CN109238158A - A kind of internal diameter of the pipeline detection platform and its control method based on coordinates robot - Google Patents
A kind of internal diameter of the pipeline detection platform and its control method based on coordinates robot Download PDFInfo
- Publication number
- CN109238158A CN109238158A CN201810797558.5A CN201810797558A CN109238158A CN 109238158 A CN109238158 A CN 109238158A CN 201810797558 A CN201810797558 A CN 201810797558A CN 109238158 A CN109238158 A CN 109238158A
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- Prior art keywords
- shaft
- coordinates
- coordinates robot
- testing agency
- internal diameter
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/08—Measuring arrangements characterised by the use of optical techniques for measuring diameters
- G01B11/12—Measuring arrangements characterised by the use of optical techniques for measuring diameters internal diameters
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/2408—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures for measuring roundness
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Manipulator (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The internal diameter of the pipeline detection platform based on coordinates robot that the invention discloses a kind of, testing agency is mounted on coordinates robot, and testing agency includes horizontally disposed shaft, the power unit for driving shaft to rotate and is mounted on shaft one end with the laser sensor for being detected to Target pipe inner surface contour degree and cylindricity；Coordinates robot is for driving testing agency to carry out straight reciprocating along X, Y, Z axis direction；The inside that power control cabinet is connect to make laser sensor be located at the Target pipe for controlling coordinate machine human action with coordinates robot, and the axial line of shaft is overlapped with the axial line of Target pipe；Power control cabinet is also connect for controlling power unit movement with the power unit in testing agency.Suitable for different types of workplace, detection accuracy is high, efficiency is fast, is also convenient for backstage personnel manipulation and maintenance.
Description
Technical field
The present invention relates to Industrial Robot Technology field more particularly to a kind of internal diameter of the pipeline detections based on coordinates robot
Platform and its control method.
Background technique
With the development of economy, production technology level is also promoted constantly, and the requirement of Product Precision is consequently increased, such as
The present requires the surface smoothness of pipeline also higher and higher, it is therefore desirable to which high-precision internal diameter of the pipeline cubing, the prior art are logical
Frequently with no-go gage or artificial detection, this detection mode is suitable for small pipeline, or to the lower detecting field of required precision
It closes, therefore is difficult to be suitable for the application range of large-scale pipeline or high-precision detection demand, and time-consuming and inefficiency.
Summary of the invention
Technology based on the above background, the present invention propose a kind of internal diameter of the pipeline based on coordinates robot
Detection platform.
The internal diameter of the pipeline detection platform based on coordinates robot that the invention proposes a kind of, comprising: testing agency, coordinate machine
Device people and power control cabinet, in which:
Testing agency is mounted on coordinates robot, and testing agency includes horizontally disposed shaft, for driving shaft to turn
Dynamic power unit and shaft one end is mounted on the laser for being detected to Target pipe inner surface contour degree and cylindricity
Sensor；
Coordinates robot is for driving testing agency to carry out straight reciprocating along X, Y, Z axis direction；
Power control cabinet is connect to make laser sensor be located at the target for controlling coordinate machine human action with coordinates robot
The inside of pipeline, and the axial line of shaft is overlapped with the axial line of Target pipe；
Power control cabinet is also connect for controlling power unit movement with the power unit in testing agency.
Preferably, one end of shaft is equipped with the link block being threadedly coupled with it, and laser sensor is fixedly mounted on link block
On.
Preferably, power unit includes servo motor and the retarder that connect with servo motor；The shaft is far from laser
One end of sensor is fixedly connected with the output shaft of retarder.
Preferably, shaft is fixedly connected by shaft coupling with the output shaft of retarder, and the side wall of the shaft coupling is equipped with
For adjusting the fastening screw of its inner diameter size.
Preferably, coordinates robot includes load table, for driving load table to carry out straight reciprocating along the x axis
First driving mechanism, the second driving mechanism for carrying out straight reciprocating along the y axis for load table and for load table along Z
The third driving mechanism of axis direction progress straight reciprocating；Testing agency is mounted in load table.
Preferably, load table is equipped with folding organ cover far from the side of testing agency.
A kind of internal diameter of the pipeline detection platform system based on coordinates robot, comprising: coordinate acquiring device and such as above-mentioned institute
The internal diameter of the pipeline detection platform based on coordinates robot stated, in which: coordinate acquiring device is for obtaining in Target pipe port
The position coordinates of heart point, and the position coordinates by obtaining control coordinate machine human action, to drive testing agency to carry out X-axis side
To, Y direction, Z-direction move.
A kind of control method of the internal diameter of the pipeline detection platform based on coordinates robot, comprising:
The position coordinates of central point at Target pipe port, and the position coordinates that will acquire are obtained by coordinate acquiring device
It is sent to power control cabinet；
Position coordinates control coordinates robot drives testing agency to carry out X-direction, Y-axis side to power control cabinet based on the received
It is moved to, Z-direction, so that laser sensor is located at the inside of the Target pipe, and the axial line of shaft and Target pipe
Axial line is overlapped；
When laser sensor is located at the inside of the pipeline, and the axial line of shaft is overlapped with the axial line of Target pipe,
Power control cabinet controls power unit in testing agency and drives shaft rotation.
In the present invention, so that testing agency is carried out X-direction, Y direction, Z-direction by coordinates robot and moves,
So that testing agency can arbitrarily adjust its position according to the difference of Target pipe internal diameter, to ensure the laser in testing agency
Coordinate of the sensor in Target pipe meets pre-provisioning request, to avoid the error that external cause generates, enhances detection accuracy.Therefore, should
Detection platform is suitable for different types of workplace, and detection accuracy is high, efficiency is fast, is also convenient for backstage personnel manipulation and maintenance.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of the internal diameter of the pipeline detection platform based on coordinates robot proposed by the present invention；
Fig. 2 is testing agency described in a kind of internal diameter of the pipeline detection platform based on coordinates robot proposed by the present invention
Structural schematic diagram.
Specific embodiment
In the following, technical solution of the present invention is described in detail by specific embodiment.
As shown in Figs. 1-2, Fig. 1 is a kind of knot of the internal diameter of the pipeline detection platform based on coordinates robot proposed by the present invention
Structure schematic diagram；Fig. 2 is testing agency described in a kind of internal diameter of the pipeline detection platform based on coordinates robot proposed by the present invention
Structural schematic diagram.
Referring to Fig.1-2, a kind of internal diameter of the pipeline detection platform based on coordinates robot that the embodiment of the present invention proposes, packet
It includes: testing agency, coordinates robot 3 and power control cabinet 2, in which:
Testing agency is mounted on coordinates robot 3, and testing agency includes horizontally disposed shaft 7, for driving shaft 7
The power unit of rotation and 7 one end of shaft is mounted on for being detected to 1 inner surface contour degree of Target pipe and cylindricity
Laser sensor 8.
Coordinates robot 3 is for driving testing agency to carry out straight reciprocating along X, Y, Z axis direction；Power control cabinet 2 and seat
The connection of scalar robot 3 is to act the inside for making laser sensor 8 be located at the Target pipe 1, and axis for controlling coordinates robot 3
The axial line of bar 7 is overlapped with the axial line of Target pipe 1；Power control cabinet 2 is also connect with the power unit in testing agency to be used for
Control power unit movement.
The present invention allows testing agency to carry out X-direction, Y direction, Z-direction movement by coordinates robot 3, with
Testing agency is set arbitrarily to adjust its position according to the difference of 1 internal diameter of Target pipe, to ensure the laser in testing agency
Coordinate of the sensor 9 in Target pipe 1 meets pre-provisioning request, to avoid the error that external cause generates, enhances detection accuracy.Therefore,
The detection platform is suitable for different types of workplace, and detection accuracy is high, efficiency is fast, is also convenient for backstage personnel manipulation and dimension
Shield.
In addition, one end of shaft 7 is equipped with the link block 9 being threadedly coupled with it in the present embodiment, laser sensor 8 is fixed
It is mounted on link block 9, with easy disassembly, replacement.
In the present embodiment, power unit includes servo motor 5 and the retarder connecting with servo motor 56；The shaft 7
One end far from laser sensor 8 is fixedly connected with the output shaft of retarder 6.
In the present embodiment, shaft 7 is fixedly connected by shaft coupling with the output shaft of retarder 6, the side wall of the shaft coupling
It is equipped with the fastening screw for adjusting its inner diameter size, to adapt to the fixed demand of various outer diameter shaft 7.
In the present embodiment, coordinates robot 3 includes load table 4, past for driving load table 4 to carry out straight line along the x axis
The first driving mechanism for moving again carries out the second driving mechanism of straight reciprocating for load table 4 along the y axis and is used for
Load table 4 carries out the third driving mechanism of straight reciprocating along Z-direction；Testing agency is mounted in load table 4, and loads
Platform 4 is equipped with folding organ cover 10 far from the side of testing agency.
A kind of internal diameter of the pipeline detection platform system based on coordinates robot, comprising: coordinate acquiring device and such as above-mentioned institute
The internal diameter of the pipeline detection platform based on coordinates robot 3 stated, in which: coordinate acquiring device is for obtaining 1 port of Target pipe
The position coordinates of central point, and the position coordinates by obtaining control coordinates robot 3 and act, to drive testing agency to carry out X
Axis direction, Y direction, Z-direction movement.
A kind of control method of the internal diameter of the pipeline detection platform based on coordinates robot 3, comprising:
The position that obtains the position coordinates of central point at 1 port of Target pipe by coordinate acquiring device, and will acquire is sat
Mark is sent to power control cabinet 2；
Position coordinates control coordinates robot 3 drives testing agency to carry out X-direction, Y-axis side to power control cabinet 2 based on the received
It is moved to, Z-direction, so that laser sensor 8 is located at the inside of the Target pipe 1, and the axial line and Target pipe of shaft 7
1 axial line is overlapped；
When laser sensor 8 is located at the inside of the pipeline, and the axial line of shaft 7 is overlapped with the axial line of Target pipe 1
When, power control cabinet 2 controls power unit in testing agency and shaft 7 is driven to rotate.
When carrying out internal diameter of the pipeline detection operation, central point at 1 port of Target pipe is obtained first with coordinate acquiring device
Position coordinates, and the position coordinates that will acquire are sent to power control cabinet 2；When power control cabinet 2 receives transmitted by coordinate acquiring device
Position coordinates after, control coordinates robot 3 act, drive testing agency carry out X-direction, Y direction, Z-direction movement,
So that the laser sensor 8 in the testing agency is located at the inside of the Target pipe 1, the axle center of the shaft 7 in the testing agency
Line is overlapped with the axial line of Target pipe 1；When laser sensor 8 is located at the inside of the Target pipe 1, and the axial line of shaft 7
When being overlapped with the axial line of Target pipe 1, power control cabinet 2 controls power unit movement, drives shaft 7 to rotate, so that laser sensing
Device 8 rotates a circle around the axial line of Target pipe 1, to measure 1 inner surface contour degree of Target pipe and cylindricity, and then obtains phase
The fit tolerance answered.The control method of the internal diameter of the pipeline detection platform based on coordinates robot 3 changes sharp in the prior art
With the cooperation of locating piece and drift, to obtain more accurate inner wall of the pipe profile tolerance and cylindricity.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
Anyone skilled in the art in the technical scope disclosed by the present invention, according to the technique and scheme of the present invention and its
Inventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.
Claims (8)
1. a kind of internal diameter of the pipeline detection platform based on coordinates robot characterized by comprising testing agency, coordinate machine
People (3) and power control cabinet (2), in which:
Testing agency is mounted on coordinates robot (3), and testing agency includes horizontally disposed shaft (7), for driving shaft
(7) power unit rotated is used to examine 1 inner surface contour degree of Target pipe and cylindricity with shaft (7) one end is mounted on
The laser sensor (8) of survey；
Coordinates robot (3) is for driving testing agency to carry out straight reciprocating along X, Y, Z axis direction；
Power control cabinet (2) is connect to make laser sensor (8) position for controlling coordinates robot (3) movement with coordinates robot (3)
In the inside of the Target pipe (1), and the axial line of shaft (7) is overlapped with the axial line of Target pipe (1)；
Power control cabinet (2) is also connect for controlling power unit movement with the power unit in testing agency.
2. the internal diameter of the pipeline detection platform according to claim 1 based on coordinates robot, one end of shaft (7) be equipped with
Its link block (9) being threadedly coupled, laser sensor (8) are fixedly mounted on link block (9).
3. the internal diameter of the pipeline detection platform according to claim 1 based on coordinates robot, power unit includes servo electricity
Machine (5) and the retarder (6) being connect with servo motor (5)；The shaft (7) one end and deceleration far from laser sensor (8)
The output shaft of device (6) is fixedly connected.
4. the internal diameter of the pipeline detection platform according to claim 3 based on coordinates robot, shaft (7) by shaft coupling with
The output shaft of retarder (6) is fixedly connected, and the side wall of the shaft coupling is equipped with the fastening screw for adjusting its inner diameter size.
5. the internal diameter of the pipeline detection platform according to claim 1 based on coordinates robot, coordinates robot (3) includes negative
Microscope carrier (4), for driving load table (4) to carry out the first driving mechanism of straight reciprocating along the x axis, for load table
(4) along the y axis carry out straight reciprocating the second driving mechanism and for load table (4) along Z-direction carry out straight line it is past
The third driving mechanism moved again；Testing agency is mounted on load table (4).
6. the internal diameter of the pipeline detection platform according to claim 7 based on coordinates robot, load table (4) is far from detection machine
The side of structure is equipped with folding organ cover (10).
7. a kind of internal diameter of the pipeline detection platform system based on coordinates robot, comprising: coordinate acquiring device and such as claim
Internal diameter of the pipeline detection platform described in 1-6 based on coordinates robot, in which: coordinate acquiring device is for obtaining Target pipe
(1) position coordinates of port center point, and the position coordinates by obtaining control coordinates robot (3) movement, to drive detection
Mechanism carries out X-direction, Y direction, Z-direction movement.
8. a kind of control method of the internal diameter of the pipeline detection platform system based on coordinates robot as claimed in claim 7, packet
It includes:
The position coordinates of central point at Target pipe (1) port, and the position coordinates that will acquire are obtained by coordinate acquiring device
It is sent to power control cabinet (2)；
Position coordinates control coordinates robot (3) drives testing agency to carry out X-direction, Y-axis side to power control cabinet (2) based on the received
It is moved to, Z-direction, so that laser sensor (8) is located at the inside of the Target pipe (1), and the axial line and mesh of shaft (7)
The axial line for marking pipeline (1) is overlapped；
When laser sensor (8) is located at the inside of the pipeline, and the axial line weight of the axial line of shaft (7) and Target pipe (1)
When conjunction, power control cabinet (2) controls power unit in testing agency and drives shaft (7) rotation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810797558.5A CN109238158A (en) | 2018-07-19 | 2018-07-19 | A kind of internal diameter of the pipeline detection platform and its control method based on coordinates robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810797558.5A CN109238158A (en) | 2018-07-19 | 2018-07-19 | A kind of internal diameter of the pipeline detection platform and its control method based on coordinates robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109238158A true CN109238158A (en) | 2019-01-18 |
Family
ID=65072245
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810797558.5A Pending CN109238158A (en) | 2018-07-19 | 2018-07-19 | A kind of internal diameter of the pipeline detection platform and its control method based on coordinates robot |
Country Status (1)
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109764818A (en) * | 2019-03-05 | 2019-05-17 | 佛山市南海区广工大数控装备协同创新研究院 | A kind of stereoplasm tube automatic detection device |
| CN110145993A (en) * | 2019-06-10 | 2019-08-20 | 中国计量大学 | Contact excavator hydraulic valve bore inner diameter and cylindricity measurement device and method |
| CN110332892A (en) * | 2019-06-20 | 2019-10-15 | 中北大学 | A kind of accurate detecting method |
| CN110567399A (en) * | 2019-07-31 | 2019-12-13 | 武汉船用机械有限责任公司 | Auxiliary detection equipment and detection method for hole |
| CN110906876A (en) * | 2019-12-06 | 2020-03-24 | 山西迪迈沃科光电工业有限公司 | Non-contact extreme method inner diameter detection method and device |
| CN112504159A (en) * | 2020-10-27 | 2021-03-16 | 成都飞机工业（集团）有限责任公司 | Device and method for measuring three-dimensional shape of inner cavity of variable-section cylindrical part |
| CN113223082A (en) * | 2021-05-12 | 2021-08-06 | 武汉中仪物联技术股份有限公司 | Pipeline scanning method, scanning device, radar crawler and electronic equipment |
| CN113566725A (en) * | 2021-04-28 | 2021-10-29 | 中铁工程服务有限公司 | Novel shield deformation laser measurer and detection method thereof |
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| CN106584440A (en) * | 2017-01-12 | 2017-04-26 | 上海交通大学 | Gesture-adjustable coordinate decoupling robot with seven degrees of freedom and control method |
| 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 |
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| US6289600B1 (en) * | 1999-11-02 | 2001-09-18 | United States Pipe & Foundry Company | Non-contact measuring device |
| CN101797701A (en) * | 2010-01-18 | 2010-08-11 | 北京航空航天大学 | On-line non-contact laser stereo scanning detection device for internal screw threads of tubing coupling |
| CN102650516A (en) * | 2011-02-28 | 2012-08-29 | 宝山钢铁股份有限公司 | On-line measuring method and device for outer diameter and ovality of large-diameter steel pipe end |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109764818A (en) * | 2019-03-05 | 2019-05-17 | 佛山市南海区广工大数控装备协同创新研究院 | A kind of stereoplasm tube automatic detection device |
| CN110145993A (en) * | 2019-06-10 | 2019-08-20 | 中国计量大学 | Contact excavator hydraulic valve bore inner diameter and cylindricity measurement device and method |
| CN110332892A (en) * | 2019-06-20 | 2019-10-15 | 中北大学 | A kind of accurate detecting method |
| CN110567399A (en) * | 2019-07-31 | 2019-12-13 | 武汉船用机械有限责任公司 | Auxiliary detection equipment and detection method for hole |
| CN110567399B (en) * | 2019-07-31 | 2021-07-27 | 武汉船用机械有限责任公司 | Auxiliary detection equipment and detection method for hole |
| CN110906876A (en) * | 2019-12-06 | 2020-03-24 | 山西迪迈沃科光电工业有限公司 | Non-contact extreme method inner diameter detection method and device |
| CN112504159A (en) * | 2020-10-27 | 2021-03-16 | 成都飞机工业（集团）有限责任公司 | Device and method for measuring three-dimensional shape of inner cavity of variable-section cylindrical part |
| CN112504159B (en) * | 2020-10-27 | 2022-04-08 | 成都飞机工业（集团）有限责任公司 | Device and method for measuring three-dimensional shape of inner cavity of variable-section cylindrical part |
| CN113566725A (en) * | 2021-04-28 | 2021-10-29 | 中铁工程服务有限公司 | Novel shield deformation laser measurer and detection method thereof |
| CN113223082A (en) * | 2021-05-12 | 2021-08-06 | 武汉中仪物联技术股份有限公司 | Pipeline scanning method, scanning device, radar crawler and electronic equipment |
| CN113223082B (en) * | 2021-05-12 | 2022-08-02 | 武汉中仪物联技术股份有限公司 | Pipeline scanning method, scanning device, radar crawler and electronic equipment |
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