CN102927922B - System for measuring inner diameter of tubular workpiece - Google Patents
System for measuring inner diameter of tubular workpiece Download PDFInfo
- Publication number
- CN102927922B CN102927922B CN201210387784.9A CN201210387784A CN102927922B CN 102927922 B CN102927922 B CN 102927922B CN 201210387784 A CN201210387784 A CN 201210387784A CN 102927922 B CN102927922 B CN 102927922B
- Authority
- CN
- China
- Prior art keywords
- subsystem
- measured
- ring
- measurement
- tubular workpiece
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a system for measuring an inner diameter of a tubular workpiece. The system comprises a crawling transportation positioning sub-system, a data acquisition and control sub-system and a data processing sub-system, wherein when the inner diameter of a measured tubular workpiece is required to be measured, the crawling transportation positioning sub-system crawls in a pipeline of the measured tubular workpiece under the control of the data acquisition and control sub-system, and acquires measurement data of a pipeline section corresponding to a position to be measured when crawling to every position to be measured; the data acquisition and control sub-system acquires the measurement data which is acquired by the crawling transportation positioning sub-system and sends the measurement data to the data processing sub-system; and the data processing sub-system generates a required measurement result according to the received measurement data. By the adoption of the system for measuring the inner diameter of the tubular workpiece, the accuracy of a measurement result is improved, and the measurement efficiency can be improved.
Description
Technical field
The present invention relates to workpiece calibration technology, particularly a kind of tubular workpiece inside diameter measurement system.
Background technology
In mechanical processing industry, the processing of tubular workpiece is modal processing technology, as the gun barrel of weaponry, pipe-line and air cylinder sleeve of engine etc.In the process kind of these tubular workpieces, the control of internal diameter size and measurement are directly connected to the security of workpiece properties of product and machine system operation.
At present, for tubular workpiece inner diameter measurement, mainly adopt contact type measurement mode, manually by micrometer inside caliper, measure.But this metering system is owing to being subject to the impact of human factor etc., measuring error is conventionally larger, and the accuracy of measurement result is lower, and it is lower to measure efficiency.
Summary of the invention
In view of this, the invention provides a kind of tubular workpiece inside diameter measurement system, can improve the accuracy of measurement result, and can improve measurement efficiency.
For achieving the above object, technical scheme of the present invention is achieved in that
A tubular workpiece inside diameter measurement system, comprising: creep delivery positioning subsystem, a data data acquisition and controlling subsystem and a data process subsystem;
The described delivery positioning subsystem of creeping is connected with control subsystem with described data acquisition, and described data acquisition and control subsystem deliver positioning subsystem and described data process subsystem is connected with described creeping;
In the time need to measuring the internal diameter of a tested tubular workpiece, the described delivery positioning subsystem of creeping is creeped under the control of described data acquisition and control subsystem in the pipeline of described tested tubular workpiece, and when often crawling into a position to be measured, obtain the measurement data of pipeline section corresponding to this position to be measured; The measurement data that the delivery positioning subsystem of creeping described in described data acquisition and control subsystem collection gets, sends to described data process subsystem; Described data process subsystem generates required measurement result according to the measurement data receiving.
Visible, adopt tubular workpiece inside diameter measurement system of the present invention, can automatically complete the inner diameter measurement of tubular workpiece, without artificial participation, thereby avoided the impact of human factor, and then improved the accuracy of measurement result, and can carry out as required continuous several times measurement, thus improved measurement efficiency.
Accompanying drawing explanation
Fig. 1 is the composition structural representation of tubular workpiece inside diameter measurement system embodiment of the present invention.
Fig. 2 is drive machines people's of the present invention composition structural representation.
Fig. 3 is the composition structural representation that the present invention detects robot.
Fig. 4 be the present invention creep delivery positioning subsystem composition structural representation.
Fig. 5 is that the present invention advises by demarcating the schematic diagram being connected with tested tubular workpiece by adapter sleeve.
Fig. 6 is the installation site schematic diagram of obliquity sensor of the present invention and X-Y axle acceleration sensor.
Fig. 7 is the schematic diagram that is related between two coordinate systems of the present invention.
Embodiment
For problems of the prior art, the tubular workpiece inside diameter measurement system after a kind of improvement is proposed in the present invention.Experiment shows, the measuring error <0.01 millimeter (mm) of this system, and can realize the tubular workpiece inner diameter measurement that internal diameter is 100～400mm.
For make technical scheme of the present invention clearer, understand, referring to the accompanying drawing embodiment that develops simultaneously, scheme of the present invention is described in further detail.
Fig. 1 is the composition structural representation of tubular workpiece inside diameter measurement system embodiment of the present invention.As shown in Figure 1, wherein at least comprise: creep delivery positioning subsystem, a data data acquisition and controlling subsystem and a data process subsystem.
The delivery positioning subsystem of creeping is connected with control subsystem with data acquisition, and data acquisition is connected with creep delivery positioning subsystem and data process subsystem with control subsystem;
In the time need to measuring the internal diameter of a tested tubular workpiece, the delivery positioning subsystem of creeping is creeped under the control of data acquisition and control subsystem in the pipeline of tested tubular workpiece, and when often crawling into a position to be measured, obtain the measurement data of pipeline section corresponding to this position to be measured; Data acquisition and control subsystem collection are creeped and are delivered the measurement data that positioning subsystem gets, and send to data process subsystem; Data process subsystem generates required measurement result according to the measurement data receiving.
On this basis, in the inside diameter measurement system of tubular workpiece shown in Fig. 1, also can further comprise: demarcate subsystem and syndrome system.Below each subsystem is introduced respectively.
One) the delivery positioning subsystem of creeping
The delivery positioning subsystem of creeping is the main body of tubular workpiece inside diameter measurement system, and comprising a drive machines people and a detection robot, drive machines people is connected by joint flange with detection robot.
Drive machines people is mainly used in as tubular workpiece inside diameter measurement system provides power, under the control of data acquisition and control subsystem, drives the delivery positioning subsystem of creeping to creep in the pipeline of tested tubular workpiece, comprises and moving forward and backward.
Detect the actual vector of the artificial tubular workpiece inside diameter measurement system of machine, when the delivery positioning subsystem of creeping often crawls into a position to be measured, obtain the measurement data of pipeline section corresponding to this position to be measured.
Fig. 2 is drive machines people's of the present invention composition structural representation.As shown in Figure 2, comprising: a driving wheel, an engaged wheel, a drive motor, a worm and gear and a shell.
Drive motor is connected by worm and gear with driving wheel; Partly or entirely being exposed to outside shell of driving wheel and engaged wheel (in Fig. 2 for part is exposed to outside shell), within drive motor and worm and gear are positioned at shell.
Drive motor rotates under the control of data acquisition and control subsystem, and drive driving wheel to rotate by worm and gear, the engaged wheel that rotarily drives of driving wheel rotates, and the delivery positioning subsystem of creeping that rotarily drives of driving wheel and engaged wheel is creeped in the pipeline of tested tubular workpiece.
Drive machines people's shell is made by steel plate, and the gravity by steel plate makes driving wheel and engaged wheel compress tested tubular workpiece inner-walls of duct, prevents from skidding.
Fig. 3 is the composition structural representation that the present invention detects robot.As shown in Figure 3, comprising: main shaft, one are enclosed within on main shaft and are fixed on the first back-up ring on main shaft, two sections of the first isometric spring and the second spring, two groups of supporting constructions, a laser displacement sensor, a sensor base, a conducting slip ring and rotating stepper motors that are enclosed within on main shaft.
Laser displacement sensor is fixed in sensor base, by conducting slip ring, is connected with rotating stepper motor, and rotating stepper motor is fixed on main shaft.The cable producing for fear of laser displacement sensor rotation is wound around problem, by conducting slip ring, laser displacement sensor is connected with rotating stepper motor, conducting slip ring also can be laser displacement sensor and powers etc., by using conducting slip ring, laser displacement sensor can unrestrictedly be rotated, and then improved the dirigibility of system.
Wherein, one group of supporting construction, between rotating stepper motor and the first back-up ring, comprising: one is enclosed within on main shaft and is fixed on the second back-up ring on main shaft, the first slip back-up ring, a N movable branching rod, a N support wheel and a N support bar being enclosed within on main shaft; N is greater than 2 positive integer, and N support wheel isogonism on circumference distributes; The first slip back-up ring is connected with one end of the first spring, and the other end of the first spring is connected with the first back-up ring; The second back-up ring is between rotating stepper motor and the first slip back-up ring; One end of each movable branching rod is connected with the second back-up ring, the other end is connected with a support wheel, one end of each support bar is connected with the first slip back-up ring, being a bit connected between the other end and movable branching rod two ends, the movable branching rod that each support bar connects is all different, and the support wheel that each movable branching rod connects is also all different.
Another group supporting construction, between the first back-up ring and joint flange, comprising: one is enclosed within on main shaft and is fixed on the 3rd back-up ring on main shaft, the second slip back-up ring, a N movable branching rod, a N support wheel and a N support bar being enclosed within on main shaft; N is greater than 2 positive integer, and N support wheel isogonism on circumference distributes; The second slip back-up ring is connected with one end of the second spring, and the other end of the second spring is connected with the first back-up ring; The 3rd back-up ring is between joint flange and the second slip back-up ring; One end of each movable branching rod is connected with the second slip back-up ring, the other end is connected with a support wheel, one end of each support bar is connected with the 3rd back-up ring, being a bit connected between the other end and movable branching rod two ends, the movable branching rod that each support bar connects is all different, and the support wheel that each movable branching rod connects is also all different.
The concrete value of N can be decided according to the actual requirements, and preferably, value is 5.
Two groups of supporting constructions can guarantee to detect sports level and the centering precision of robot, two groups of all expansible and polymerizations of supporting construction.During arbitrary support wheel pressurized in arbitrary group of supporting construction, by coupled movable branching rod, be moved and compress the spring being connected with this slip back-up ring with the slip back-up ring that corresponding support bar promotes in this group supporting construction, and then driving each support wheel in this group supporting construction to be moved.
Specifically, in actual applications, each support wheel is close to tested tubular workpiece inner-walls of duct, under drive machines people's promotion, moves forwards or backwards; When a certain support wheel pressurized, under the gusseted of corresponding support bar, by force transmission, give the slip back-up ring in supporting construction on the same group, the back-up ring that makes to slide compresses coupled spring, the motion of spring drives each support wheel to move to appropriate location, thereby guarantee that each support wheel can play certralizing ability all the time, guarantee the to creep axial origin reference location precision of delivery positioning subsystem, by expansion and the polymerization of movable branching rod, can realize the inner diameter measurement of the tubular workpiece of different inner diameters size simultaneously.
When the delivery positioning subsystem of creeping often crawls into a position to be measured, rotating stepper motor rotates under the control of data acquisition and control subsystem, and drive laser displacement sensor to carry out circular scan, obtain the measurement data of pipeline section corresponding to this position.
Fig. 4 be the present invention creep delivery positioning subsystem composition structural representation.As shown in Figure 4, it is for detecting the combination of robot shown in drive machines people shown in Fig. 2 and Fig. 3.
It should be noted that, in actual applications, tested tubular workpiece is being carried out in the process of inner diameter measurement, from entering into the pipeline of tested tubular workpiece, the delivery positioning subsystem of creeping is conventionally always in forward travel state, after measuring a position to be measured, advancing to next position to be measured measures, the rest may be inferred, and after completing the measurement of whole positions to be measured, the delivery positioning subsystem of creeping exits from tested tubular workpiece.
Two) data acquisition and control subsystem
Data acquisition and control subsystem have been mainly used in motion control and the data acquisition to the delivery positioning subsystem of creeping, and wherein mainly comprise: motion-control module and data acquisition module.
Motion-control module is connected with drive motor and rotating stepper motor, controls drive motor and rotating stepper motor and is rotated; Data acquisition module is connected with laser displacement sensor, gathers the measurement data that laser displacement sensor gets, and sends to data process subsystem.
Specifically, in measuring process, first the drive motor by moving control module for controlling drive machines people rotates, thereby realize creeping of the delivery positioning subsystem of creeping, when crawling into a position to be measured, control drive motor and stop the rotation, and control rotating stepper motor rotation, thereby realize the rotation of laser displacement sensor, i.e. 360 degree rotations; In the process of laser displacement sensor rotation, the measurement data that data acquisition module Real-time Collection laser displacement sensor gets, and send to data process subsystem.
Three) demarcate subsystem and syndrome system
Demarcating subsystem comprises: demarcate rule and adapter sleeve, demarcate rule and be tubular workpiece with adapter sleeve.
For further improving the accuracy of measurement result, utilizing before tubular workpiece inside diameter measurement system of the present invention measures tested tubular workpiece, can first to it, demarcate.And, in order to realize the integrated of calibration process and actual measurement process, can adopt adapter sleeve that demarcation rule are connected with tested tubular workpiece, that is to say, one end of adapter sleeve is entangled and is demarcated rule, the other end entangles tested tubular workpiece, and the delivery positioning subsystem of creeping can crawl in tested tubular workpiece by adapter sleeve from demarcate rule.
Fig. 5 is that the present invention advises by demarcating the schematic diagram being connected with tested tubular workpiece by adapter sleeve.As shown in Figure 5, adapter sleeve is wherein generally steel construction with demarcating to advise, the circle that the cross section of demarcating rule is standard, and the size of the ectonexine circle in each cross section is all equal, in addition, demarcates the internal diameter size internal diameter common and tested tubular workpiece of advising in the same size.
Syndrome system and data acquisition and control subsystem, creep delivery positioning subsystem and data process subsystem are connected, it is mainly the negative effect that pipeline quality and kinetic stability for fear of tested tubular workpiece cause for measurement, by obtaining the correlation parameter in measuring process, according to space coordinate transformation relation, set up calibration model, and the calibration model based on set up is proofreaied and correct to the measurement data receiving.
In order to coordinate the work of syndrome system, also need in detecting robot shown in Fig. 3, increase obliquity sensor and X-Y axle acceleration sensor.Fig. 6 is the installation site schematic diagram of obliquity sensor of the present invention and X-Y axle acceleration sensor.As shown in Figure 6, obliquity sensor can be arranged on the upper end of the first back-up ring, and X-Y axle acceleration sensor can be arranged on the lower end of the first back-up ring.
In the time need to carrying out the inner diameter measurement of tested tubular workpiece, by adapter sleeve, will demarcate rule is connected with tested tubular workpiece, and the delivery positioning subsystem of creeping is placed on and demarcates in rule, by data acquisition and control subsystem, control the delivery positioning subsystem of creeping and crawl into an assigned address of demarcating in advising; X-Y axle acceleration sensor obtains the axle center initial value on this assigned address, sends to syndrome system, and obliquity sensor obtains the axial inclination initial value on this assigned address, sends to correction subsystem.
Afterwards, data acquisition and control subsystem are controlled the delivery positioning subsystem of creeping and are crawled in tested tubular workpiece from demarcate rule by adapter sleeve; When often crawling into a position to be measured, data acquisition and the control subsystem collection measurement data of pipeline section corresponding to this position to be measured that delivery positioning subsystem gets of creeping, and send to syndrome system; Syndrome system is proofreaied and correct the measurement data receiving according to the axle center initial value and the axial inclination initial value that receive, and the measurement data after proofreading and correct is sent to data process subsystem.
Specifically, suppose that the laser displacement sensor in the present embodiment is positioned at same level with the main shaft that detects robot; For each position to be measured, laser displacement sensor carries out 360 degree rotations, and every rotation M degree, obtains once the measurement data of pipeline section corresponding to this position to be measured under this anglec of rotation, by data acquisition and control subsystem, sends to syndrome system; Meanwhile, X-Y axle acceleration sensor obtains this locational axle center to be measured value, sends to syndrome system, and obliquity sensor obtains this locational axial inclination value to be measured, sends to syndrome system; M is positive integer, and need to guarantee to obtain the integral multiple that the number of times of measurement data is 2; The concrete value of M can preferably, can be 1 according to actual needs,, when the anglec of rotation is 0 while spending, obtains one-shot measurement data, when the anglec of rotation is 1, then obtains one-shot measurement data, and the rest may be inferred.Syndrome system is determined the axle center value that receives with respect to the variation displacement (x of axle center initial value
0, y
0), and determine the axial inclination value that receives with respect to the angle changing α of axial inclination initial value; According to changing displacement and angle changing, measurement data corresponding to this locational each anglec of rotation to be measured proofreaied and correct.
Wherein, measurement data corresponding to this locational each anglec of rotation to be measured that laser displacement sensor gets comprises: the coordinate of measurement point corresponding to this anglec of rotation in the coordinate system of tested tubular workpiece, and measurement point refers to the point in pipeline section internal layer circle corresponding to corresponding this position to be measured of this anglec of rotation; Measurement data corresponding to this locational each anglec of rotation to be measured after correction comprises: the coordinate in the coordinate system that measurement point corresponding to this anglec of rotation advised in demarcation.
Fig. 7 is the schematic diagram that is related between two coordinate systems of the present invention.As shown in Figure 7, suppose that xoy coordinate is the coordinate system of demarcating rule, the coordinate system that x ' o ' y ' is tested tubular workpiece, the difference of two coordinate systems is mainly reflected in: the one, true origin o ' is with respect to the variation displacement (x of true origin o
0, y
0), another is angle changing α.
In conjunction with Fig. 7, can obtain two relations between coordinate system as follows:
Wherein, (x, y) represents the coordinate of a measurement point P in the coordinate system of demarcating rule, and (x ', y ') represents the coordinate of this measurement point in the coordinate system of tested tubular workpiece.
Four) data process subsystem
Data process subsystem is mainly used in the measurement data after proofreading and correct to process, and obtains required measurement result, and shows, so that staff can get measurement result more intuitively.
In data process subsystem, can comprise: interconnected data processing module and display module.
For each position to be measured, data processing module can determine in such a way respectively the anglec of rotation after the correction that this locational each measurement point to be measured is corresponding and proofread and correct after utmost point footpath:
Wherein, (x, y) represents the coordinate of a measurement point in the coordinate system of demarcating rule, and R represents the utmost point footpath after correction, and β represents the anglec of rotation after correction.
Because β is non integer value, being not easy to carry out internal diameter determines, therefore, the utmost point footpath of data processing module according to the anglec of rotation after correction corresponding to this locational each measurement point to be measured of determining and after proofreading and correct, by arest neighbors method of interpolation, obtain laser displacement sensor and carry out 360 degree rotations, the anglec of rotation in the coordinate system of demarcating rule after every rotation M degree is the true utmost point footpath of correspondence respectively; And every two true utmost point footpaths corresponding to the anglec of rotation that differ 180 degree in the coordinate system demarcating rule are added, obtain the internal diameter of pipeline section corresponding to this position to be measured.
Afterwards, data processing module can from each internal diameter obtaining, select value maximum as internal diameter Rmax, select value minimum as internal diameter Rmin, and each internal diameter based on obtaining is determined groove width and the groove depth of pipeline section corresponding to this position to be measured, how to confirm groove width and groove depth are prior art, using internal diameter Rmax, internal diameter Rmin and groove width and groove depth as measurement result, send to display module; Display module shows the measurement result receiving.
Illustrate:
Suppose for a position to be measured, in the coordinate system of tested tubular workpiece, when the anglec of rotation of laser displacement sensor is 0 while spending, obtain one-shot measurement data, when the anglec of rotation is 1 while spending, then obtain one-shot measurement data, when the anglec of rotation is 2 while spending, then obtain one-shot measurement data, the rest may be inferred; So, suppose according to the anglec of rotation to be that the R that the measurement data after 0 correction while spending calculates is R0, β is 0.1, according to the anglec of rotation, be that the R that the measurement data after 1 correction while spending calculates is R1, β is 1.2, according to the anglec of rotation, is that the R that the measurement data after 2 corrections while spending calculates is R2, β is 1.9, so, can utilize β value to be respectively 0.1 and the R value of 1.9 o'clock, interpolation obtain in the coordinate system of demarcating rule when the anglec of rotation be 1 corresponding true utmost point footpath while spending.
In addition, in actual applications, for tested tubular workpiece, part position to be measured is only set conventionally, data processing module also can be further according to the anglec of rotation and true utmost point footpath corresponding to difference after every rotation M degree in each locational coordinate system demarcating rule to be measured, by adaptive-interpolation mode, obtain not belonging in tested tubular workpiece the measurement result on the assigned address of position to be measured, and send to display module to show.
Correspondingly, display module also can, when showing each measurement result, further show the distance of one end that position corresponding to this measurement result is connected with adapter sleeve to tested tubular workpiece.
Illustrate:
The length of supposing a tested tubular workpiece is 0.5m, below be position to be measured: 10mm, 20mm, 30mm, 40mm, 50mm, 60mm ... .., by calculus of differences analysis etc., learn when the anglec of rotation be 0 while spending, the utmost point footpath of the tested tubular workpiece in the region of 10～30mm consistance better (be different pipeline section be that 0 corresponding true utmost point footpath while spending is more or less the same in the anglec of rotation), and when the anglec of rotation be 1 while spending, poor in the utmost point footpath of the tested tubular workpiece in the region of 10～30mm consistance, so, if obtain the measurement result of 25mm position by adaptive-interpolation mode, needing first according to the anglec of rotation in the pipeline section of 20mm position is that the anglec of rotation in the pipeline section of 0 corresponding true utmost point footpath while spending and 30mm position is 0 corresponding true utmost point footpath while spending, by linear interpolation, obtain the anglec of rotation in the pipeline section of 25mm position and be 0 corresponding true utmost point footpath while spending, afterwards, according to the anglec of rotation in the pipeline section of 20mm position, be that the anglec of rotation in the pipeline section of 1 corresponding true utmost point footpath while spending and 30mm position is 1 corresponding true utmost point footpath while spending, by cubic spline interpolation, obtain the anglec of rotation in the pipeline section of 25mm position and be 1 corresponding true utmost point footpath while spending, other each angle repeats no longer one by one.
The specific implementation in better and poor region of above-mentioned arest neighbors method of interpolation, linear interpolation, cubic spline interpolation and how to confirm utmost point footpath consistance etc. is prior art.
In actual applications, when tested tubular workpiece is carried out to inner diameter measurement, the delivery positioning subsystem of only creeping can enter into the pipeline of tested tubular workpiece, other subsystem all can not enter, other subsystem can be connected with the delivery positioning subsystem of creeping by wire, and wire can pass in the main shaft of detection robot and in drive machines people's shell.
So far, completed the introduction about tubular workpiece inside diameter measurement system of the present invention.
In a word, adopt tubular workpiece inside diameter measurement system of the present invention, can automatically complete the inner diameter measurement of tubular workpiece, without artificial participation, thereby avoided the impact of human factor, and then improved the accuracy of measurement result, and can carry out as required continuous several times measurement, thus improved measurement efficiency; And, tubular workpiece inside diameter measurement system of the present invention utilizes laser displacement sensor, obliquity sensor and X-Y axle acceleration sensor to realize a kind of contactless measurement, avoided repeating to be installed and measuring error that kinetic stability etc. causes, thereby further improved the accuracy of measurement result; Have again, tubular workpiece inside diameter measurement system of the present invention both can be used for off-line measurement, also be used in the on-line measurement in tubular workpiece process, for improving quality, the rate of reducing the number of rejects and seconds of workpiece and alleviating staff's the equal important in inhibitings such as labour intensity.
The foregoing is only preferred embodiment of the present invention, in order to limit the present invention, within the spirit and principles in the present invention not all, any modification of making, be equal to replacement, improvement etc., within all should being included in the scope of protection of the invention.
Claims (7)
1. a tubular workpiece inside diameter measurement system, is characterized in that, comprising: creep delivery positioning subsystem, a data data acquisition and controlling subsystem and a data process subsystem;
The described delivery positioning subsystem of creeping is connected with control subsystem with described data acquisition, and described data acquisition and control subsystem deliver positioning subsystem and described data process subsystem is connected with described creeping;
In the time need to measuring the internal diameter of a tested tubular workpiece, the described delivery positioning subsystem of creeping is creeped under the control of described data acquisition and control subsystem in the pipeline of described tested tubular workpiece, and when often crawling into a position to be measured, obtain the measurement data of pipeline section corresponding to this position to be measured; The measurement data that the delivery positioning subsystem of creeping described in described data acquisition and control subsystem collection gets, sends to described data process subsystem; Described data process subsystem generates required measurement result according to the measurement data receiving;
The described delivery positioning subsystem of creeping comprises: a drive machines people and a detection robot;
Described drive machines people is connected by joint flange with described detection robot;
The delivery positioning subsystem of creeping described in described drive machines people drives under the control of described data acquisition and control subsystem is creeped in the pipeline of described tested tubular workpiece;
Described detection robot when described in creep delivery positioning subsystem while often crawling into a position to be measured, obtain the measurement data of pipeline section corresponding to this position to be measured;
Described drive machines people comprises: a driving wheel, an engaged wheel, a drive motor, a worm and gear and a shell;
Described drive motor is connected by described worm and gear with described driving wheel; Partly or entirely being exposed to outside described shell of described driving wheel and engaged wheel, within described drive motor and described worm and gear are positioned at described shell;
Described drive motor rotates under the control of described data acquisition and control subsystem, and drive described driving wheel to rotate by described worm and gear, the described engaged wheel that rotarily drives of described driving wheel rotates, and the delivery positioning subsystem of creeping described in the rotarily driving of described driving wheel and described engaged wheel is creeped in the pipeline of described tested tubular workpiece;
Described detection robot comprises: main shaft, one are enclosed within on described main shaft and are fixed on the first back-up ring on described main shaft, two sections of the first isometric spring and the second spring, two groups of supporting constructions, a laser displacement sensor, a sensor base, a conducting slip ring and rotating stepper motors that are enclosed within on described main shaft;
Described laser displacement sensor is fixed in described sensor base, and is connected with described rotating stepper motor by described conducting slip ring, and described rotating stepper motor is fixed on described main shaft;
Wherein, one group of supporting construction, between described rotating stepper motor and described the first back-up ring, comprising: one is enclosed within on described main shaft and is fixed on the second back-up ring on described main shaft, the first slip back-up ring, a N movable branching rod, a N support wheel and a N support bar being enclosed within on described main shaft; N is greater than 2 positive integer, and N support wheel isogonism on circumference distributes;
The first slip back-up ring is connected with one end of described the first spring, and the other end of described the first spring is connected with described the first back-up ring; Described the second back-up ring is between described rotating stepper motor and described the first slip back-up ring; One end of each movable branching rod is connected with described the second back-up ring, the other end is connected with a support wheel, one end of each support bar is connected with described the first slip back-up ring, being a bit connected between the other end and movable branching rod two ends, the movable branching rod that each support bar connects is all different, and the support wheel that each movable branching rod connects is also all different;
Another group supporting construction, between described the first back-up ring and described joint flange, comprising: one is enclosed within on described main shaft and is fixed on the 3rd back-up ring on described main shaft, the second slip back-up ring, a N movable branching rod, a N support wheel and a N support bar being enclosed within on described main shaft; N is greater than 2 positive integer, and N support wheel isogonism on circumference distributes;
The second slip back-up ring is connected with one end of described the second spring, and the other end of described the second spring is connected with described the first back-up ring; Described the 3rd back-up ring is between described joint flange and described the second slip back-up ring; One end of each movable branching rod is connected with described the second slip back-up ring, the other end is connected with a support wheel, one end of each support bar is connected with described the 3rd back-up ring, being a bit connected between the other end and movable branching rod two ends, the movable branching rod that each support bar connects is all different, and the support wheel that each movable branching rod connects is also all different;
During arbitrary support wheel pressurized in arbitrary group of supporting construction, by coupled movable branching rod, be moved and compress the spring being connected with this slip back-up ring with the slip back-up ring that corresponding support bar promotes in this group supporting construction, and then driving each support wheel in this group supporting construction to be moved;
When the described delivery positioning subsystem of creeping often crawls into a position to be measured, described rotating stepper motor rotates under the control of described data acquisition and control subsystem, and drive described laser displacement sensor to carry out circular scan, obtain the measurement data of pipeline section corresponding to this position to be measured.
2. system according to claim 1, is characterized in that, described data acquisition and control subsystem comprise: motion-control module and data acquisition module;
Described motion-control module is connected with described drive motor and described rotating stepper motor, controls described drive motor and described rotating stepper motor is rotated;
Described data acquisition module is connected with described laser displacement sensor, gathers the measurement data that described laser displacement sensor gets, and sends to described data process subsystem.
3. system according to claim 1, is characterized in that,
Described system further comprises: demarcate subsystem; Described demarcation subsystem comprises: demarcate rule and adapter sleeve, described demarcation rule are tubular workpiece with described adapter sleeve;
Described system further comprises: syndrome system, described syndrome system and described data acquisition and control subsystem, described in creep delivery positioning subsystem and described data process subsystem be connected;
The described delivery positioning subsystem of creeping further comprises: obliquity sensor and X-Y axle acceleration sensor, and described obliquity sensor is arranged on the upper end of described the first back-up ring, and described X-Y axle acceleration sensor is arranged on the lower end of described the first back-up ring;
In the time need to carrying out the inner diameter measurement of described tested tubular workpiece, by described adapter sleeve, described demarcation rule are connected with described tested tubular workpiece, and will described in the delivery positioning subsystem of creeping be placed in described demarcation rule, the delivery positioning subsystem of creeping described in controlling by described data acquisition and control subsystem crawls into the assigned address of described demarcation in advising; Described X-Y axle acceleration sensor obtains the axle center initial value on this assigned address, sends to described syndrome system, and described obliquity sensor obtains the axial inclination initial value on this assigned address, sends to described syndrome system;
Afterwards, described data acquisition and the control subsystem delivery positioning subsystem of creeping described in controlling crawls in described tested tubular workpiece from described demarcation rule by described adapter sleeve; When often crawling into a position to be measured, the measurement data of the pipeline section that described data acquisition is corresponding with this position to be measured that the delivery positioning subsystem of creeping described in control subsystem collection gets, and send to described syndrome system; Described syndrome system is proofreaied and correct the measurement data receiving according to the axle center initial value and the axial inclination initial value that receive, and the measurement data after proofreading and correct is sent to described data process subsystem.
4. system according to claim 3, is characterized in that,
Described laser displacement sensor and described main shaft are positioned at same level;
For each position to be measured, described laser displacement sensor carries out 360 degree rotations, and every rotation M degree, obtain once the measurement data of pipeline section corresponding to this position to be measured under this anglec of rotation, by data acquisition and control subsystem, send to described syndrome system; Meanwhile, described X-Y axle acceleration sensor obtains this locational axle center to be measured value, sends to described syndrome system, and described obliquity sensor obtains this locational axial inclination value to be measured, sends to described syndrome system; M is positive integer, and need to guarantee to obtain the integral multiple that the number of times of measurement data is 2;
Described syndrome system is determined the axle center value that receives with respect to the variation displacement (x of axle center initial value
0, y
0), and determine the axial inclination value that receives with respect to the angle changing α of axial inclination initial value; According to described variation displacement and described angle changing, measurement data corresponding to this locational each anglec of rotation to be measured proofreaied and correct;
Wherein, measurement data corresponding to this locational each anglec of rotation to be measured that described laser displacement sensor gets comprises: the coordinate of measurement point corresponding to this anglec of rotation in the coordinate system of described tested tubular workpiece, and measurement point refers to the point in pipeline section internal layer circle corresponding to corresponding this position to be measured of this anglec of rotation;
Measurement data corresponding to this locational each anglec of rotation to be measured after described correction comprises: the coordinate in the coordinate system that measurement point corresponding to this anglec of rotation advised in described demarcation;
Between two coordinate systems, there is following relation:
Wherein, (x, y) represents the coordinate of measurement point in the coordinate system of described demarcation rule, (x ', y ') coordinate of expression measurement point in the coordinate system of described tested tubular workpiece.
5. system according to claim 4, is characterized in that,
Described data process subsystem comprises: interconnected data processing module and display module;
For each position to be measured, described data processing module determine in such a way respectively the anglec of rotation after the correction that this locational each measurement point to be measured is corresponding and proofread and correct after utmost point footpath:
Wherein, described (x, y) represents the coordinate of measurement point in the coordinate system of described demarcation rule, and described R represents the utmost point footpath after correction, and described β represents the anglec of rotation after correction;
β is non integer value, the utmost point footpath of described data processing module according to the anglec of rotation after correction corresponding to this locational each measurement point to be measured of determining and after proofreading and correct, by arest neighbors method of interpolation, obtain laser displacement sensor and carry out 360 degree rotations, the anglec of rotation in the coordinate system of described demarcation rule after every rotation M degree is the true utmost point footpath of correspondence respectively; And every two true utmost point footpaths corresponding to the anglec of rotation that differ 180 degree in the coordinate system on described demarcation rule are added, obtain the internal diameter of pipeline section corresponding to this position to be measured;
From each internal diameter obtaining, select value maximum as internal diameter Rmax, select value minimum as internal diameter Rmin, and each internal diameter based on obtaining is determined groove width and the groove depth of pipeline section corresponding to this position to be measured, using described internal diameter Rmax, described internal diameter Rmin and described groove width and groove depth as measurement result, send to described display module;
Described display module shows the measurement result receiving.
6. system according to claim 5, is characterized in that,
Described data processing module is further according to the anglec of rotation and true utmost point footpath corresponding to difference after every rotation M degree in each locational coordinate system of advising in described demarcation to be measured, by adaptive-interpolation mode, obtain not belonging in described tested tubular workpiece the measurement result on the assigned address of position to be measured, and send to described display module to show;
Described display module, when showing each measurement result, further shows the distance of one end that position corresponding to this measurement result is connected with described adapter sleeve to described tested tubular workpiece.
7. according to the system described in any one in right 4～6, it is characterized in that, the value of described N is 5, and the value of described M is 1.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210387784.9A CN102927922B (en) | 2012-10-12 | 2012-10-12 | System for measuring inner diameter of tubular workpiece |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210387784.9A CN102927922B (en) | 2012-10-12 | 2012-10-12 | System for measuring inner diameter of tubular workpiece |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102927922A CN102927922A (en) | 2013-02-13 |
| CN102927922B true CN102927922B (en) | 2014-11-19 |
Family
ID=47642782
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210387784.9A Expired - Fee Related CN102927922B (en) | 2012-10-12 | 2012-10-12 | System for measuring inner diameter of tubular workpiece |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102927922B (en) |
Families Citing this family (28)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103398665A (en) * | 2013-07-04 | 2013-11-20 | 内蒙古工业大学 | Pipeline robot for internal diameter measurement |
| CN103822593B (en) * | 2014-03-17 | 2017-03-22 | 沈阳飞机工业（集团）有限公司 | Device and method for measuring deviation from cylindrical form of inner hole of large-size pipe fitting |
| CN104121863B (en) * | 2014-07-25 | 2016-09-14 | 杭州电子科技大学 | Contactless aperture measurement device |
| CN104596432B (en) * | 2014-12-10 | 2018-05-04 | 安东检测有限公司 | Joint of petroleum drill rod detection device and method |
| CN105136820A (en) * | 2015-09-09 | 2015-12-09 | 广东工业大学 | Pipeline defect detection robot based on annular laser three-dimensional scanning |
| CN105276333B (en) * | 2015-11-13 | 2017-07-07 | 深圳威特尔自动化科技有限公司 | A kind of pipeline internal robot walking |
| CN105371775B (en) * | 2015-12-18 | 2018-07-20 | 南京信息职业技术学院 | A kind of self-centering deep hole parameter measuring apparatus |
| CN105415383B (en) * | 2015-12-23 | 2017-03-29 | 国家电网公司 | Check in a kind of power pipe and assess robot and appraisal procedure |
| CN106091961A (en) * | 2016-05-25 | 2016-11-09 | 天津工业大学 | High-rate laser inner diameter measurement system |
| US11215566B2 (en) * | 2016-07-14 | 2022-01-04 | The Boeing Company | System and method for internally inspecting a tubular composite part |
| CN106152956B (en) * | 2016-09-23 | 2019-05-21 | 苏州蓝王机床工具科技有限公司 | A kind of laser inside diameter measuring instrument |
| US10760404B2 (en) * | 2016-12-08 | 2020-09-01 | Schlumberger Technology Corporation | Conduit mapping tool and method |
| CN106996749A (en) * | 2017-03-31 | 2017-08-01 | 西安理工大学 | The narrow groove geometric parameter detection means of pipe inner circumferential annular and detection method |
| CN106885516B (en) * | 2017-04-27 | 2018-05-08 | 中国石油大学(华东) | The device of measurement docking pipeline section relative position |
| CN107084675A (en) * | 2017-05-12 | 2017-08-22 | 北京航空航天大学 | A kind of on-line automatic measurement apparatus of spiral welded pipe caliber and method |
| CN107917677B (en) * | 2017-11-07 | 2019-09-17 | 中北大学 | Deep hole circularity real-time detection apparatus |
| CN107859810A (en) * | 2017-12-01 | 2018-03-30 | 北京恒研精创科技有限公司 | Adjustable support device and its system |
| CN108106571B (en) * | 2017-12-14 | 2020-07-31 | 南京理工大学 | Pipeline inner wall laser detection device |
| CN108267457A (en) * | 2017-12-15 | 2018-07-10 | 中国石油天然气第七建设有限公司 | Small-caliber pipeline inner ring seam laser video detecting device |
| CN108180347B (en) * | 2017-12-28 | 2020-02-07 | 苏州市测绘院有限责任公司 | Underground pipeline measuring equipment and using method thereof |
| CN110594525A (en) * | 2019-09-23 | 2019-12-20 | 北京建筑大学 | Pipeline inspection robot |
| CN111121632A (en) * | 2020-01-08 | 2020-05-08 | 青岛农业大学 | Intelligent detection system and method for tire mold |
| CN112082504B (en) * | 2020-09-13 | 2022-04-01 | 中北大学 | Deep hole inner wall geometric structure detection robot system based on line structure light detection method |
| CN112325753B (en) * | 2020-10-27 | 2022-11-08 | 安庆中船柴油机有限公司 | Safety detection device for marine diesel engine cylinder cover |
| CN112525132B (en) * | 2020-11-11 | 2022-06-03 | 中国石油天然气集团有限公司 | Petroleum pipe inner wall ovality measuring instrument and measuring method thereof |
| CN113357481A (en) * | 2021-06-30 | 2021-09-07 | 天津大学 | Pipe diameter self-adaptive pipeline detection robot |
| CN113970308B (en) * | 2021-09-25 | 2023-01-13 | 浙江工业大学之江学院 | Measuring tool for building materials and using method |
| CN117788554B (en) * | 2024-02-23 | 2024-05-28 | 东莞市兆丰精密仪器有限公司 | Pipeline parameter measurement method, electronic equipment and storage medium |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2453434Y (en) * | 2000-12-11 | 2001-10-10 | 上海大学 | Device for detecting fault on wall of thin and small pipeline |
| CN102042811A (en) * | 2010-11-25 | 2011-05-04 | 天津大学 | High-precision multi-parameter automatic inner diameter measurement mechanism and method |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH04132907A (en) * | 1990-09-25 | 1992-05-07 | Kyushu Electric Power Co Inc | Optical inspecting apparatus for piping |
| JP2000350322A (en) * | 1999-06-07 | 2000-12-15 | Sekisui Chem Co Ltd | Robot and method for laying optical fiber in sewer conduit using the same |
-
2012
- 2012-10-12 CN CN201210387784.9A patent/CN102927922B/en not_active Expired - Fee Related
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2453434Y (en) * | 2000-12-11 | 2001-10-10 | 上海大学 | Device for detecting fault on wall of thin and small pipeline |
| CN102042811A (en) * | 2010-11-25 | 2011-05-04 | 天津大学 | High-precision multi-parameter automatic inner diameter measurement mechanism and method |
Non-Patent Citations (4)
| Title |
|---|
| JP平4-132907A 1992.05.07 * |
| JP特开2000-350322A 2000.12.15 * |
| 李芳.火炮身管内膛直径检测***设计.《中国优秀硕士论文全文数据库》.2004,正文第二章第三节、第四章及图2-1. * |
| 火炮身管内膛直径检测***设计;李芳;《中国优秀硕士论文全文数据库》;20040315;正文第二章第三节、第四章及图2-1 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102927922A (en) | 2013-02-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102927922B (en) | System for measuring inner diameter of tubular workpiece | |
| CN104520028B (en) | Method and apparatus for internal measurement pipeline optically | |
| CN102095384B (en) | Multiparameter internal-diameter measurement system and method based on high-precision coaxial positioning | |
| CN107664483B (en) | A kind of cylinder bar shape parameter measurement method | |
| CN102042811B (en) | High-precision multi-parameter automatic inner diameter measurement mechanism and method | |
| CN104384734B (en) | Weld joint tracking and ultrasonic impact system after full automatic welding | |
| US20110198075A1 (en) | In-pipe work device | |
| CN105157600B (en) | A kind of steel pipe profile On-line Measuring Method | |
| CN106996749A (en) | The narrow groove geometric parameter detection means of pipe inner circumferential annular and detection method | |
| US20120167372A1 (en) | Internal roller swaging device and method | |
| CN106123776A (en) | System and measuring method are measured in a kind of push pipe intelligence jacking | |
| CN105241392A (en) | Full-surface three-dimensional measurement device of complex cylindrical workpiece, and measurement method thereof | |
| CN106767557A (en) | Material long aligns operation cathetus degree on-line measuring device and method | |
| CN111692456A (en) | SLAM system and method for pipeline detection | |
| CN101776434A (en) | Method and device for measuring small blind hole based on tunnel current feedback collimation | |
| CN108344370B (en) | Spiral welded pipe pipeline outer diameter measuring device and method based on double visual sensors | |
| CN105300321B (en) | A kind of Small-deep Hole coaxiality detecting method and device | |
| JP2011007587A (en) | Apparatus for measuring steel pipe dimensions | |
| CN103250024B (en) | For detecting the shape of wheel and/or the method for size repairing on plant machinery or analog | |
| CN109458930B (en) | Cast tube bell mouth axis calibration and roundness detection method | |
| CN109798859A (en) | A kind of steel pipe automatic measurement system and steel pipe measurement method | |
| CN103968768A (en) | Device and method for precisely measuring inner diameters of workpieces in non-contact manner | |
| CN109696135B (en) | Non-contact automatic detection method for roundness of bell mouth of cast tube | |
| CN111795651A (en) | Method and equipment for measuring parameters of large-scale revolving body by using mechanical arm | |
| CN205138427U (en) | Each journal center position measuring device of bent axle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20141119 Termination date: 20151012 |
|
| EXPY | Termination of patent right or utility model |