can drive the wedge to rely on its inclined surface to drive the outer end of the support to extend outward to abut against the inner wall of the processed hole; therefore, it has the advantages of simple structure, convenient assembly, and sensitive control response; at the same time When supporting, most of the reaction force of the support member is transmitted to the wedge to form a component force along the radial direction of the wedge, which is then offset. The hydraulic cylinder does not need to bear a large pressing reaction force, ensuring a stable and reliable support effect. Further, the outer end of the support is provided with support rollers, and the support is realized by contacting the surfaces of the support rollers with the wedges and the inner wall of the processed hole, so that the friction force is reduced by rolling, and the support stability is improved. Further, the hydraulic cylinder is a double-rod hydraulic cylinder, and the telescopic arms at both ends are equipped with matching wedges and support structures. In this way, the front and rear support points are realized to better improve the support stability. As an optimization, the corresponding wedges in each group of outriggers are connected circumferentially to form a synchronous slip ring as a whole. In this way, the consistency of the external support mechanisms of each group can be better ensured. Further, the return spring may be a torsion spring arranged at the hinge at the inner end of the support, or a coil of telescopic spring connected to the outer end of the support in a ring shape. The torsion spring structure of the former is small and simple, and the telescopic spring of the latter can further improve the synchronization of the movement of the support.

To sum up, the present invention can realize boring independent processing, and has the advantages of large boring processing range, wide applicability and high processing precision.

Description of drawings

Fig. 1 is a schematic diagram of the overall structure of a three-axis linkage mechanical arm for boring processing in an optimal embodiment.

Fig. 2 is an A-A sectional view of the cutter position in Fig. 1 .

Fig. 3 is a partial schematic view showing the planar structure of the inclined iron and the drive rack at the position of the cutter in Fig. 1 .

FIG. 4 is a schematic diagram showing the structure of the rotary support bearing alone along the C-C sectional direction of the position of the rotary support bearing structure in FIG. 1 .

Fig. 5 is a schematic structural view of a wedge-type outrigger mechanism as another embodiment.

Fig. 6 is a partially enlarged schematic view showing the structures of the cutting segment and the radial feed control segment in Fig. 1 .

FIG. 7 is a partially enlarged schematic view showing the structure of a part of the axially telescopic control section in FIG. 1 .

Detailed ways

The present invention will be further described in detail below in combination with an optimal implementation mode of a boring machining three-axis linkage robot arm and the accompanying drawings.

As shown in Figures 1-7, an optimal implementation of a three-axis linkage robot arm for boring processing includes a cylindrical handle and a tool as a whole, and the tool is installed in the cutting section at the front end of the handle, wherein the The rear end of the cutting section on the tool holder is sequentially formed with a radial feed control section for controlling the radial feed of the tool, a circumferential rotation control section for controlling the circumferential rotation of the cutting section of the tool, and a shaft for controlling the cutting section of the tool. To the telescopic axial telescopic control section, the tool handle is also provided with a tool stabilizing support device for supporting in the processed hole.

In this way, the mechanical arm can be supported inside the hole to be machined by the tool stabilizing support device, and then three-axis linkage can be generated during the machining process, and the rotary boring can be controlled by the circumferential rotation control section, and at the same time, the tool can be controlled to feed or expand in the radial direction Movement, thereby realizing the independent processing of boring, and can complete the boring processing of complex structures and deep hole structures. It has the characteristics of large boring processing range and wide applicability.

Wherein, the cutting segment includes a cutting segment barrel 1, the front position of the cutting segment barrel 1 is provided with a tool mounting groove and is used for installing a tool, and the tool includes a cutter head portion 2 for forming a cutting edge and for realizing installation and The installation handle part 3 of the radial feed transmission of the tool, the cutting edge position of the cutter head part 2 exposes the tool installation groove, the cutter head part 3 and the installation handle part 3 are designed in a split type and are fixed and connected as one by bolts, and the installation handle part 3 A transmission rack is provided on the inner side of the tool to realize the radial feed transmission of the tool.

In this way, the tool is realized by the structure of the cutter head and the mounting handle, and the cutting edge is formed by the cutter head part. In this way, different materials can be used according to different requirements for cutting and installation, so as to improve the processing strength of the cutting edge and reduce the cost. In other words, the cutter head part is made of hard alloy material, and the mounting handle part is made of No. 45 steel. At the same time, the cutting tool is divided into two parts, which is convenient for installing a transmission structure on the handle part to realize the radial feed transmission of the cutting tool. The transmission structure adopts a transmission rack, which can be easily meshed with the transmission input gear to realize the feed transmission of the tool. The structure is simple and is conducive to precise control of the transmission ratio.

Wherein, the transmission rack includes a first transmission rack 4 and a second transmission rack 5, and the first transmission rack 4 and the second transmission rack 5 are arranged side by side and misaligned, and are simultaneously and used to realize the radial feed transmission of the tool. The tool radial feed transmission gear 6 meshes.

In this way, two transmission racks are set to mesh with the tool radial feed transmission gear at the same time, and the two transmission racks can be set by dislocation, so that the two adjacent gear teeth of the two transmission racks are respectively attached to the The tool radially feeds the front and rear sides of a tooth groove of the transmission gear; this eliminates the meshing gap that is easy to exist when using gear meshing transmission, and greatly reduces the requirements for gear manufacturing accuracy while reducing the transmission error caused by the small meshing gap .

Wherein, the inner wall on the front side of the tool installation groove is inclined, and the end of the inner wall on the front side that is consistent with the radial feed direction of the tool is inclined toward the direction close to the tool, and the inner wall on the front side of the tool installation groove and the outer wall on the front side of the tool are cooperatively arranged. A piece of inclined iron 7, the side of the inclined iron 7 and the inner wall of the front side of the tool installation groove is a slope, and the side of the inclined iron 7 and the tool is a straight face consistent with the feeding direction of the tool; this can better eliminate the tool installation. Axial clearance and easy tool installation. Further, the larger end of the slanting iron 7 is fixed to the limit screw 8 on the outer surface of the cutting section cylinder near the front inner wall of the tool installation groove; this structure is simple and facilitates the limiting and fixing of the slanting iron. Still further, the first transmission rack 4 and the second transmission rack 5 are engaged by the concave-convex matching structure 9 correspondingly arranged on the side parallel to each other, and the concave-convex matching structure 9 has a side inclined to the side of the connection. The oblique sliding mating surface; in this way, when assembling, the first transmission rack and the second transmission rack are arranged side by side, and the concave-convex mating structure on the side where the two are connected is first attached to the oblique sliding mating surface After the insertion is completed, the part is embedded and fitted, and the radial feed transmission gear of the tool is installed in place, and then the smaller end of the slanted iron is inserted from the larger end of the slanted iron installation space. When the slanted iron is inserted, it relies on the inclined inner wall on the front side of the tool installation groove The sliding fit extrudes the two transmission racks close together, and the two transmission racks are displaced along their own transmission direction by the cooperation of the oblique sliding mating surface in the concave-convex matching structure between the two transmission racks. Move until the two sides of a tooth groove of the radial feed transmission gear of the tool are pressed against one tooth of two transmission racks at the same time; at this time, the oblique iron can no longer be inserted, and it is completed after the oblique iron is held in place and fixed assembly. This kind of assembly process directly relies on the insertion fit of the inclined iron to eliminate the fit gap caused by the gear transmission and also eliminates the axial gap of the tool installation; it also greatly improves the assembly efficiency and ensures the assembly reliability. Still further, a plurality of roller grooves can be arranged on the side where the inclined iron 7 and the tool are in contact along the direction perpendicular to the radial feeding direction of the tool, and the plurality of roller grooves are evenly spaced along the radial feeding direction of the tool, Hollow rollers 10 are installed in the roller grooves, and the outer surface of the hollow rollers 10 is exposed in the roller grooves and is used to be attached to the front side of the tool. In this way, the hollow roller converts the sliding friction during the assembly process and the subsequent tool radial feeding process into rolling friction, which improves the smoothness of tool assembly and feed adjustment. At the same time, relying on the elasticity of the hollow roller, the gap can be better eliminated and To achieve the shock absorption effect, the hollow roller is further made of 60Si2Mn spring steel material to better generate elasticity and improve the shock absorption effect.

Wherein, the radial feed control section includes a radial feed control section cylinder 11 coaxially arranged at the front of the mechanical arm, and the front end of the radial feed control section cylinder 11 is fixedly connected to the cutting section cylinder, A radial feed control motor 12 is installed inside the cylinder body of the radial feed control section. The output shaft of the radial feed control motor 12 is set forward and connected with a reduction transmission system forward. The reduction transmission system includes The cutter radial feed transmission gear 6 engaged with the transmission rack on the cutter.

In this way, in the radial feed control section, the output rotation of the motor is controlled by the radial feed until the deceleration transmission system is decelerated, and then the rotation is transmitted to the transmission rack by the tool radial feed transmission gear and converted into a radially expandable flat surface of the tool. Motion, and then realize the control of the radial expansion and contraction of the tool, which has the advantages of simple structure and reliable control.

Wherein, the deceleration transmission system includes a harmonic deceleration mechanism, the output end of the harmonic deceleration mechanism is connected to a radial feed transmission shaft 19, and the front end of the radial feed transmission shaft 19 extends into the inner cavity of the cutting section cylinder 1 and Tool radial feed transmission gear 6 is set. In this way, using the harmonic reduction mechanism as the reduction transmission system can greatly reduce the transmission ratio, and can better improve the control accuracy of the radial feed output of the tool.

Wherein, the harmonic deceleration mechanism includes a harmonic input gear 13 coaxially arranged on the output shaft of the radial feed control motor, and several harmonic intermediate gears 14 are evenly arranged outside the harmonic input gear 13, and the harmonic intermediate gears 14 and The harmonic input gear 13 meshes, and the harmonic intermediate gear 14 has a harmonic runner 15 coaxially arranged with the harmonic input gear. The outer surface of the wheel 15 is provided with a harmonic flexible wheel 16, and the two ends of the outer surface of the harmonic wheel 15 along the diameter direction are symmetrically installed with two radially outwardly protruding wave generating members 17, and the outer ends of the wave generating member 17 and The inner surface of the harmonic flexspline 15 abuts and deforms the harmonic flexspline 15 into an ellipse, and the outer surface of the harmonic flexspline 15 is formed with an external ring gear, and at both ends of the long axis of the ellipse and a radial feed control section The cylinder meshes with the fixed internal gear 18, and the front end of the harmonic flex spline 16 is the output end of the harmonic reduction mechanism and is connected to the rear end of the radial feed transmission shaft 19. In this way, during operation, the output shaft of the radial feed control motor drives the harmonic intermediate gear to rotate through the harmonic input gear, drives the harmonic runner to rotate, and then drives the harmonic flexwheel to cooperate with the fixed outer ring gear to generate a difference In this way, the harmonic intermediate gear first realizes the first-stage deceleration transmission in the harmonic reduction mechanism, and then the harmonic flexible gear realizes the differential transmission, and then drives the radial feed transmission shaft to rotate and output, so it can be greatly improved The reduction transmission effect is improved, the stability and controllability of the radial feed of the cutter are guaranteed, and the control precision of the radial feed is improved. Still further, the wave generating member 17 is a roller arranged in the axial direction. The setting of the rollers in this way can form a rolling fit between the wave generating member and the harmonic flex wheel, which greatly reduces friction, reduces wear and improves transmission stability, and more importantly, the structural setting here makes it possible for the cutter to withstand cutting reverse After the pressure is transmitted here, it will be converted into the pressure of the rollers along the radial direction of the harmonic runner, and even if there are some component forces in other directions, they will be offset by the rotation of the rollers themselves, and will not be transmitted back again, resulting in a good The reverse self-locking effect greatly improves the working stability of the tool. Furthermore, the radial feed transmission shaft 19 is generally in the shape of a stepped disc with a reduced diameter at the front end, and the two ends of the radial feed transmission gear on the radial feed transmission shaft are installed on each of the radial feed transmission gears through a bearing. In the inner cavity of the cylinder body 1 of the cutting section. This can better ensure smooth transmission and improve stability. Still further, the rear end of the radial feed transmission shaft 19 is provided with an insertion groove in the circumferential direction, and the insertion protrusion provided on the front end of the harmonic flex spline 16 protrudes outward along the circumferential direction to cooperate to realize the connection. In this way, there is a space in the insertion groove for the insertion protrusion at the front end of the harmonic flexspline to fluctuate in the radial direction. Using this kind of movable connection transmission can eliminate the vibration caused by the radial deformation of the harmonic flexspline to the transmission process, ensuring Transmission smoothness. Further, the front end of the cylinder body 11 of the radial feed control section is sealed and fixed on the outside of the rear end of the cylinder body 1 of the cutting section, and the internal gear 18 is fixedly arranged on the surface of the inner cavity at the rear end of the cylinder body 1 of the cutting section. Better integrity and more conducive to sealing settings. Further, the front end of the harmonic deceleration mechanism is also provided with a disc-shaped harmonic wheel seat 20, and the peripheral position of the harmonic wheel seat 20 is fixed on a step at the front of the inner cavity of the cylinder body 11 of the radial feed control section. On the surface, the gear shaft inside the harmonic intermediate gear is installed and fixed on the harmonic wheel seat. In this way, the arrangement of the harmonic wheel seat is more convenient for the installation and arrangement of the components in the harmonic reduction mechanism. Further, the rear end surface of the harmonic runner 15 has an outwardly protruding limiting protrusion and is inserted into a limiting groove on the front end surface of the harmonic wheel seat 20 to realize radial limitation of the harmonic runner. The rear end surface of the radial feed transmission shaft 19 facing the position of the harmonic runner 15 has an axially backward limiting protrusion for positioning the harmonic runner 15 in the axial direction. In this way, after assembly, the radial and axial positioning of the harmonic runner can be better realized, and an installation space is left between the rear end face of the radial feed transmission shaft and the front end face of the harmonic intermediate gear. Space is provided for the harmonic intermediate gear to install a limit pin at the front end of the gear shaft to realize assembly and positioning of the harmonic intermediate gear.

Wherein, the circumferential rotation control section includes a circumferential rotation control section barrel 21 coaxially arranged in the middle of the mechanical arm, and a circumferential rotation control motor 22 is installed inside the circumferential rotation control section barrel 21. The output shaft to the rotation control motor 22 is connected to the rear end of the cylinder body 11 of the radial feed control section forward and used to drive the cylinder body 11 of the radial feed control section to rotate, and the front half of the cylinder body 21 of the circumferential rotation control section is coaxial It is surrounded by the rear half of the cylinder of the radial feed control section and a slip ring brush 23 is arranged between the two.

In this way, the rear end of the cylinder body of the radial feed control section is driven by the circumferential rotation control motor to rotate as a whole to realize the control of the rotary machining of the cutter. The conduction of the control current of the motor ensures the reliability of the tool control.

Wherein, a rotation support bearing structure is also provided between the front half of the cylinder of the circumferential rotation control section and the rear half of the cylinder of the radial feed control section, and the rotation support bearing structure includes a cylinder formed on the cylinder of the circumferential rotation control section The ball assembly space between the body and the cylinder of the radial feed control section, the inner cavity of the ball assembly space has balls formed on the inner surface of the cylinder of the circumferential rotation control section and the outer surface of the cylinder of the radial feed control section. The crown surface is also used to cooperate with the ball 24. It also has a cage cavity with a rectangular structure located between the two spherical crown surfaces. A ring-shaped cage with a disconnected end but a circular ring is installed in the cage cavity. 25, the cage 25 is evenly provided with ball assembly holes along the circumference, and the balls 24 are rotatably embedded and assembled. In this way, the rotation support for the cylinder body of the radial feed control section can be better realized, and the stability of rotation can be greatly improved. Further, the outer surface of the cylinder of the circumferential rotation control section corresponds to the ball assembly space and is connected with a ball entering the slot. The ball enters the slot and is fixed with a slotted block 26 by a bolt 27. The inner surface of the slotted block 26 and the ball The surface of the inner wall of the assembly space is consistent. This makes it easier to load the balls and the cage.

Wherein, the output shaft of the circumferential rotation control motor 22 is provided with a rotation transmission driving gear 27, and a plurality of rotation transmission intermediate gears 28 are evenly arranged on the outer circumference of the rotation transmission driving gear 27 to mesh with the rotation transmission driving gear, and the rotation transmission intermediate gears 28 are simultaneously It meshes with the rotary transmission internal gear 29 arranged on the inner cavity surface of the rear end of the cylinder body of the radial feed control section and drives the cylinder body 11 of the radial feed control section to rotate. In this way, the arrangement of the rotary transmission intermediate gear facilitates the adjustment and control of the transmission ratio of the rotary transmission, and at the same time can further improve the stability of the transmission and improve the overall stability of the device.

Wherein, the inner cavity of the cylinder of the circumferential rotation control section extends inward along the middle part of the axial direction to form a partition 30, and behind the partition 30 forms a space for installing the circumferential rotation control motor, and the output shaft of the circumferential rotation control motor rotatably passes through the partition 30, and the rotary transmission intermediate gear 28 is installed on the partition. This makes it easier to assemble and set each component.

Wherein, the axial telescopic control section includes an axial telescopic control section cylinder 31 coaxially arranged at the rear of the mechanical arm, and an axial telescopic control motor is installed in the inner cavity of the rear end of the axial telescopic control section cylinder 31 32. The output shaft of the axial telescopic control motor 32 is set forward and connected to the rear end of the cylinder 21 of the circumferential rotation control section through the steering transmission mechanism, and can drive the cylinder 21 of the circumferential rotation control section to move forward and backward. In this way, the structure is simple and it is convenient to realize the axial expansion and contraction control of the tool.

Wherein, the steering transmission mechanism includes a lead screw 33 coaxially arranged with the mechanical arm, the rear end of the lead screw 33 is connected to the output shaft of the axial telescopic control motor 31, and the front end of the lead screw 33 is inserted into a coaxially arranged nut cylinder In the body 34, the inner cavity at the rear end of the nut cylinder 34 is provided with an internal thread to engage with the lead screw 33, the front end of the nut cylinder 34 is connected to the rear end of the cylinder 21 of the circumferential rotation control section, and the steering transmission mechanism also includes a function to prevent the circumferential rotation from rotating. A guiding structure for the rotation of the cylinder body 21 of the rotation control section. In this way, relying on the setting of the screw nut transmission pair, the rotation output of the output shaft of the axial telescopic control motor is converted into the axial translation of the cylinder of the circumferential rotation control section with a simple structure, and the structure is simple and the control is reliable.

Wherein, the guide structure includes a guide section located at the front end of the axial telescopic control section cylinder 31 and extending forward to the rear half of the circumferential rotation control section cylinder 21, including a guide section arranged axially outside the circumferential rotation control section cylinder. The guide groove 35 on the rear half of the surface also includes a guide slider 36 fitted in the guide groove 35 and fixed on the inner surface of the guide section. In this way, the guide structure is arranged outside the second half of the cylindrical body of the circumferential rotation control section, which can better improve the stability of the overall structure while facilitating assembly.

Wherein, a floating connection structure is provided between the front end of the nut cylinder 34 and the rear end of the circumferential rotation control section cylinder 21, and the floating connection structure includes an articulation plate 37 that is arranged on the front end of the nut cylinder 34 and protrudes outward along the circumferential direction. And an articulated ring 38 fixed on the rear end of the cylindrical body 21 of the circumferential rotation control section, the inner surface of the rear end of the articulated ring 38 protrudes inwardly and is articulated on the rear side of the articulated disc 37; the floating connection structure also includes a The cross connecting block 39 at the position between the middle part of the front end face of the nut cylinder and the middle part of the rear end face of the circumferential rotation control section cylinder, the front side of the cross connection block 39 and the rear end face of the circumferential rotation control section A first concave-convex matching structure is formed, and a second concave-convex matching structure is formed radially between the rear side of the cross connection block 39 and the front end surface of the nut cylinder 34, and the setting directions of the first concave-convex matching structure and the second concave-convex matching structure are perpendicular to each other. Moreover, there are floating gaps between the front side of the rear cross connection block 39 and the rear end surface of the circumferential rotation control section cylinder 21 and between the rear side of the cross connection block 39 and the front end surface of the nut cylinder 34 . In this way, the nut cylinder pushes the cylinder body of the circumferential rotation control section forward by the power transmitted by the cross connection block, and the cylinder body of the circumferential rotation control section is driven backward by the transmission power transmitted by the articulated ring and the articulated plate. The concave-convex matching structure on both sides of the connecting block can transmit torque and thrust, and at the same time, the floating gap can allow the cross connecting block to produce a certain angle of deflection without affecting the transmission of thrust and torque, thereby eliminating the occurrence of screw nut drive pair transmission. The jitter ensures the stability of the front-end transmission. A better choice is that in the first concave-convex matching structure and the second concave-convex matching structure, the abutment surfaces where the respective grooves and protrusions fit together are arc-shaped along the length direction of the groove. In this way, the arc fit can make the cross connection block rotate along the arc during the swing process without collision, and better improve the transmission stability.

Wherein, the cutter stabilizing support device includes a section of small-diameter outrigger installation section formed on the outer surface of the knife handle, and multiple sets of outriggers are evenly installed on the outrigger installation section along the circumferential direction. A radially outwardly projecting support. This facilitates the realization of the support of the tool handle itself in the processed hole. As a preference during implementation, the installation section of the outer support mechanism can be arranged on the outer surface of the cylinder of the axially telescopic control section and at the position of the inner screw, which can better support and stabilize the knife handle.

Wherein, the outrigger mechanism may be a link-type outrigger mechanism, and the link-type outrigger mechanism includes a hydraulic cylinder 40 arranged in the axial direction and a two-link structure, and the two-link structure includes a first link 41, The second connecting rod 42 and the support member 43, one end of the first connecting rod 41 is hinged on the outer support mechanism installation section in front of the telescopic arm of the hydraulic cylinder, and one end of the second connecting rod 42 is hinged at the front end of the telescopic arm of the hydraulic cylinder 40. The other ends of the first connecting rod 41 and the second connecting rod 42 are jointly hinged on the same hinge shaft inside the support member 43 so that when the telescopic arm of the hydraulic cylinder stretches out, it can drive the first connecting rod 41 and the second connecting rod 42 farther. The ends move relative to each other and push up the support member 43 radially outward. This has the advantages of simple structure, convenient control, etc. At the same time, the two-link structure can further make the support member stretched out and tightened on the inner wall of the processed hole, and the connecting rod is as close to the radial direction as possible. The cylinder does not need to bear a large clamping reaction force to ensure a stable and reliable support effect. Further, the hydraulic cylinder 40 is a double-rod hydraulic cylinder, and the two-link structure is symmetrically arranged in front of the telescopic arms at both ends of the hydraulic cylinder. In this way, the front and rear support points are realized to better improve the support stability. As an optimization, the front end of the telescopic arm of the hydraulic cylinder is connected with a synchronous collar 44 coaxially sleeved on the installation section of the outer support mechanism, and the second connecting rod 42 is hinged on the synchronous collar. In this way, the consistency of the external support mechanisms of each group can be better ensured. Still further, the support member 43 is in the shape of a rectangular block as a whole and its outer surface is a convex arc surface, which can better facilitate the fit between the outer surface of the support member and the inner wall of the hole to be processed to achieve support. Furthermore, the outer surface of the support member 43 has a layer of elastic material. In this way, when the inner diameter of the contemporary machining hole causes inconsistent arcs on the outer surface of the support, elastic deformation can be used to achieve fit and improve the support strength.

In addition, the outrigger mechanism can also be a wedge-type outrigger mechanism (see FIG. 5 ), and the wedge-type outrigger mechanism includes a hydraulic cylinder 45 arranged in the axial direction. The wedge 46 and the support 47, the support 47 has an arc-shaped block structure as a whole and one end of the arc is hinged on the mounting section of the outer support mechanism to form the inner end, and the other end abuts against the wedge under the action of a return spring 48 Constitute the outer end, the side surface where the wedge 46 contacts with the support 47 is a slope inclined radially inward toward the support, and the end of the wedge 46 away from the support 47 is connected to the front end of the telescopic arm of the hydraulic cylinder. In this way, controlling the extension of the telescopic arm of the hydraulic cylinder can drive the wedge to rely on its inclined surface to drive the outer end of the support to extend outward to abut against the inner wall of the processed hole; therefore, it has the advantages of simple structure, convenient assembly, and sensitive control response; at the same time When supporting, most of the reaction force of the support member is transmitted to the wedge to form a component force along the radial direction of the wedge, which is then offset. The hydraulic cylinder does not need to bear a large pressing reaction force, ensuring a stable and reliable support effect. Further, the outer end of the support member 47 is provided with a support roller 50, and the support is realized by contacting the surface of the support roller with the wedge block and the inner wall of the processed hole, so that the friction force is reduced by rolling, and the support stability is improved. Further, a sliding groove is arranged on the inclined surface of the wedge 46 along the axial direction, and the rollers cooperate with the limit to roll in the sliding groove. In this way, the limit can be better realized and the stability of the external support process can be guaranteed. Further, the hydraulic cylinder 45 is a double-rod hydraulic cylinder, and the telescopic arms at both ends are equipped with matching wedges and support structures. In this way, the front and rear support points are realized to better improve the support stability. As an optimization, the corresponding wedges 46 in each group of outriggers are connected circumferentially to form a synchronous slip ring 49 as a whole. In this way, the consistency of the external support mechanisms of each group can be better ensured. Further, the return spring 48 may be a torsion spring arranged at the hinge at the inner end of the support, or a ring-shaped telescopic spring connected to the outer end of the support in a ring shape. The torsion spring structure of the former is small and simple, and the telescopic spring of the latter can further improve the synchronization of the movement of the support.

Claims (8)

1. A three-axis linkage mechanical arm for boring processing, including a cylindrical handle and a tool as a whole, the tool is installed in the cutting section at the front end of the handle, and it is characterized in that the rear end of the cutting section on the handle is backward A radial feed control section for controlling the radial feed of the tool, a circumferential rotation control section for controlling the circumferential rotation of the cutting section of the tool, and an axial expansion control section for controlling the axial expansion and contraction of the cutting section of the tool are sequentially formed, The knife handle is also provided with a stable support device for the tool to be supported in the processed hole; The cutting section includes a cutting section cylinder, the front position of the cutting section cylinder is provided with a tool installation slot and is used for installing a tool, and the tool includes a cutter head part for forming a cutting edge and for realizing installation and tool radial feed The installation handle part of the transmission, the cutting edge position of the cutter head part is exposed to the tool installation groove, the cutter head part and the installation handle part are designed separately and connected by bolts, and the inner surface of the installation handle part is provided with a drive rack To realize the tool radial feed transmission; The transmission rack includes a first transmission rack and a second transmission rack, the first transmission rack and the second transmission rack are juxtaposed and misplaced, and at the same time, they are used to realize the radial feed of the tool for radial feed transmission of the tool. The transmission gear meshes, so that the two adjacent teeth of the two transmission racks are respectively attached to the front and rear sides of a tooth slot of the tool radial feed transmission gear; The inner wall on the front side of the tool installation groove is inclined, and the end of the inner wall on the front side that is consistent with the radial feed direction of the tool is inclined toward the direction close to the tool. The side where the iron, inclined iron and the inner wall of the front side of the tool installation groove are attached is a slope, and the side where the inclined iron and the tool are attached is a straight surface consistent with the feeding direction of the tool; the larger end of the inclined iron is fixed near the front side of the tool installation groove The limit screw on the outer surface of the cutting section of the inner wall is limited and fixed; the first transmission rack and the second transmission rack are nested and fitted by the concave-convex matching structure correspondingly arranged on the side where they are connected side by side, and the concave-convex matching structure has An oblique sliding mating surface that is inclined to the adjoining sides. 2. The three-axis linkage mechanical arm for boring processing according to claim 1, wherein the radial feed control section comprises a radial feed control section cylinder coaxially arranged at the front of the mechanical arm , the front end of the cylinder body of the radial feed control section is fixedly connected with the cylinder body of the cutting section, a radial feed control motor is installed inside the cylinder body of the radial feed control section, and the output shaft of the radial feed control motor is set forward and A reduction transmission system is connected forward, and the reduction transmission system includes a tool radial feed transmission gear for engaging with a drive rack on the tool. 3. The three-axis linkage mechanical arm for boring processing according to claim 2, wherein the reduction transmission system includes a harmonic reduction mechanism, and the output end of the harmonic reduction mechanism is connected to a radial feed transmission shaft, and the diameter The front end of the feed transmission shaft is extended to the inner cavity of the cylinder body of the cutting section, and the tool radial feed transmission gear is arranged. 4. The three-axis linkage mechanical arm for boring processing according to claim 2, characterized in that, the circumferential rotation control section comprises a circumferential rotation control section cylinder coaxially arranged in the middle of the mechanical arm, and the circumferential rotation A circumferential rotation control motor is installed inside the cylinder of the rotation control section. The output shaft of the circumferential rotation control motor is connected to the front of the cylinder of the radial feed control section and used to drive the cylinder of the radial feed control section to rotate. The first half of the cylindrical body of the circumferential rotation control section is coaxially arranged outside the second half of the cylindrical body of the radial feed control section, and a slip ring brush is arranged between the two. 5. The three-axis linkage mechanical arm for boring processing according to claim 4, characterized in that, the output shaft of the circumferential rotation control motor is provided with a rotation transmission driving gear, and a plurality of rotation transmission driving gears are evenly arranged on the outer periphery of the rotation transmission driving gear. The transmission intermediate gear meshes with the rotation transmission driving gear, and the rotation transmission intermediate gear meshes with the rotation transmission internal gear arranged on the inner cavity surface of the rear end of the radial feed control section cylinder at the same time to drive the radial feed control section cylinder to rotate. 6. The three-axis linkage mechanical arm for boring processing according to claim 4, wherein the axial telescopic control section comprises an axial telescopic control section cylinder coaxially arranged at the rear of the mechanical arm, and the shaft An axial telescopic control motor is installed in the inner cavity of the rear end of the cylinder body of the telescopic control section, the output shaft of the axial telescopic control motor is set forward and is connected with the rear end of the cylinder body of the circumferential rotation control section through a steering transmission mechanism and can drive Circumferential rotation controls the telescopic movement of the section cylinder back and forth. 7. The three-axis linkage mechanical arm for boring processing according to claim 6, wherein the steering transmission mechanism includes a lead screw coaxially arranged with the mechanical arm, the rear end of the lead screw and the axial telescopic control motor The output shaft is connected, the front end of the lead screw is inserted into a coaxial nut cylinder, the inner cavity of the rear end of the nut cylinder is provided with an internal thread to engage with the lead screw, the front end of the nut cylinder is connected to the rear end of the circumferential rotation control section cylinder, The steering transmission mechanism also includes a guide structure for preventing the rotation of the cylinder of the peripheral rotation control section. 8. The three-axis linkage mechanical arm for boring processing as claimed in claim 1, wherein the stabilizing support device for the tool comprises a small-diameter outer support mechanism installation section formed on the outer surface of the tool handle, and the outer support mechanism installation section A plurality of sets of outrigger mechanisms are uniformly installed along the circumferential direction, and the outrigger mechanisms include support members that can be controlled to protrude outward in the radial direction.