CN109990740A - Robot for measuring linearity of stepped hole - Google Patents
Robot for measuring linearity of stepped hole Download PDFInfo
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- CN109990740A CN109990740A CN201910362047.5A CN201910362047A CN109990740A CN 109990740 A CN109990740 A CN 109990740A CN 201910362047 A CN201910362047 A CN 201910362047A CN 109990740 A CN109990740 A CN 109990740A
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- 230000007246 mechanism Effects 0.000 claims abstract description 72
- 238000012545 processing Methods 0.000 claims abstract description 22
- 238000005259 measurement Methods 0.000 claims abstract description 18
- 238000013519 translation Methods 0.000 claims description 36
- 230000000694 effects Effects 0.000 claims description 25
- 238000009434 installation Methods 0.000 claims description 15
- 238000003466 welding Methods 0.000 claims description 6
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- 238000010168 coupling process Methods 0.000 claims description 2
- 238000005859 coupling reaction Methods 0.000 claims description 2
- 230000005611 electricity Effects 0.000 claims description 2
- 230000005622 photoelectricity Effects 0.000 claims description 2
- 230000003287 optical effect Effects 0.000 claims 1
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- 238000000691 measurement method Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 4
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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
- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
- G01B11/27—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes for testing the alignment of axes
- G01B11/272—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes for testing the alignment of axes using photoelectric detection means
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- General Physics & Mathematics (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a robot for measuring the linearity of a stepped hole, which solves the technical problems that: the method aims at the technical problem that the non-contact measurement method in the prior art cannot measure the linearity parameters of the stepped hole in the background art. The technical scheme is that the robot for measuring the straightness of the stepped hole comprises a retractable deep hole self-centering mechanism arranged in the hole, a plurality of travelling mechanisms for driving the retractable deep hole self-centering mechanism to travel in the stepped hole, a laser measuring head, a photoelectric processing system for collecting laser signals of the laser measuring head and a PSD position adjusting mechanism for adjusting the light receiving position of the photoelectric processing system. The advantages are that: the robot for measuring the linearity of the stepped hole realizes a wedge-shaped elastic supporting mechanism with a flexible adjusting and determining axis, realizes sliding support for supporting the end part of a measuring rod, adapts to the change of the aperture, and can span steps with a certain height through a traveling mechanism, thereby adapting to the linearity measurement of deep holes, blind holes and stepped holes.
Description
Technical field
The present invention relates to a kind of measurement tooling of hole straightness, specially a kind of robot for measuring stepped hole straightness.
Background technique
Stepped hole all different there is diameter in vehicle, aircraft, steamer, oil equipment and large medical apparatus.This some holes
The processing of class part, detection technique directly affect part deep-hole parameters precision.And straight line degree measurement is in the geometry metrology of aperture
Elementary item, be the basis of aperture circularity, coaxality measurement, be highly valued in production.
Deep hole linear degree error refers to bias of the practical axis in aperture to ideal axis.Currently, traditional aperture straight line
Degree measurement method mainly has a straightness feeler gauge, calliper, armed lever method, the methods of induction type foil gauge, and this kind of amount method belongs to contact
Formula measurement, inconvenient, precision is difficult to ensure, artifical influence factor is very big.Moreover, for hole depth and diameter than being greater than 5
Stepped hole part, it is more inconvenient to test.And scanning measurement method based on photovoltaic principals, using ultrasonic wave reversion mensuration,
Aperture method of testing based on capacitance principle belongs to modern non-contact type measuring method, can automatically control, but be unable to measure depth
The straightness parameter of hole, blind hole especially stepped hole.
Summary of the invention
The technical problem to be solved by the present invention is to non-contact measurements in the prior art mentioned in the background art
Method is unable to measure the technical issues of straightness parameter of stepped hole.
The technical solution used in the present invention is: a kind of robot for measuring stepped hole straightness, including being placed in hole
Shrinkable deep hole makes concentric mechanism by oneself, the shrinkable deep hole of driving makes multiple walking mechanisms that concentric mechanism walks in stepped hole by oneself, swashs
Light measurement head, the photoelectric processing system for acquiring laser measuring head laser signal and for adjusting photoelectric processing system light position
The PSD position adjusting mechanism set；
Multiple walking mechanisms are arranged at shrinkable deep hole and make by oneself on concentric mechanism, and laser measuring head is arranged in shrinkable deep hole
It makes by oneself on concentric mechanism, photoelectric processing system is placed on PSD position adjusting mechanism, and PSD position adjusting mechanism is placed in stepped hole pipeline
It is external；
It includes one end open at one end sleeve with the end, end cap, centration axis, centration axis driving that shrinkable deep hole, which makes concentric mechanism by oneself,
Motor, the first conical round table, the second conical round table, left-handed nut, pressure spring and six activity head units, end cap are arranged in sleeve
Open end, sleeve is horizontal positioned, and end where defining end cap is right end, and end where sleeve cylinder bottom is left end；Centration axis is horizontally placed at
In sleeve and both ends are rotatably supported in respectively on sleeve cylinder bottom and end cap, and centration axis both ends stretch out one section and are located at cartridge exterior
Outrigger shaft；One section of left hand thread is set in centration axis and one section of right-handed thread, one section of left hand thread are located at the left end of centration axis,
One section of right-handed thread is located at the right side of one section of left hand thread；Centration axis driving motor is fixed on the outside of end cap, centration axis driving electricity
The motor shaft of machine connects the outrigger shaft of centration axis right end by shaft coupling；Right-handed thread is set on the axis of first conical round table
Hole, the first conical round table match installation, the first conical round table with one section of right-handed thread in centration axis by right-handed thread hole
Small end be directed toward end cap；Central through hole is set on the axis of the second conical round table, and the second conical round table passes through in central through hole
Setting bearing is rotatably arranged in centration axis, and left-handed nut matches installation, the second cone with one section of left hand thread in centration axis
Shape rotary table is located at the left side of left-handed nut, and the small end of the second conical round table is directed toward sleeve cylinder bottom；Compression spring sleeve is placed in centration axis
Between second conical round table and left-handed nut, pressure spring one end is against on the second conical round table big end end face, and the pressure spring other end is against
On the end face of left-handed nut；Six activity head units respectively correspond the first conical round table and the second conical round table is divided into two groups,
Every group is three activity head units, and three activity head units of corresponding first conical round table are uniformly arranged in the first taper circle
In the outer conical surface of platform, three activity head units of corresponding second conical round table are uniformly arranged the outer circle in the second conical round table
On the conical surface；Six activity head units include that sliding rail, sliding block, fixed measuring staff and active side head, sliding rail are fixed on conical round table
Outer conical surface on and be arranged along the bus of conical round table, sliding block is slidably disposed on sliding rail, and fixed measuring staff is vertically arranged and fixes
One end of measuring staff is by gusseted block connection sliding block, and active side head erect is arranged and the via hole opened up from sleeve wall is worn
Out, the first end of active side is connected and fixed the measuring staff other end, and the other end of active side head is flying shore end；On sleeve wall
Support tube is arranged in evagination around via hole, and support tube is located at the outside of sleeve wall；
Laser measuring head is arranged on the outrigger shaft of centration axis left end；
Multiple walking mechanisms respectively correspond the first conical round table and the second conical round table is equally divided into two groups, the row in every group
Into mechanism at least two, walking mechanism is separately positioned on support tube；
Walking mechanism includes traveling wheel fixed frame, traveling wheel stepper motor, traveling wheel and traveling wheel motor drive module, row
Walk to take turns that fixed frame is L-shaped, a line of traveling wheel fixed frame is fixed on support tube, and the setting of traveling wheel stepper motor is being walked
In the another a line for taking turns fixed frame, traveling wheel is arranged on the motor shaft of traveling wheel stepper motor, traveling wheel and traveling wheel stepping
Motor is located at the two sides of the another a line of traveling wheel fixed frame, and the another of traveling wheel fixed frame is arranged in traveling wheel motor drive module
Be located at the same side of the another a line of traveling wheel fixed frame on side and with traveling wheel stepper motor, traveling wheel motor drive module and
It is connected between traveling wheel stepper motor by motor control line；
Photoelectric processing system includes four-quadrant photo detector, adopts for receiving the data of four-quadrant photo detector signal
Storage and the computer for receiving data collector signal；Four-quadrant photo detector is electrically connected data collector, data collector
It is electrically connected computer, calculates mechatronics traveling wheel motor drive module；
PSD position adjusting mechanism includes bottom plate, translation plates, L shaped plate and backboard, and translation plates are slidably disposed on bottom plate, translation
X is set between plate and bottom plate and adjusts component to position；The transverse slat of L shaped plate is slidably disposed in translation plates, the transverse slat of L shaped plate and translation
Y-direction position is set between plate and adjusts component；Backboard is slidably disposed on the riser of L shaped plate, is arranged between the riser and backboard of L shaped plate
Z-direction position adjusts component；In backboard, four-quadrant photo detector passes through X to position adjusting group for four-quadrant photo detector setting
Part, Y-direction position adjust component and Z-direction position adjusts component and realizes adjusting of the light receiving position in three-dimensional coordinate.
To the preferred of technical solution of the present invention, laser measuring head includes installation column cap and laser emitter, is installed on column cap
Internal thread hole is set, and installation column cap connects the outrigger shaft of centration axis left end by internal thread hole, and laser emitter is placed in mounting post
On head.
To the preferred of technical solution of the present invention, traveling wheel is gear.
To the preferred of technical solution of the present invention, X to position adjust component include X to line slideway auxiliary, X to nut and X to
Adjust bolt, X is placed between translation plates and bottom plate to line slideway auxiliary realizes X between translation plates and bottom plate to sliding, and X is to spiral shell
Mother is welded on the back side of translation plates, and for X to bolt and X is adjusted to nut thread connection, X drives translation plates logical to bolt rotation is adjusted
It crosses X and makees X to linear motion relative to bottom plate to line slideway auxiliary, realize adjustment of the four-quadrant photo detector in X to position；
It includes that Y-direction line slideway auxiliary, Y-direction nut and Y-direction adjust bolt that Y-direction position, which adjusts component, and Y-direction line slideway auxiliary is set
The Y-direction of transverse slat and translation plates that L shaped plate is realized between the transverse slat and translation plates of L shaped plate is slided, and Y-direction nut-welding is in L shaped plate
Transverse slat the back side, Y-direction adjust bolt connect with Y-direction nut thread, Y-direction adjust bolt rotate drive L shaped plate transverse slat pass through Y
Make Y-direction linear motion relative to translation plates to line slideway auxiliary, realizes four-quadrant photo detector in the adjustment of Y-direction position；
It includes that Z-direction line slideway auxiliary, Z-direction nut and Z-direction adjust bolt that Z-direction position, which adjusts component, and Z-direction line slideway auxiliary is set
Realize that the Z-direction between backboard and the riser of L shaped plate is slided between the riser and backboard of L shaped plate, Z-direction nut-welding is in backboard
On, Z-direction adjusts bolt and connect with Z-direction nut thread, and Z-direction adjusts bolt rotation and drives backboard opposite by Z-direction line slideway auxiliary
Make Z-direction in the riser of L shaped plate and be directed toward movement, realizes four-quadrant photo detector in the adjustment of Z-direction position.
The beneficial effects of the present invention are:
The robot of this measurement stepped hole straightness realizes the Wedge shaped elastic branch that axis is determined with soft readjustment
Support mechanism, realizes the sliding support of support measurement boom end, and can be driven by the centration axis of the self-centering mechanism end of deep hole
Two conical round table of motor rotation forces drive measuring rod close to aperture, and centration axis driving motor reverse rotation activity gauge head is separate
Aperture to adapt to the variation in aperture, and remains the center line in hole and the centerline collineation of centration axis, while can pass through
Walking mechanism crosses over the ladder of certain altitude, thus the straight line degree measurement of adaptive capacity deep hole, blind hole and stepped hole.
Detailed description of the invention
Fig. 1 is that the shrinkable deep hole of the robot of measurement stepped hole straightness makes concentric mechanism by oneself and walking mechanism is placed in hole
Structural schematic diagram.
Fig. 2 is the position view of walking mechanism assembly.
Fig. 3 is the position view of laser measuring head and the assembly of PSD position adjusting mechanism.
Fig. 4 is the cross-sectional view that shrinkable deep hole makes concentric mechanism by oneself.
Fig. 5 is the cross-sectional view of walking mechanism.
Fig. 6 is the main view of traveling wheel.
Fig. 7 is the schematic diagram of laser measuring head.
Fig. 8 is the schematic diagram of photoelectric processing system.
Fig. 9 is the schematic diagram of PSD position adjusting mechanism.
Figure 10 is the position view that walking mechanism when robot ambulation unit is in walking states assembles.
Figure 11 is the position view that walking mechanism when robot ambulation unit is in measuring state assembles.
Specific embodiment
Technical solution of the present invention is described in detail below, but protection scope of the present invention is not limited to the implementation
Example.
To keep the contents of the present invention more obvious and easy to understand, done further below in conjunction with attached drawing 1- Figure 11 and specific embodiment
Description.
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that described herein, specific examples are only used to explain the present invention, not
For limiting the present invention.
As shown in Figure 1, a kind of robot for measuring stepped hole straightness of the present embodiment.Including the shrinkable depth being placed in hole
It makes concentric mechanism 2 by oneself, shrinkable deep hole is driven to make four walking mechanisms 1, laser measurements that concentric mechanism 2 is walked in stepped hole by oneself in hole
First 3, for acquiring the photoelectric processing system 4 of 3 laser signal of laser measuring head and for adjusting 4 light receiving position of photoelectric processing system
PSD position adjusting mechanism 5.
As shown in Figures 2 and 3, four walking mechanisms 1 are arranged at shrinkable deep hole and make by oneself on concentric mechanism 2, can for pushing
It shrinks deep hole and makes concentric mechanism 2 by oneself along deep hole traveling, the step of certain altitude can be crossed over.Laser measuring head 3 is arranged shrinkable
Deep hole is made by oneself on concentric mechanism 2, and photoelectric processing system 4 is placed on PSD position adjusting mechanism 5, and PSD position adjusting mechanism 5 is placed in rank
Terraced hole pipeline external.
Include one end open at one end sleeve 37 with the end, end cap 38, determine as shown in figure 4, shrinkable deep hole makes concentric mechanism 2 by oneself
Mandrel 23, centration axis driving motor 11, the first conical round table 18, the second conical round table 21, left-handed nut 19, pressure spring 20 and six
Activity head unit, for the setting of end cap 38 in 37 open end of sleeve, sleeve 37 is horizontal positioned, and definition 38 place end of end cap is right end,
End where 37 bottoms of sleeve is left end；Centration axis 23 is horizontally placed in sleeve 37 and both ends are rotatably supported in 37 bottoms of sleeve respectively
On end cap 38, one section of outrigger shaft being located at outside sleeve 37 is stretched out at 23 both ends of centration axis；One section is arranged in centration axis 23
Left hand thread and one section of right-handed thread, one section of left hand thread are located at the left end of centration axis 23, and one section of right-handed thread is located at a Duan Zuo
Revolve the right side of screw thread；Centration axis driving motor 11 is fixed on 38 outside of end cap, and the motor shaft of centration axis driving motor 11 passes through connection
The outrigger shaft of axis device connection 23 right end of centration axis；Right-handed thread hole, the first taper circle are set on the axis of the first conical round table 18
Platform 18 matches installation with one section of right-handed thread in centration axis 23 by right-handed thread hole, and the small end of the first conical round table 18 refers to
To end cap 38；Central through hole is set on the axis of the second conical round table 21, and the second conical round table 21 in central through hole by setting
Bearing 22 to be set to be rotatably arranged in centration axis 23, left-handed nut 19 matches installation with one section of left hand thread in centration axis 23,
Second conical round table 21 is located at the left side of left-handed nut 19, and the small end of the second conical round table 21 is directed toward 37 bottoms of sleeve；Pressure spring 20
It covers and is placed between the second conical round table 21 and left-handed nut 19 in centration axis 23,20 one end of pressure spring is against the second conical round table 21
On big end end face, 20 other end of pressure spring is against on the end face of left-handed nut 19；Six activity head units respectively correspond the first cone
It is two groups that shape rotary table 18 and the second conical round table 21, which are divided to, and every group is three activity head units, corresponding first conical round table 18
Three activity head units are uniformly arranged in the outer conical surface of the first conical round table 18, and three of corresponding second conical round table 21
Activity head unit is uniformly arranged in the outer conical surface of the second conical round table 21；Six activity head units include sliding rail
12, sliding block 13, fixed measuring staff 15 and active side head 16, sliding rail 12 are fixed in the outer conical surface of conical round table and along conical round table
Bus setting, sliding block 13 is slidably disposed on sliding rail 12, and fixed measuring staff 15 is vertically arranged and fixes one end of measuring staff 15 by three
14 connection sliding block 13 of corner supporting block, active side head 16 is vertically arranged and the via hole opened up from 37 barrel of sleeve is pierced by, active side
First 16 one end is connected and fixed 15 other end of measuring staff, and the other end of active side head 16 is flying shore end；On 37 barrel of sleeve
Support tube 17 is arranged in evagination around via hole, and support tube 17 is located at the outside of 37 barrel of sleeve.
Shrinkable deep hole makes concentric mechanism by oneself, constitutes soft readjustment by pressure spring 20, left-handed nut 19 and the second conical round table 21
Determine the Wedge shaped elastic supporting mechanism of axis；Specifically, drive left-handed nut 19 to compress pressure spring 20 simultaneously when centration axis rotates,
The second conical round table 21 for being located at 23 left side of centration axis under the tension of pressure spring 20 is moved downward along axial direction, drives the second conical round table
The fixed measuring staff 15 of three in three activity head units and three movable gauge heads 16 in 21 outer conical surfaces stretch out fixation simultaneously
In the support tube 17 of 37 circumferencial direction of sleeve, because the thread pitch of left side left-handed nut 19 is greater than the first conical round table of right side 18
Thread pitch, therefore when the movable gauge head in three, right side and the contact of hole (pipeline) internal diameter, left side activity gauge head has contacted, by 20 bullet of pressure spring
Property formed flexible contact.
As illustrated in figures 1 and 7, laser measuring head 3 is arranged on the outrigger shaft of 23 left end of centration axis；Laser measuring head 3 includes
Column cap 24 and laser emitter 26 are installed, installs and internal thread hole 25 is set on column cap 24, installation column cap 24 passes through internal thread hole 25
The outrigger shaft of 23 left end of centration axis is connected, laser emitter 26 is placed on installation column cap 24, and laser emitter 26 emits laser and shines
It penetrates on the four-quadrant photo detector 33 for being placed in hole (pipeline) outside.
As shown in Fig. 2,5 and 6, multiple walking mechanisms 1 respectively correspond the first conical round table 18 and the second conical round table 21 is flat
Two groups are divided into, the walking mechanism 1 at least two in every group, walking mechanism 1 is separately positioned on support tube 17.The present embodiment
It is further illustrated by taking every group of two walking mechanisms 1 as an example.
As shown in fig. 6, walking mechanism 1 includes traveling wheel fixed frame 6, traveling wheel stepper motor 7, traveling wheel 8 and traveling wheel
Motor drive module 9, traveling wheel 8 are gear.Traveling wheel fixed frame 6 is L-shaped, and a line of traveling wheel fixed frame 6 is fixed on
On support tube 17, traveling wheel stepper motor 7 is arranged in the another a line of traveling wheel fixed frame 6, and traveling wheel 8 is arranged in traveling wheel
On the motor shaft of stepper motor 7, traveling wheel 8 and traveling wheel stepper motor 7 are located at the two sides of the another a line of traveling wheel fixed frame 6,
Traveling wheel motor drive module 9 is arranged in the another a line of traveling wheel fixed frame 6 and is located at walking with traveling wheel stepper motor 7
The same side for taking turns the another a line of fixed frame 6 passes through motor control between traveling wheel motor drive module 9 and traveling wheel stepper motor 7
Line 10 processed connects.
It is external that the photoelectric processing system 4 and PSD position adjusting mechanism 5 of the present embodiment are placed in hole (pipeline), when measurement, swashs
Light measurement hair penetrates laser irradiation in the four-quadrant photo detector for being placed in pipeline external, and photoelectric processing system is for acquiring laser
The laser signal of measuring head, to measure current conduit axis position.
As shown in figure 8, photoelectric processing system 4 includes four-quadrant photo detector 33, for receiving four-quadrant photodetection
The data collector 34 of 33 signal of device and the computer 35 for receiving 34 signal of data collector；Four-quadrant photo detector 33 is electrically connected
Data collector 34 is connect, data collector 34 is electrically connected computer 35, and computer 35 is electrically connected traveling wheel motor drive module 9.
The signal processing that the present embodiment photoelectric processing system 4 designs is signal processing technology conventional in the prior art, this
It is not the claimed innovative point of patent application.
As shown in figure 9, PSD position adjusting mechanism 5 includes bottom plate 36, translation plates 27, L shaped plate 28 and backboard 29, translation plates
27 are slidably disposed on bottom plate 36, and X is arranged between translation plates 27 and bottom plate 36 to position and adjusts component；The transverse slat of L shaped plate 28 slides
It is placed in translation plates 27, Y-direction position is set between the transverse slat and translation plates 27 of L shaped plate 28 and adjusts component；Backboard 29 is slidably disposed within L
Z-direction position is set on the riser of shape plate 28, between the riser and backboard 29 of L shaped plate 28 and adjusts component；Four-quadrant photo detector
33 settings are in backboard 29, and four-quadrant photo detector 33 is by X to position adjusts component, Y-direction position adjusts component and Z-direction position
It adjusts component and realizes adjusting of the light receiving position in three-dimensional coordinate.
It includes X to line slideway auxiliary, X to nut and X to adjusting bolt 31 that X, which adjusts component to position, and X is to line slideway auxiliary
The X between translation plates 27 and bottom plate 36 between realization translation plates 27 and bottom plate 36 is placed in sliding, X is to nut-welding in translation plates
27 back side, X are connected to nut thread to adjusting bolt 31 and X, X to adjust the rotation of bolt 31 drive translation plates 27 by X to
Line slideway auxiliary makees X to linear motion relative to bottom plate 36, realizes adjustment of the four-quadrant photo detector 33 in X to position.
It includes that Y-direction line slideway auxiliary, Y-direction nut and Y-direction adjust bolt 30, Y-direction line slideway auxiliary that Y-direction position, which adjusts component,
It is placed between the transverse slat of L shaped plate 28 and translation plates 27 and realizes that the transverse slat of L shaped plate 28 and the Y-direction of translation plates 27 slide, Y-direction nut weld
It connects at the back side of the transverse slat of L shaped plate 28, Y-direction adjusts bolt 30 and connect with Y-direction nut thread, and Y-direction adjusts the rotation of bolt 30 and drives L
The transverse slat of shape plate 28 makees Y-direction linear motion relative to translation plates 27 by Y-direction line slideway auxiliary, realizes four-quadrant photo detector
33 Y-direction position adjustment.
It includes that Z-direction line slideway auxiliary, Z-direction nut and Z-direction adjust bolt 32, Z-direction line slideway auxiliary that Z-direction position, which adjusts component,
It is placed between the riser of L shaped plate 28 and backboard 29 and realizes that the Z-direction between backboard 29 and the riser of L shaped plate 28 is slided, Z-direction nut weld
It connects on backboard 29, Z-direction adjusts bolt 32 and connect with Z-direction nut thread, and Z-direction adjusts the rotation of bolt 32 and backboard 29 is driven to pass through Z
Make Z-direction relative to the riser of L shaped plate 28 to line slideway auxiliary and be directed toward movement, realizes four-quadrant photo detector 33 in Z-direction position
Adjustment.
A kind of straight line degree measurement robot that may span across stepped hole of the present embodiment, when work by movable gauge head 16 shrink can
It shrinks deep hole and makes concentric mechanism and walking mechanism by oneself, (shrinkable deep hole makes concentric mechanism by oneself and walking mechanism is referred to as robot for definition
Walking unit) it is put into hole, 7 rotate driving robot ambulation unit of traveling wheel stepper motor advances to survey in hole (in pipeline)
Measure position, centration axis driving motor 11 rotates, the right side of centration axis 23: the driving of 23 axis the preceding paragraph right-handed thread of centration axis is with the right side
First conical round table 18 of rotation screw thread is moved right along axis, to drive three activities in 18 outer conical surface of the first conical round table
Three fixed measuring staffs 15 and three movable gauge heads 16 in head unit stretch out the support for being fixed on 37 circumferencial direction of sleeve simultaneously
Cylinder 17；The left side of centration axis 23: left-handed nut 19 is driven to compress pressure spring 20 simultaneously when centration axis rotates, under the tension of pressure spring 20
The second conical round table 21 positioned at 23 left side of centration axis is moved downward along axial direction, is driven in 21 outer conical surface of the second conical round table
Three fixed measuring staffs 15 and three movable gauge heads 16 in three activity head units stretch out be fixed on 37 circumference side of sleeve simultaneously
To support tube 17, it is therefore right because the thread pitch of left side left-handed nut 19 is greater than the thread pitch of the first conical round table of right side 18
When the movable gauge head in side three and hole (pipeline) internal diameter contact, left side activity gauge head has been contacted, and is resiliently formed flexibility by pressure spring 20 and connects
Touching.At this point, the axis centering function of hole (pipeline) current location may be implemented by 6 movable gauge heads 16 of circumferential spread, i.e.,
Emit laser irradiation in the four-quadrant photoelectricity spy as pipeline external using the laser measuring head 3 on the left end of installation centration axis
Device 33 is surveyed, photoelectric processing system 4 is used to acquire the laser signal of laser measuring head 3, to measure current conduit axis position.
When as shown in FIG. 10 and 11, across stepped hole, centration axis driving motor 11 is reversely rotated, and is withdrawn all activities and is surveyed
First 16, the traveling wheel 8 being installed on support tube is contacted with hole (pipeline) inner wall, and traveling wheel stepper motor 7 drives traveling wheel 8 to advance
Across step, above-mentioned measuring process is repeated, macropore can be measured relative to aperture misalignment of axe.
What is be not specifically noted in all description of the invention is the prior art or can be realized by existing technology,
It should be understood that for those of ordinary skills, it can be modified or changed according to the above description, and it is all this
A little modifications and variations should all belong to the protection domain of appended claims of the present invention.
Claims (4)
1. a kind of robot for measuring stepped hole straightness, it is characterised in that: the shrinkable deep hole including being placed in hole is self-centering
Mechanism (2), driving is shrinkable, and deep hole makes multiple walking mechanisms (1), laser measuring head that concentric mechanism (2) is walked in stepped hole by oneself
(3), for acquire laser measuring head (3) laser signal photoelectric processing system (4) and for adjust photoelectric processing system (4) by
The PSD position adjusting mechanism (5) of optical position；
Multiple walking mechanisms (1) are arranged at shrinkable deep hole and make by oneself on concentric mechanism (2), and laser measuring head (3) setting can receive
Contracting deep hole is made by oneself on concentric mechanism (2), and photoelectric processing system (4) is placed on PSD position adjusting mechanism (5), PSD position adjusting mechanism
(5) it is placed in stepped hole pipeline external；
It includes one end open at one end sleeve with the end (37), end cap (38), centration axis that shrinkable deep hole, which makes concentric mechanism (2) by oneself,
(23), centration axis driving motor (11), the first conical round table (18), the second conical round table (21), left-handed nut (19), pressure spring
(20) it is horizontally arranged with six activity head units, end cap (38) setting in sleeve (37) open end, sleeve (37), defines end cap
(38) end where is right end, and end where sleeve (37) cylinder bottom is left end；Centration axis (23) is horizontally placed in sleeve (37) and both ends
It is rotatably supported on sleeve (37) cylinder bottom and end cap (38) respectively, centration axis (23) both ends stretch out one section and are located at sleeve (37) outside
The outrigger shaft in portion；One section of left hand thread and one section of right-handed thread are set on centration axis (23), and one section of left hand thread is located at centering
The left end of axis (23), one section of right-handed thread are located at the right side of one section of left hand thread；Centration axis driving motor (11) is fixed on end cap
(38) outside, the motor shaft of centration axis driving motor (11) connect the outrigger shaft of centration axis (23) right end by shaft coupling；First
Right-handed thread hole is set on the axis of conical round table (18), and the first conical round table (18) passes through right-handed thread hole and centration axis (23)
On one section of right-handed thread match installation, the small end of the first conical round table (18) is directed toward end cap (38)；Second conical round table
(21) central through hole is set on axis, and the second conical round table (21) rotates setting by the way that bearing (22) are arranged in central through hole
On centration axis (23), left-handed nut (19) matches installation, the second taper circle with one section of left hand thread on centration axis (23)
Platform (21) is located at the left side of left-handed nut (19), and the small end of the second conical round table (21) is directed toward sleeve (37) cylinder bottom；Left-handed nut
(19) thread pitch is greater than the thread pitch of the first conical round table (18)；Pressure spring (20), which is covered, is placed in second in centration axis (23)
Between conical round table (21) and left-handed nut (19), pressure spring (20) one end is against on the second conical round table (21) big end end face, pressure
Spring (20) other end is against on the end face of left-handed nut (19)；Six activity head units respectively correspond the first conical round table (18)
It is divided into two groups with the second conical round table (21), every group is three activity head units, corresponds to three of the first conical round table (18)
Activity head unit is uniformly arranged in the outer conical surface of the first conical round table (18), and three of corresponding second conical round table (21)
Activity head unit is uniformly arranged in the outer conical surface of the second conical round table (21)；Six activity head units include sliding rail
(12), sliding block (13), fixed measuring staff (15) and active side head (16), sliding rail (12) be fixed in the outer conical surface of conical round table and
Bus along conical round table is arranged, and sliding block (13) is slidably disposed on sliding rail (12), and fixed measuring staff (15) are vertically arranged and fix survey
By gusseted block (14) connection sliding block (13), active side head (16) is vertically arranged and from sleeve (37) cylinder for one end of bar (15)
The via hole opened up on wall is pierced by, and active side head (16) one end is connected and fixed measuring staff (15) other end, active side head (16) it is another
End is flying shore end；Evagination setting support tube (17) around the via hole on sleeve (37) barrel, support tube (17) are located at set
The outside of cylinder (37) barrel；
Laser measuring head (3) is arranged on the outrigger shaft of centration axis (23) left end；
Multiple walking mechanisms (1) respectively correspond the first conical round table (18) and the second conical round table (21) is equally divided into two groups, often
Walking mechanism (1) at least two in group, walking mechanism (1) are separately positioned on support tube (17)；
Walking mechanism (1) includes that traveling wheel fixed frame (6), traveling wheel stepper motor (7), traveling wheel (8) and walking turbin generator drive
Dynamic model block (9), traveling wheel fixed frame (6) is L-shaped, and a line of traveling wheel fixed frame (6) is fixed on support tube (17), row
It walks to take turns stepper motor (7) to be arranged in the another a line of traveling wheel fixed frame (6), traveling wheel (8) setting is in traveling wheel stepping electricity
On the motor shaft of machine (7), traveling wheel (8) and traveling wheel stepper motor (7) are located at the two of the another a line of traveling wheel fixed frame (6)
Side, traveling wheel motor drive module (9) be arranged in the another a line of traveling wheel fixed frame (6) and with traveling wheel stepper motor
(7) it is located at the same side of traveling wheel fixed frame (6) another a line, traveling wheel motor drive module (9) and traveling wheel stepper motor
(7) it is connected between by motor control line (10)；
Photoelectric processing system (4) includes four-quadrant photo detector (33), for receiving four-quadrant photo detector (33) signal
Data collector (34) and receive data collector (34) signal computer (35)；Four-quadrant photo detector (33) is electrically connected
It connects data collector (34), data collector (34) is electrically connected computer (35), and computer (35) electrical connection walking turbin generator drives
Dynamic model block (9)；
PSD position adjusting mechanism (5) includes bottom plate (36), translation plates (27), L shaped plate (28) and backboard (29), translation plates (27)
It is slidably disposed on bottom plate (36), X is set between translation plates (27) and bottom plate (36) to position and adjusts component；The cross of L shaped plate (28)
Plate is slidably disposed on translation plates (27), and Y-direction position is arranged between the transverse slat and translation plates (27) of L shaped plate (28) and adjusts component；Back
Plate (29) is slidably disposed on the riser of L shaped plate (28), and Z-direction position is arranged between the riser and backboard (29) of L shaped plate (28) and adjusts
Component；In backboard (29), four-quadrant photo detector (33) passes through X to position adjusting group for four-quadrant photo detector (33) setting
Part, Y-direction position adjust component and Z-direction position adjusts component and realizes adjusting of the light receiving position in three-dimensional coordinate.
2. the robot of measurement stepped hole straightness according to claim 1, which is characterized in that laser measuring head (3) packet
Installation column cap (24) and laser emitter (26) are included, internal thread hole (25) are set in installation column cap (24), installation column cap (24) is logical
The outrigger shaft of internal thread hole (25) connection centration axis (23) left end is crossed, laser emitter (26) is placed in installation column cap (24).
3. the robot of measurement stepped hole straightness according to claim 1, which is characterized in that traveling wheel (8) is gear.
4. the robot of measurement stepped hole straightness according to claim 1, which is characterized in that X adjusts component to position
Including X to line slideway auxiliary, X to nut and X to bolt (31) are adjusted, X is placed in translation plates (27) and bottom plate to line slideway auxiliary
(36) realize X between translation plates (27) and bottom plate (36) to sliding, the back side of the X to nut-welding in translation plates (27), X between
It is connected to adjusting bolt (31) and X to nut thread, X drives translation plates (27) to pass through X to straight line to bolt (31) rotation is adjusted
Guideway makees X to linear motion relative to bottom plate (36), realizes the adjustment of four-quadrant photo detector (33) in X to position；
It includes that Y-direction line slideway auxiliary, Y-direction nut and Y-direction adjust bolt (30) that Y-direction position, which adjusts component, and Y-direction line slideway auxiliary is set
The Y-direction of transverse slat and translation plates (27) that L shaped plate (28) are realized between the transverse slat and translation plates (27) of L shaped plate (28) is slided, Y-direction
Nut-welding adjusts bolt (30) and connect with Y-direction nut thread in the back side of the transverse slat of L shaped plate (28), Y-direction, and Y-direction adjusts bolt
(30) rotation drives the transverse slat of L shaped plate (28) to make Y-direction linear motion relative to translation plates (27) by Y-direction line slideway auxiliary, real
The adjustment of existing four-quadrant photo detector (33) in Y-direction position；
It includes that Z-direction line slideway auxiliary, Z-direction nut and Z-direction adjust bolt (32) that Z-direction position, which adjusts component, and Z-direction line slideway auxiliary is set
Realize that the Z-direction between backboard (29) and the riser of L shaped plate (28) is slided between the riser and backboard (29) of L shaped plate (28), Z-direction
On backboard (29), Z-direction adjusts bolt (32) and connect with Z-direction nut thread nut-welding, and Z-direction adjusts bolt (32) rotation and drives
Backboard (29) makees Z-direction relative to the riser of L shaped plate (28) by Z-direction line slideway auxiliary and is directed toward movement, realizes that four-quadrant photoelectricity is visited
Device (33) are surveyed in the adjustment of Z-direction position.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910362047.5A CN109990740B (en) | 2019-04-30 | 2019-04-30 | Robot for measuring straightness of stepped hole |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910362047.5A CN109990740B (en) | 2019-04-30 | 2019-04-30 | Robot for measuring straightness of stepped hole |
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| CN109990740B CN109990740B (en) | 2024-10-29 |
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| CN110608708A (en) * | 2019-10-28 | 2019-12-24 | 西安石油大学 | Deep hole straightness measuring device and measuring method thereof |
| CN110954046A (en) * | 2019-11-05 | 2020-04-03 | 内蒙古北方重工业集团有限公司 | Automatic taper hole centering device and taper hole taper measuring method thereof |
| CN112729076A (en) * | 2020-11-27 | 2021-04-30 | 成都飞机工业（集团）有限责任公司 | Auxiliary tool for detecting hole perpendicularity and method for detecting hole perpendicularity |
| CN114413827A (en) * | 2022-03-03 | 2022-04-29 | 西安航空学院 | Long pipe inner wall roughness measuring device and measuring method thereof |
| CN115290009A (en) * | 2022-10-08 | 2022-11-04 | 徐州市汇力高强标准件有限公司 | High-precision straightness measuring instrument for inner central axis of pipe fitting |
| CN115752335A (en) * | 2022-11-14 | 2023-03-07 | 绍兴市特种设备检测院 | Pipeline internal diameter detection device |
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| CN115752335A (en) * | 2022-11-14 | 2023-03-07 | 绍兴市特种设备检测院 | Pipeline internal diameter detection device |
| CN115752335B (en) * | 2022-11-14 | 2024-04-12 | 绍兴市特种设备检测院 | Pipeline internal diameter detection device |
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