CN102095384A - Multiparameter internal-diameter measurement system and method based on high-precision coaxial positioning - Google Patents
Multiparameter internal-diameter measurement system and method based on high-precision coaxial positioning Download PDFInfo
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- CN102095384A CN102095384A CN2010105603825A CN201010560382A CN102095384A CN 102095384 A CN102095384 A CN 102095384A CN 2010105603825 A CN2010105603825 A CN 2010105603825A CN 201010560382 A CN201010560382 A CN 201010560382A CN 102095384 A CN102095384 A CN 102095384A
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Abstract
The invention relates to a multiparameter internal-diameter measurement system and method based on high-precision coaxial positioning. The multiparameter internal-diameter measurement system comprises a walking positioning mechanism, a laser displacement sensor, a laser distance meter, a motor driving device, a micro-control module, a wireless transmission network, upper computer software, a portable power supply, an optical inclined angle measuring device and a multipoint temperature-measuring compensation system. In the system, two-surface six-point axis positioning can be realized by a bipyramidal link gear connected by a flexible piece. The laser displacement sensor is used for measuring the relative displacement. The laser distance meter is used for measuring the axial advancing distance. Four servo motors are respectively used for driving a positioning mechanism, driving double wheels to walk and driving a measuring arm to rotate. The micro-control module collects data, detects states and controls the motor and the like. The wireless transmission network transmits all messages of an upper computer and a lower computer. The upper computer software is used for processing the data and controlling the measurement. The portable power supply provides energy for the whole system. The measurement system can be used for automatically measuring comprehensive parameters, such as the diameters, roundness, cylindricity, conicity and the like of a round hole and a taper hole, and has the advantages of high measurement efficiency, large measuring range and wide usable range.
Description
Technical field
The present invention relates to industrial large scale inner diameter measurement technology, particularly relate to a kind of multiparameter inside diameter measurement system and measuring method based on the high precision coaxial positioning, specifically is contactless, high-accuracy large-scale inside diameter measurement system.
Background technology
Along with heavy mechanical equipment develops towards complicated, precise treatment direction, detection for the crudy of the needed large-size workpiece of these equipment requires also to improve constantly, its measurement range is several meters to tens meters, measuring accuracy is 10-5～10-6 magnitude, and the overwhelming majority all will be measured at the manufacturing scene, as the main shaft of train wheel, the hydraulic turbine and steam turbine, Generator Set, large size bearing circle, various working rolls etc., all need its diameter is carried out high-acruracy survey, to satisfy in process control to diameter dimension.
Domestic and international most of internal measuring instruments still adopt instrument with contacts such as large-scale spiral mircrometer gauge, large-scale milscale, steel band tape at present, but these measurers complexity are heavy, efficiency of measurement is low, be subject to operating personnel and measurement environment influence.Certainly adopt non-contact measurements such as doppler effect method, roller method, labelling method, laser interferometer, laser lever method also can obtain very high measuring accuracy.But consider that roller method, labelling method need turning of work piece, are not suitable for large-scale workpiece; Laser interferometer, doppler effect method need guide rail, the on-the-spot inconvenience of using; Optical lever method measurement range is little etc., is not suitable for the weakness of the in-site measurement that large-scale workpiece etc. exists.So far fail to be properly settled just because of the problems of measurement of large-diameter high-accuracy such as large-scale workpiece, pipeline at home, so that when the cooperation of large-scale workpiece axis hole, pipe joint assembling, often because its inside/outside diameter size does not meet tolerance fit to be required and do over again, even scrap.Can satisfy technological requirement so develop a kind of measuring accuracy, simple in structure, can realize that in-site measurement large-scale workpiece inner diameter measurement technology and device are extremely important and have application value realistic.
Summary of the invention
The object of the present invention is to provide a kind of multiparameter inside diameter measurement system and measuring method based on the high precision coaxial positioning.On the basis of high precision coaxial positioning, provide a cover full-automatic large scale internal diameter detection system, at first obtain and process approximate measuring basis axis by High Precision Automatic detent mechanism is online, then by radial symmetry, axially there is the paired high-precision laser displacement transducer of certain distance that scanning survey is carried out in 2 fixed range measured hole cross sections, write down the angle value of elaborate servo system control motor encoder correspondence simultaneously, and utilize coordinate processing method, accurately calculate parameters such as aperture size, and be responsible for the walking of delivery system in tested axis hole by automatic motion platform and locate with accurate, measurement resolution is up to 5 microns.This system features in convenient, measuring accuracy height, usable range is wide, efficient is high, and is significant for the on-line measurement of industrial large scale internal diameter.
Multiparameter inside diameter measurement system based on the high precision coaxial positioning provided by the invention comprises:
Ambulation positioning device is used for the automatic walking and the precision positioning of system;
Laser displacement sensor is used for non-contact measurement to obtain the internal diameter data;
Laser range finder is used for the Bluetooth transmission of contactless large-scale metrology and measurement data;
Motor driver is used to control the rotation of motor;
The microcontroller module is used for data acquisition, status monitoring and coordinated movement of various economic factors control;
Wireless-transmission network is used for the wireless transmission of measurement data;
Upper computer software is used for parameter setting, motion control, data processing and demonstration;
Compact power is used to provide institute of system energy requirement;
The optical tilt angle-measuring equipment is used for the measurement and the data correction at system angle of inclination; And
The multi-point temperature measurement compensation system is used for the measurement and the data correction of environment temperature.
The present invention mainly comprises hardware components and software section:
Hardware components: ambulation positioning device, laser displacement sensor, laser range finder, motor driver, microcontroller module, wireless-transmission network, upper computer software, compact power, optical tilt angle-measuring equipment and multi-point temperature measurement compensation system.
Software section: man-machine interface, multiparameter internal diameter algorithm process, temperature compensation algorithm are handled and the slant correction processing section.
Ambulation positioning device of the present invention is made up of sway brace, auxiliary positioning bar, bicone main shaft and wheel driving structure of two, and two travel driving motor put at the travel mechanism locating shaft by screw retention, and are transferred on the road wheel by gear pair; On ambulation positioning device, in the process of axial traveling, four road wheels contact inwall with elasticity secondary row travelling wheel to the location drive motor by screw retention; On ambulation positioning device, it links to each other with two centrum main shafts by precision lead screw the location drive motor by screw retention, and precentrum and postcentrum are fixed on two centrum main shafts; Laser displacement sensor is made up of two high precision trigonometry laser feelers and a sensor controller, laser feeler is fixed on by erection bolt on " L " fixed head at gage beam top, and sensor controller then is loaded in the control box and links to each other with the microcontroller module of system; The gage beam rotary drive motor links to each other with synchronous coupling link by screw, transmitting the motion of gage beam rotary drive motor, thereby drives the rotation of two laser displacement sensors; Described laser range finder is provided with the installation screw thread, on a side end face that is bolted to measurand; Described microcontroller module is installed in the control cabinet inside, the control cabinet by screw retention in ambulation positioning device bottom; Described wireless-transmission network is used to realize the transmission of host computer and slave computer data, steering order and status signal, one of them wireless communication module is installed in the control cabinet inside, a wireless communication module links to each other with host computer, remaining wireless communication module links to each other with temperature sensor, is fixed on tested pipeline inside; Described compact power is fixed in the prelocalization mechanism by erection bolt; Described optical tilt angle-measuring equipment is fixed on an end of tested pipeline by erection bolt; Described multi-point temperature measurement compensation system is installed in the inside of tested pipeline.
Described ambulation positioning device is the carrier and the moving component of system, road wheel is fixed on the sway brace of both sides by travel mechanism location axle sleeve and gathering sill, the secondary row travelling wheel is fixed on the auxiliary positioning bar by spring, can regulate stroke automatically according to the internal diameter size.In the process of axial traveling, four road wheels contact inwall with elasticity secondary row travelling wheel, guarantee mechanism stability, adopt the mode driving mechanism walking of two trailing wheel drive.After device row is walked to put in place, location drive motor action, conversion through precision lead screw, rotatablely moving of motor is converted to the rectilinear motion of leading screw, promoting the bicone main shaft by leading screw advances, because the pretightning force that flexible pre-tightening mechanism provides, make three synchronous sway braces of cross section I locate earlier, the location drive motor continues to advance, and then three synchronous sway braces location on the realization cross section II, the sway brace center is the expansion link with automatic contractile function, can be according to actual, measured dimension, apolegamy proper supporting arm can be realized centering with the assurance system in tested axis hole.
Described laser displacement sensor is the core measurement component of measuring system, form by two high precision trigonometry laser feelers and a sensor controller, laser feeler is fixed on " L " fixed head at gage beam top by erection bolt, can be according to actual, measured dimension, the extension rod of apolegamy corresponding size, with the distance that guarantees laser feeler and tested shaft hole inner wall in range ability, sensor controller is by being bolted in the control box, and links to each other by signal wire with the microcontroller module of system.
Described laser range finder is made up of noncontact large-scale metrology and measurement data Bluetooth transmission functional part, is used for measuring mechanism in ducted position.Laser range finder is provided with the installation screw thread, on a side end face that is bolted to measurand.
Described motor driver is the core component of system motion control, is used to realize axial two-wheel drive walking, the driving that two gauge head rotations synchronously and bicone interlock detent mechanism are successively located.Comprise that motion controller, DC servo motor, motor driver and periphery circuit connect; Motion controller is accepted the instruction from host computer, judges according to instruction, and sends the motion state of corresponding movement instruction with the control servomotor to motor driver; Adopt modular design, the chassis walking module comprises two travel driving motor, is used for driving mechanism at axial traveling; Synchronous interaction centering module comprises a location drive motor, through the conversion of precision lead screw rotatablely moving of motor is converted to the rectilinear motion of leading screw, drives the bicone main shaft by leading screw and realizes that double sections successively locatees; The wheel measuring module comprises a gage beam rotary drive motor, is implemented in the synchro measure of two different cross sections through the gage beam that will drive 180 ° of symmetries of two one-tenth after the conversion of gear pair.
Described microcontroller module is used for the functions such as data acquisition, status monitoring and coordinated movement of various economic factors control of total system.
Described wireless-transmission network is used to realize the transmission of host computer and slave computer data, steering order and status signal, can adapt to complex environment, has avoided dragging line.
Described compact power adopts single lithium battery combination technique and high precision voltage stabilizing technique to provide energy for microcontroller module, motor and sensor, and easy to carry, durable ability is strong.
Described optical tilt angle-measuring equipment is fixed on an end of tested pipeline by erection bolt, is used for the angle of inclination of measuring system.
Described multi-point temperature measurement compensation system is laid a plurality of temperature sensors in measurand inside, sets up the thermometric network, and the phenomenon that rises because of contracting of temperature variation generation is compensated, and realizes the consistance of measurement result under the different temperatures environment.
Described upper computer software is based on Visual C++6.0 realization, comprises man-machine interface and internal diameter algorithm process, and man-machine interface partly comprises functions such as parameter setting, control knob and data presentation.After setting initiation parameter, click the " RUN " button, system is according to the parameter preset scanning survey, under the effect of microcontroller module, gather automatically the range finding reference point to impact point i apart from ρ
i, and according to inner diameter measurement principle (see figure 4), be i point polar coordinates (θ
i, ρ
i+ H
0) be converted into rectangular coordinate system, ((ρ
i+ H
0) * cos θ
i, (ρ
i+ H
0) * sin θ
i), be simultaneously displayed on the relevant position at interface, one week of continuous sweep measuring workpieces, obtain N group measurement point, utilize data processing algorithm to obtain the geometric parameter of workpiece, preserve, print measurement report at last.
The method of the multi-functional inner diameter measurement based on the high precision coaxial positioning provided by the invention may further comprise the steps:
1), selects proper supporting arm and gage beam, and measuring system is placed among the tested axis hole according to tested shaft hole diameter.The travel distance of the cross section setting measurement system of Ce Lianging as required, and by wireless-transmission network, the initial value that host computer is configured sends the microcontroller module to and carries out the initialization setting.After initialization finished, host computer sent startup command, the travel driving motor setting in motion, and measuring system is responsible for moving to the target location by ambulation positioning device.
2) after motion put in place, the location drive motor began rotation and promotes the bicone main shaft to advance, and sway brace radially outward stretches out under this effect.The sway brace center is the expansion link with automatic contractile function, can be according to actual, measured dimension, and apolegamy proper supporting arm can be realized centering with the assurance system in tested axis hole.Because the pretightning force that elastic construction provides, three synchronous sway braces of cross section I will touch inner-walls of duct earlier, and the location drive motor continues to advance, and then realize that three synchronous sway brace contacts on the II of cross section hold out against inwall to realize the location.In the internal diameter location process, thereby reach the purpose of its operation torque of monitoring by the size of real-time judge location drive motor armature supply, promptly when electric current reaches predetermined value, keep the armature electric current by servocontrol, make the ambulation positioning device stable support play mechanism body, and the processing axis of the reproduction of the axis by ambulation positioning device internal diameter of the pipeline, reduced the error of benchmark conversion, guaranteed the precision that detects from the source of test.
3) after finished the internal diameter location, laser displacement sensor was started working, and under the drive of gage beam rotary drive motor, laser displacement sensor will carry out circular scan to tube wall.The internal diameter data that laser displacement sensor obtains are given the microcontroller module by bus transfer, and finally sending to host computer by wireless-transmission network carries out follow-up data processing and analysis.
4) upper computer software mainly is responsible for the control of slave computer and the processing and the analysis of inner diameter measurement data.The software of host computer is based on Visual C++6.0 realization, comprises man-machine interface and internal diameter algorithm process, and man-machine interface partly comprises functions such as parameter setting, control knob and data presentation.After host computer sets initiation parameter, click the " RUN " button, system is according to the parameter preset scanning survey, under the effect of microcontroller module, gather automatically the range finding reference point to impact point i apart from ρ
i, and according to the inner diameter measurement principle, be i point polar coordinates (θ
i, ρ
i+ H
0) be converted into rectangular coordinate system ((ρ
i+ H
0) * cos θ
i, (ρ
i+ H
0) * sin θ
i), be simultaneously displayed on the relevant position at interface, one week of continuous sweep measuring workpieces, obtain N group measurement point, utilize data processing algorithm to obtain the geometric parameter of workpiece, preserve, print measurement report at last.
5) in the operational process of laser displacement sensor, laser range finder will detect the position of measuring mechanism, and by bluetooth module the position of surveying be radioed to host computer; The multi-point temperature measurement compensation system will be measured the temperature of test environment and measured body, by laying a plurality of temperature sensors in measurand inside, set up the thermometric network, thereby can compensate, realize the consistance of measurement result under the different temperatures environment the phenomenon that rises because of contracting of temperature variation generation; The optical tilt angle-measuring equipment can obtain the angle of inclination of system, and then data are carried out correcting process.
The circuit of the multiparameter inside diameter measurement system based on the high precision coaxial positioning provided by the invention comprises with the lower part:
1) based on the TMS320F2812 of TI company as the microcontroller module, it mainly is responsible for the servo motion control to motor, the control of laser displacement sensor, the collection of inner diameter measurement signal and processing, selection of temperature signal, the collection of position signalling and reception and to the control of wireless-transmission network.
2) based on the servo motion control circuit of the Accelnet series digital formula servo motion control card of Copley company, it mainly is responsible for servo motion control to motor, the motion control of directly controlling each motor by the structure and the CANopen motion control agreement of CAN bus.
3) based on the wireless-transmission network of Zigbee technology, it mainly is responsible for the wireless telecommunications of host computer and slave computer, by advanced person's coding, error code correction technique guarantee reliability of data transmission.
4) portable power supplies circuit, it mainly is responsible for power supply stable to circuit and that continue; The SCI bus interface circuit, it mainly is responsible for the communication of slave computer microcontroller module and laser displacement sensor; The CAN bus interface circuit, it is mainly used in the communication of slave computer microcontroller module and motor driver.
The invention has the advantages that: experimental provision is simple in structure, execute-in-place is convenient, efficiency of measurement is high, precision is high, antijamming capability is strong, and is non-cpntact measurement, is particularly suitable for the large scale multiparameter inner diameter measurement of complex environment.
Description of drawings:
Fig. 1 is the general structure assembling synoptic diagram of measuring system of the present invention.
Fig. 2 is the TT﹠C system structured flowchart of measuring system of the present invention.
Fig. 3 is the measuring principle figure of measuring system of the present invention.
Fig. 4 is the observing and controlling application flows figure of measuring system of the present invention.
Fig. 5 is the host computer Data Receiving processing flow chart of measuring system of the present invention.
Fig. 6 is the internal diameter algorithm routine process flow diagram of measuring system of the present invention.
Fig. 7 is the application program operation interface of measuring system of the present invention.
Fig. 8 is provided with the interface for the application program system of measuring system of the present invention.
Embodiment
Below in conjunction with accompanying drawing the present invention is elaborated:
As shown in Figure 1, assemble synoptic diagram for the general structure of measuring system of the present invention.The 1-ambulation positioning device, 2-laser displacement sensor, 3-laser range finder, 4-locatees drive motor, 5-gage beam rotary drive motor, 6-travel driving motor, 7-control cabinet (comprising the microcontroller module, motor driver, wireless communication module) 8-wireless communication module, the 9-upper computer software, 10-compact power, 11-optical tilt angle-measuring equipment, 12-multi-point temperature measurement compensation system, the 13-laser instrument, 14-prelocalization mechanism, 15-secondary row travelling wheel, detent mechanism behind the 16-, 17-bicone main shaft, 18-precentrum, the flexible pre-tightening mechanism of 19-, the synchronous coupling link of 20-, the 21-road wheel, 22-travel mechanism location axle sleeve, 23-posterior pyramids.
As shown in Figure 1, the multiparameter internal diameter automatic measurement system of realization high precision coaxial positioning provided by the invention comprises: ambulation positioning device, laser displacement sensor, laser range finder, motor driver, microcontroller module, wireless-transmission network, upper computer software, compact power, optical tilt angle-measuring equipment and multi-point temperature measurement compensation system.
As shown in Figure 1, described ambulation positioning device is the carrier and the execution unit of system, is made up of sway brace, auxiliary positioning bar, bicone main shaft and wheel driving structure of two.Two travel driving motor 6 are located on the axle sleeve 22 in travel mechanism by screw retention, and are transferred on the road wheel 21 by gear pair; In the process of axial traveling, four road wheels contact inwall with elasticity secondary row travelling wheel 15.On ambulation positioning device 1, it links to each other with two centrum main shafts 17 by precision lead screw location drive motor 4 by screw retention, and precentrum 18 is fixed on two centrum main shafts 17 with postcentrum 23.The core measurement component that described laser displacement sensor 2 is measuring systems, form by two high precision trigonometry laser feelers and a sensor controller, laser feeler is fixed on by erection bolt on " L " fixed head at gage beam top, and sensor controller then is loaded in the control cabinet 7 and links to each other with the microcontroller module of system.Gage beam rotary drive motor 5 links to each other with synchronous coupling link 20 by screw, transmitting the motion of gage beam rotary drive motor, thereby drives the rotation of two laser feelers.Described laser range finder 3 is used for measuring mechanism in ducted position, and laser range finder is provided with the installation screw thread, on a side end face that is bolted to measurand.Described microcontroller module is used for the functions such as data acquisition, status monitoring and coordinated movement of various economic factors control of total system, and it is installed in control cabinet 7 inside, the control cabinet by screw retention in ambulation positioning device 1 bottom.Described wireless-transmission network is used to realize the transmission of host computer and slave computer data, steering order and status signal, one of them wireless communication module is installed in control cabinet 7 inside, a wireless communication module links to each other with host computer, remaining wireless communication module links to each other with temperature sensor, is fixed on tested pipeline inside.Described compact power 10 is fixed in the prelocalization mechanism 14 by erection bolt.Described optical tilt angle-measuring equipment 11 is fixed on an end of tested pipeline by erection bolt.Described multi-point temperature measurement compensation system 12 is installed in the inside of tested pipeline.
As shown in Figure 2, TT﹠C system structured flowchart for measuring system of the present invention comprises: servomotor, automatic positioning mechanism, laser displacement sensor, laser range finder, compact power, microcontroller module, wireless-transmission network, temperature collect module, slant correction module and host computer.Wherein two travel driving motor are installed on two driving wheels of ambulation positioning device, are responsible for the walking of drive system; A location drive motor links to each other with the bicone main shaft by precision lead screw, is responsible for the automatic location of drive system; A gage beam rotary drive motor is installed on the synchronous coupling link, is responsible for driving the rotation of two laser displacement sensors; Laser range finder is installed in an end of tested pipeline, is responsible for measuring system in ducted position; The microcontroller module is installed in the control cabinet inside, is responsible for the functions such as data acquisition, status monitoring and coordinated movement of various economic factors control of total system; Compact power is installed on the sway brace of ambulation positioning device, is responsible for microcontroller module, motor and sensor energy is provided; A wireless communication module is installed in the control cabinet inside, and a wireless module links to each other with host computer, and remaining wireless communication module links to each other with temperature sensor, is responsible for the wireless data transmission of total system; The slant correction module is installed in an end of tested pipeline, is responsible for the angle of inclination of measuring system, so that measurement result is compensated and corrected; Temperature collect module is installed in the inside of tested pipeline, is responsible for setting up the thermometric network, so that measurement result is compensated and corrected; The responsible functions such as motion control, state demonstration and data fitting that system is carried out of host computer.
Described ambulation positioning device is the carrier and the execution unit of system, in the process of axial traveling, four road wheels contact inwall with elasticity secondary row travelling wheel 15, guarantee mechanism stability, mechanism is by two trailing wheel drive, in real time the rotating speed and the displacement difference of two road wheels of monitoring also judge the rotating speed of regulating two movable motors, with guarantee mechanism can be in axis hole straight line moving, improve the bearing accuracy of its motion; After mechanism's walking puts in place, location drive motor action, promoting bicone main shaft 17 advances, because the pretightning force that elastic construction provides, make three synchronous sway braces of cross section I locate earlier, motor continues to advance, and then realizes three synchronous sway brace location on the II of cross section, the sway brace center is the expansion link with automatic contractile function, can regulate stroke with the motion of bicone main shaft.
The core measurement component that described laser displacement sensor 2 is measuring systems, form by two high precision trigonometry laser feelers and a sensor controller, laser feeler is fixed on by erection bolt on " L " fixed head at gage beam top, and sensor controller then is loaded in the control box 7 and links to each other with the microcontroller module of system.Described laser range finder 3 is used for measuring mechanism in ducted position.Described motor driver is the core of measuring system motion control, is used to realize axial two-wheel walking, the driving that rotation synchronously of two laser feelers and bicone interlock detent mechanism are successively located.Described microcontroller module is used for the functions such as data acquisition, status monitoring and coordinated movement of various economic factors control of measuring system.Described wireless-transmission network is used to realize the transmission of host computer and slave computer data, steering order and status signal, can adapt to complex environment, has avoided dragging line.Described compact power adopts single lithium battery combination technique and high precision voltage stabilizing technique to provide energy for microcontroller module, motor and sensor, and easy to carry, durable ability is strong.
Described optical tilt angle-measuring equipment 11 is in order to have obtained the angle of inclination of system, and then data are carried out correcting process.Described multi-point temperature measurement compensation system 12 is laid a plurality of temperature sensors in measurand inside, sets up the thermometric network, and the phenomenon that rises because of contracting of temperature variation generation is compensated, and realizes the consistance of measurement result under the different temperatures environment.Described upper computer software is then realized man-machine interface, internal diameter algorithm process and is preserved and print the measurement report function.
The step that the measurement application program mainly comprises is: the information communication between microcontroller module and the host computer, motor walking positioning control, laser displacement sensor are measured control, measuring distance and angle demonstration, internal diameter algorithm process, data and result and are preserved, and particular flow sheet as shown in Figure 4.
Before measuring, at first adjust the radial expansion amount of four road wheels, guarantee its stable contact tube wall, then measuring mechanism is put into tested pipeline, adjust the secondary row travelling wheel simultaneously, make it to contact inwall.Treat mechanical structural adjustment finish the back opening power, open the power switch of control cabinet, start wireless- transmission network 7,8,12, set up communication network with host computer, after treating that laser displacement sensor 2 preheatings are finished, click " system's setting " button on the (see figure 7) of host computer measurement interface, select the model of pipeline, different model has contained different initiation parameters and steering order, click the " RUN " button on the interface then, host computer sends to the microcontroller module to the initiation parameter of selected model automatically, and the microcontroller module is responsible for whole-process automatic and is measured, and upper computer software has measuring ability and time-out simultaneously, enforcement functionalities such as extractor.Under the normal condition, after the microcontroller module initialization is finished, just start travel driving motor 6, measurement mechanism is walked vertically, the parameter of detection laser stadimeter 3 arrives object section until mechanism kinematic simultaneously,
After device row was walked to put in place, the drive motor action of microcontroller module controls location promoted two centrum main shafts and advances, and the positioning supports arm radially outward stretches out under the drive of two centrum main shafts.Because the pretightning force that elastic mechanism provides makes three prelocalization sway braces contact inner-walls of duct prior to rear-locating face, the location drive motor continues to advance, and then positioning supports arm contact inner-walls of duct after realizing three, support the mechanism for testing body, hold out against inner-walls of duct, finish the location.
After finish the location, the action of microcontroller module controls gage beam rotary drive motor, this motion passes to transmission shaft output gear wheel set by forward and backward transmission shaft, and rotates by the ring cingulum moving measurement sway brace and the laser displacement sensor of sliding sleeve.System's timing acquiring laser displacement sensor 2 data and gage beam rotary drive motor 5 code device signals, pass to host computer by wireless-transmission network simultaneously, upper computer software extracts data according to the data extraction program (see figure 5), is i point polar coordinates (θ according to the measuring principle (see figure 3) simultaneously
i, ρ
i+ H
0) be converted into rectangular coordinate system ((ρ
i+ H
0) * cos θ
i, (ρ
i+ H
0) * sin θ
i), and be presented at the relevant position at interface, one week of continuous sweep measuring workpieces, obtain N group measurement point, obtain the angle of inclination value of optical tilt angle-measuring equipment 11 and the real time environment temperature value of multi-point temperature measurement compensation system 12 at last, be used for follow-up error and reject and revise, utilize internal diameter data processing method (see figure 6) to obtain the geometric parameter of workpiece then, preserve, print measurement report at last.
After the measurement action is finished, the positioning supports arm radially reclaims under the drive of location drive motor, mechanism is supported by ambulation positioning device again, and travel driving motor and servo-drive system control road wheel rotate, and then drive measuring mechanism body goes to next detection sectional plane.
Application Example:
As shown in Figure 1, measuring system is placed ring gauge, there is the step of 1mm ring gauge inside, its internal diameter size is 582mm for cross section I, cross section II is 584mm, opens the power supply of control cabinet and wireless communication module, and upper computer software, at first click " system's setting ", as shown in Figure 8, selecting the internal diameter size of measured workpiece is 582mm, and the travel distance that measuring system is set is 20cm, the speed of travel is 0.6m/min, and the walking acceleration is 6m/s2.After setting is finished, click " RUN ", measuring system is according to the travel distance that is provided with at this moment, and the speed of travel and walking acceleration begin to advance; After measuring system moved to the target location, ambulation positioning device began action; After centering finishes, drive 2 laser feelers by the gage beam rotary drive motor and the inside surface of ring gauge is carried out complete cycle scanning with the rotating speed of 360 °/min, the internal diameter that utilizes internal diameter data processing method (Fig. 6) can obtain workpiece cross section I is 581.9953mm, deviation from circular from is 0.033mm, the internal diameter of cross section II is 583.9975mm, deviation from circular from is 0.025mm, satisfies the measuring system accuracy requirement; Click " preservation data ", preserve all data and the analysis result of this time measurement.
Claims (9)
1. the multiparameter inside diameter measurement system of a high precision coaxial positioning is characterized in that it comprises:
Ambulation positioning device is used for the automatic walking and the precision positioning of system;
Laser displacement sensor is used for non-contact measurement to obtain the internal diameter data;
Laser range finder is used for the Bluetooth transmission of contactless large-scale metrology and measurement data;
Motor driver is used to control the rotation of motor;
The microcontroller module is used for data acquisition, status monitoring and coordinated movement of various economic factors control;
Wireless-transmission network is used for the wireless transmission of measurement data;
Upper computer software is used for parameter setting, motion control, data processing and demonstration;
Compact power is used to provide institute of system energy requirement;
The optical tilt angle-measuring equipment is used for the measurement and the data correction at system angle of inclination; And
The multi-point temperature measurement compensation system is used for the measurement and the data correction of environment temperature.
2. the multiparameter inside diameter measurement system of a high precision coaxial positioning is characterized in that it comprises: hardware components and upper computer software part:
Hardware components: ambulation positioning device, laser displacement sensor, laser range finder, motor driver, microcontroller module, wireless-transmission network, upper computer software, compact power, optical tilt angle-measuring equipment and multi-point temperature measurement compensation system;
The upper computer software part: man-machine interface, multiparameter internal diameter algorithm process, temperature compensation algorithm are handled and the slant correction processing section.
3. according to the described multiparameter inside diameter measurement system of claim 2, it is characterized in that described ambulation positioning device is made up of sway brace, auxiliary positioning bar, bicone main shaft and wheel driving structure of two, two travel driving motor put at the travel mechanism locating shaft by screw retention, and are transferred on the road wheel by gear pair; In the process of axial traveling, four road wheels contact inwall with elasticity secondary row travelling wheel; On ambulation positioning device, it links to each other with two centrum main shafts by precision lead screw the location drive motor by screw retention, and precentrum and postcentrum are fixed on two centrum main shafts.
4. according to the described multiparameter inside diameter measurement system of claim 2, it is characterized in that described laser displacement sensor is made up of two high precision trigonometry laser feelers and a sensor controller, laser feeler is fixed on by erection bolt on " L " fixed head at gage beam top, and sensor controller then is loaded in the control box and links to each other with the microcontroller module of system; The gage beam rotary drive motor links to each other with synchronous coupling link by screw, transmitting the motion of gage beam rotary drive motor, thereby drives the rotation of two laser displacement sensors; Described laser range finder is provided with the installation screw thread, on a side end face that is bolted to measurand; Described microcontroller module adopts 32 level controllers, is installed in the control cabinet inside, is used for data acquisition, status monitoring and the coordinated movement of various economic factors control function of total system; Described compact power adopts single lithium battery combination and high precision voltage stabilizing for microcontroller module, motor and sensor provide energy, is installed on the sway brace of ambulation positioning device.
5. according to the described multiparameter inside diameter measurement system of claim 2, it is characterized in that described motor driver comprises that motion controller, DC servo motor, motor driver and periphery circuit connect; Motion controller is accepted the instruction from host computer, judges according to instruction, and sends the motion state of corresponding movement instruction with the control servomotor to motor driver; Adopt modular design, the chassis walking module comprises two travel driving motor, is used for driving mechanism at axial traveling; Synchronous interaction centering module comprises a location drive motor, through the conversion of precision lead screw rotatablely moving of motor is converted to the rectilinear motion of leading screw, drives the bicone main shaft by leading screw and realizes that double sections successively locatees; The wheel measuring module comprises a gage beam rotary drive motor, is implemented in the synchro measure of two different cross sections through the gage beam that will drive 180 ° of symmetries of two one-tenth after the conversion of gear pair.
6. according to the described multiparameter inside diameter measurement system of claim 2, it is characterized in that it is the low speed data transmission of 250kb/s that described wireless-transmission network adopts communication speed, and use the free frequency range of 2.4GHz, its wireless communication module is installed in control cabinet inside, host computer and tested pipeline inside, is used to realize the wireless data transmission of total system.
7. according to the described multiparameter inside diameter measurement system of claim 2, it is characterized in that described upper computer software is based on that visual c++ 6.0 realizes, comprise man-machine interface and internal diameter algorithm process, man-machine interface partly comprises parameter setting, control knob and data presentation function; After setting initiation parameter, click the " RUN " button, system is according to the parameter preset scanning survey, under the effect of microcontroller module, gather automatically the range finding reference point to impact point i apart from ρ
i, and according to inner diameter measurement principle (see figure 4), be i point polar coordinates (θ
i, ρ
i+ H
0) be converted into rectangular coordinate system, ((ρ
i+ H
0) * cos θ
i, (ρ
i+ H
0) * sin θ
i), be simultaneously displayed on the relevant position at interface, one week of continuous sweep measuring workpieces, obtain N group measurement point, utilize data processing algorithm to obtain the geometric parameter of workpiece, preserve, print measurement report at last.
8. according to the described multiparameter inside diameter measurement system of claim 2, it is characterized in that described optical tilt angle-measuring equipment is installed in an end of tested pipeline, carry out correcting process by the angle of inclination of measuring system and then to measurement data; Described multi-point temperature measurement compensation system, lay a plurality of temperature sensors in measurand inside, set up the thermometric network, the phenomenon that rises because of contracting of temperature variation generation is compensated, realize the consistance of measurement result under the different temperatures environment, adopt the PCB soft board, make temperature sensor and measurand inwall fit closely, reflect the actual temperature of measurand to greatest extent.
9. the measuring method of the described multi-functional inside diameter measurement system based on the high precision coaxial positioning of claim 2 is characterized in that may further comprise the steps:
1) according to tested shaft hole diameter, select proper supporting arm and gage beam, and measuring system is placed among the tested axis hole, the travel distance of the cross section setting measurement system of Ce Lianging as required, and by wireless-transmission network, the initial value that host computer is configured sends the microcontroller module to and carries out the initialization setting; After initialization finished, host computer sent startup command, the travel driving motor setting in motion, and measuring system is responsible for moving to the target location by ambulation positioning device;
2) after motion puts in place, the location drive motor begins rotation and promotes the bicone main shaft to advance, sway brace radially outward stretches out under this effect, the sway brace center is the expansion link with automatic contractile function, can be according to actual, measured dimension, apolegamy proper supporting arm, can in tested axis hole, realize centering with the assurance system, because the pretightning force that elastic construction provides, three synchronous sway braces of cross section I will touch inner-walls of duct earlier, the location drive motor continues to advance, and then realize that three synchronous sway braces contacts on the II of cross section hold out against inwall to realize the location, in the internal diameter location process, thereby reach the purpose of its operation torque of monitoring by the size of real-time judge location drive motor armature supply, promptly when electric current reaches predetermined value, keep the armature electric current by servocontrol, make the ambulation positioning device stable support play mechanism body, and reappear the processing axis of internal diameter of the pipeline by the axis of ambulation positioning device, reduce the error of benchmark conversion, guaranteed the precision of detection from the source of test;
3) after finish the internal diameter location, laser displacement sensor is started working, under the drive of gage beam rotary drive motor, laser displacement sensor will carry out circular scan to tube wall, the internal diameter data that laser displacement sensor obtains are given the microcontroller module by bus transfer, and finally sending to host computer by wireless-transmission network carries out follow-up data processing and analysis;
4) after host computer sets initiation parameter, click the operation button, system is according to the parameter preset scanning survey, under the effect of microcontroller module, gather automatically the range finding reference point to impact point i apart from ρ
i, and according to the inner diameter measurement principle, be i point polar coordinates (θ
i, ρ
i+ H
0) be converted into rectangular coordinate system ((ρ
i+ H
0) * cos θ
i, (ρ
i+ H
0) * sin θ
i), be simultaneously displayed on the relevant position at interface, one week of continuous sweep measuring workpieces, obtain N group measurement point, utilize data processing algorithm to obtain the geometric parameter of workpiece, preserve, print measurement report at last;
5) in the operational process of laser displacement sensor, laser range finder will detect the position of measuring mechanism, and by bluetooth module the position of surveying be radioed to host computer; The multi-point temperature measurement compensation system will be measured the temperature of test environment and measured body, by laying a plurality of temperature sensors in measurand inside, set up the thermometric network, the phenomenon that rises because of contracting of temperature variation generation is compensated, realize the consistance of measurement result under the different temperatures environment; The optical tilt angle-measuring equipment can obtain the angle of inclination of system, and then data are carried out correcting process.
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| CN2010105603825A CN102095384B (en) | 2010-11-25 | 2010-11-25 | Multiparameter internal-diameter measurement system and method based on high-precision coaxial positioning |
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