CN111795651A - Method and equipment for measuring parameters of large-scale revolving body by using mechanical arm - Google Patents
Method and equipment for measuring parameters of large-scale revolving body by using mechanical arm Download PDFInfo
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- CN111795651A CN111795651A CN202010639372.4A CN202010639372A CN111795651A CN 111795651 A CN111795651 A CN 111795651A CN 202010639372 A CN202010639372 A CN 202010639372A CN 111795651 A CN111795651 A CN 111795651A
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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
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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
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
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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
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/06—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness for measuring thickness ; e.g. of sheet material
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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
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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
- G01B11/24—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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- 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
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- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a method and equipment for measuring parameters of a large revolving body by using a mechanical arm, wherein the method comprises the following steps: step one, adjusting an inner laser displacement sensor and establishing an original tool coordinate system; step two, the inner laser displacement sensor is stretched into a large-sized revolving body for scanning, and the posture adjustment amount is calculated according to the collected data so as to adjust the posture of the robot; converting the original tool coordinate system into an adjusted tool coordinate system according to the posture adjustment quantity, and then acquiring data; fourthly, obtaining an inner section circle through circle fitting according to the data, and calculating the inner diameter and the inner circle roundness of the large-scale revolving body; and fifthly, fitting to obtain the axis of the inner hole of the large revolving body, and calculating the straightness of the inner hole of the large revolving body. The invention realizes the automatic posture adjustment of the robot, thereby leading the detection result of the laser displacement sensor to be real and reliable.
Description
Technical Field
The invention belongs to the field of revolving body measurement, and relates to a method and equipment for measuring parameters of a large revolving body by using a mechanical arm.
Background
The large-scale revolving body comprises circular steel pipes and various circular pipelines with different diameters. They are widely used materials such as structures, buildings, fluid transportation, high, medium and low pressure boilers, underground facilities, chemical fertilizer equipment, gas cylinders, hydraulic devices, precision inner cylinders of hydraulic and pneumatic cylinders, automobile half-axle sleeves, etc. Different large-scale revolving body products and applications have different index parameter requirements. The conformity degree of processing parameters such as thickness, straightness, length and the like of the large-scale revolving body product and design indexes is directly reflected by the quality of the large-scale revolving body product. Therefore, it is important to measure the thickness, straightness, length, and other parameters of the large-sized revolving body. The traditional method for measuring the geometric parameters of the large revolving body is mostly carried out based on manual, offline and sampling inspection modes, the labor intensity of workers is high, the efficiency is low, the accuracy is not high enough, the real-time performance is poor, the production line cannot be monitored and adjusted timely and effectively, the modernization of the production of the large revolving body is seriously influenced, and the further improvement of the product quality is limited.
With the development of technologies such as optics, electronics, computers, image processing and the like, a non-contact measurement technology, which is an emerging measurement technology, appears. Compared with the traditional measuring technology, the non-contact measuring technology has the advantages of non-contact, on-line capability, high speed, higher precision and the like. With the intensive research of non-contact measurement technology, the application attempt is started to realize the measurement of the geometric parameters of the large-scale revolving body based on the laser displacement sensor. Some of the existing measurement modes adopt a mode that a detector extends into a revolving body to acquire data, and then an upper computer is utilized to realize automatic measurement of corresponding parameters, in order to ensure that the measurement result is reliable, the extending direction of the detector needs to be manually adjusted to be coincident with the axis of the revolving body before measurement, otherwise, the measurement precision and reliability are greatly reduced, but the accuracy of manual adjustment is insufficient, and larger errors are easily generated.
Disclosure of Invention
The invention aims to provide a method and equipment for measuring parameters of a large revolving body by using a mechanical arm, and the method and equipment are used for solving the problems that in the prior art, the measurement mode of the inner diameter, the outer diameter, the straightness and the roundness of each part of the large revolving body is inconvenient, the measured result is inaccurate due to large human factors, and the automation degree is low.
The method for measuring the parameters of the large-scale revolving body by using the mechanical arm comprises the following steps:
adjusting a robot to enable an inner laser displacement sensor arranged at the tail end of the robot to extend into a large-scale rotator, establishing an original tool coordinate system, and taking the extending direction of the inner laser displacement sensor as the Z-axis direction of the original tool coordinate system;
step two, extending the inner laser displacement sensor into the large revolving body to scan the inner wall of the large revolving body layer by layer, acquiring section data and corresponding attitude data, and calculating an attitude adjustment amount through quadratic fitting and an Euler angle method so as to perform attitude adjustment on the robot;
converting the original tool coordinate system into an adjusted tool coordinate system according to the attitude adjustment quantity, extending the inner laser displacement sensor into the large-scale revolving body again to scan layer by layer, and acquiring section data and corresponding attitude data;
step four, obtaining an inner section circle through circle fitting according to the data collected in the step three, and further calculating the inner diameter and the inner circle roundness of the large-scale revolving body;
and fifthly, fitting the centers of all the inner section circles to obtain the axis of the inner hole of the large revolving body, and further calculating the straightness of the inner hole of the large revolving body.
Preferably, the second fitting in the second step comprises the following specific steps: and carrying out ellipse fitting on the cross section data obtained by scanning by using a least square method, calculating the central point of each ellipse, and carrying out linear fitting on each central point by using the least square method to obtain a space straight line.
Preferably, the method for obtaining the attitude adjustment amount in the second step is as follows: setting the Z-axis direction vector of the original tool coordinate system as [ a, b, c ]]TIs recorded as a vector
And converting the space straight line to obtain a direction vector and recording the direction vector as
The formula is transformed by a coordinate system:
wherein R isZYXIs a transformation matrix, and the expression is:
in the above formula, α is an adjusted euler angle corresponding to the Z axis, β is an adjusted euler angle corresponding to the Y axis, γ is an adjusted euler angle corresponding to the X axis, cos α is abbreviated as c α and other functions are analogized in the same way;
calculating a direction vector according to the equation of the space straight line obtained by fitting in the step two
Vector quantity
Substituting the known Z-axis direction vector of the original tool coordinate system into a formula (1), and combining the formula (2) to obtain Euler angles alpha, beta and gamma, namely attitude adjustment quantity, required to be adjusted by each coordinate axis of the tool coordinate system.
Preferably, the step two and the step three, in which layer-by-layer scanning is performed, specifically include: the robot is controlled by an upper computer program to enable the inner laser displacement sensor to extend into the large-scale revolving body for a certain distance to realize equidistant angular rotation scanning, after the section data of one group of elliptical sections are collected, the inner laser displacement sensor is controlled to move forward for a certain distance in the large-scale revolving body in a linear motion mode along the Z-axis direction of the tool coordinate system, then the section data collection of the next group of elliptical sections is completed, and the steps are repeated to obtain a plurality of groups of section data.
Preferably, the tail end of the robot is further provided with an outer laser displacement sensor, the inner laser displacement sensor and the outer laser displacement sensor are respectively arranged on the inner side and the outer side of the large revolving body and can synchronously move linearly, and in the third step, the outer laser displacement sensor outside the large revolving body is used for collecting section data of the outer wall of the large revolving body; in the fourth step, the outer wall of the large revolving body is subjected to circle fitting to obtain an outer section circle, the outer diameter and the roundness of the outer circle of the large revolving body are calculated, and the thickness of the large revolving body is calculated by combining the inner diameter of the large revolving body; and fifthly, fitting the centers of all the outer section circles to obtain the axis of the outer wall of the large revolving body, and further calculating the straightness of the outer wall of the large revolving body.
Preferably, the first step is to complete the calibration of the parameters of the laser displacement sensor before the robot is adjusted; the adjusting robot is also required to enable the distance from the position, extending into the large-scale revolving body, of the inner laser displacement sensor to the axis of the large-scale revolving body to be smaller than a certain threshold value, and the included angle between the extending direction of the inner laser displacement sensor and the axis direction of the large-scale revolving body is smaller than a certain threshold value.
The invention also provides equipment for measuring parameters of the large revolving body by using the mechanical arm, which comprises a platform for placing the large revolving body, a robot and an upper computer, wherein the robot and the upper computer are installed on the platform, the upper computer is used for processing data and controlling the robot, a memory in the upper computer stores a computer program, and the steps of the method for measuring parameters of the large revolving body by using the mechanical arm are realized when a processor in the upper computer executes the computer program.
Preferably, the robot end can rotate around self center, the robot end is installed the anchor clamps support through the ring flange, anchor clamps support one end is established be close to robot end department, and the other end stretches out to be located large-scale solid of revolution outside position, the hydraulic means that can synchronous motion is installed at anchor clamps support both ends, hydraulic means's direction of motion with the axial of ring flange is unanimous, and a anchor clamps are respectively installed to every hydraulic means's flexible end, two anchor clamps are fixed respectively interior laser displacement sensor with outer laser displacement sensor.
The invention has the advantages that: according to the technical scheme, the measurement of parameters of the large-scale revolving body in the aspects of straightness, length, thickness and the like can be realized, and the online, real-time, automatic and non-contact measurement method is adopted, so that the closed-loop control of production and measurement is favorably formed, the manual adjustment of the position of the robot is avoided, the automatic posture adjustment of the robot is realized, the detection result of the laser displacement sensor is real and reliable, on the other hand, the automatic posture adjustment has lower requirements on an operator when the automatic posture adjustment is used, the efficiency is improved, and the detection complexity is reduced.
When the thickness measurement is realized, only laser displacement sensors are arranged inside and outside the revolving body; in order to realize straightness measurement, a laser displacement sensor is used, and the laser displacement sensor needs to be adjusted by means of the posture of a robot to stretch into the large-scale revolving body so as to realize that the laser sensor obtains an accurate motion track. The invention can more accurately measure a plurality of parameters of the large-scale revolving body, greatly improves the practicability of the system and reduces the complexity of detection.
Drawings
Fig. 1 is a schematic diagram of the present invention for performing attitude adjustment.
Fig. 2 is a schematic flow chart of performing attitude adjustment according to the present invention.
FIG. 3 is a schematic diagram of the present invention for measuring parameters.
FIG. 4 is a flow chart of the complete measurement method of the present invention.
FIG. 5 is a schematic structural diagram of an apparatus for measuring parameters of a large-scale revolving body using a robot according to the present invention.
The reference numbers in the figures are: 1. the device comprises a platform, 2, a large-scale revolving body, 3, a robot, 4, a flange plate, 5, a clamp support, 6, a hydraulic device, 7, a clamp, 8, an inner laser displacement sensor, 9 and an outer laser displacement sensor.
Detailed Description
The following detailed description of the embodiments of the present invention will be given in order to provide those skilled in the art with a more complete, accurate and thorough understanding of the inventive concept and technical solutions of the present invention.
As shown in fig. 1-5, the present invention provides an apparatus for measuring parameters of a large-scale revolving body by using a robot arm, which includes a platform 1 for placing a large-scale revolving body 2, a robot 3 mounted on the platform 1, and an upper computer. 3 ends of robot can rotate around self center, 3 ends of robot install anchor clamps support 5 through ring flange 4, 5 one end of anchor clamps support is established be close to 3 ends of robot, and the other end stretches out and lies in 2 outside positions of large-scale solid of revolution, hydraulic means 6 that can synchronous motion are installed at 5 both ends of anchor clamps support, hydraulic means 6 the direction of motion with the axial of ring flange 4 is unanimous, and a anchor clamps 7, two are respectively installed to every hydraulic means 6's flexible end anchor clamps 7 are fixed respectively interior laser displacement sensor 8 with outer laser displacement sensor 9. The inner laser displacement sensor 8 and the outer laser displacement sensor 9 are respectively arranged on the inner side and the outer side of the large-scale revolving body 2 and can synchronously and linearly move.
The upper computer is used for processing data and controlling the robot 3, a memory in the upper computer stores a computer program, and a processor in the upper computer realizes the following steps of the method for measuring parameters of the large revolving body by using the mechanical arm when executing the computer program.
The invention provides a method for measuring parameters of a large revolving body by using a mechanical arm, which comprises the following steps:
firstly, completing the calibration of parameters of a laser displacement sensor before adjusting the robot 3; and adjusting the robot 3 to enable an inner laser displacement sensor 8 arranged at the tail end of the robot 3 to extend into the large-scale revolving body 2, establishing an original tool coordinate system, and taking the extending direction of the inner laser displacement sensor 8 as the Z-axis direction of the original tool coordinate system.
The adjusting robot 3 is further configured to enable the distance from the position, where the inner laser displacement sensor 8 extends into the large-scale revolving body 2, to the axis of the large-scale revolving body 2 to be smaller than a certain threshold, and an included angle between the extending direction of the inner laser displacement sensor 8 and the axis direction of the large-scale revolving body 2 to be smaller than a certain threshold. Therefore, the overlarge distance and angle deviation between the initial position of the inner laser displacement sensor 8 and the large-scale revolving body 2 are avoided, the possibility of interference between the movement of the clamp 7 and the large-scale revolving body 2 is prevented, and the feasibility of equipment operation is ensured.
And step two, extending the inner laser displacement sensor 8 into the large-scale revolving body 2 to scan the inner wall of the large-scale revolving body 2 layer by layer, and acquiring section data and corresponding attitude data. Then carrying out quadratic fitting, wherein the quadratic fitting comprises the following specific steps: and carrying out ellipse fitting on the cross section data obtained by scanning by using a least square method, calculating the central point of each ellipse, and carrying out linear fitting on each central point by using the least square method to obtain a space straight line.
Then the attitude adjustment is calculated by Euler angle method, and the original tool seat can be known from figure 1The standard is OXYZ, and the adjusted tool coordinate system is preset to OX1Y1Z1And when the robot posture is adjusted, the Euler angle rotation is carried out on the robot posture to realize the adjustment. The specific method comprises the following steps: setting the Z-axis direction vector of the original tool coordinate system as [ a, b, c ]]TIs recorded as a vector
And converting the space straight line to obtain a direction vector and recording the direction vector as
The formula is transformed by a coordinate system:
wherein R isZYXIs a transformation matrix, and the expression is:
in the above formula, α is the adjusted euler angle corresponding to the Z axis, β is the adjusted euler angle corresponding to the Y axis, γ is the adjusted euler angle corresponding to the X axis, cos α is abbreviated as ca, and so on;
calculating a direction vector according to the equation of the space straight line obtained by fitting in the step two
Vector quantity
Substituting the known Z-axis direction vector of the original tool coordinate system into a formula (1), and combining the formula (2) to obtain Euler angles alpha, beta and gamma, namely attitude adjustment quantity, required to be adjusted by each coordinate axis of the tool coordinate system.
Finally, controlling the robot 3 to perform attitude adjustment according to the obtained attitude adjustment quantity, so that the position and the extending direction of the inner laser displacement sensor 8 are close to and parallel to the axis of the large-scale revolving body 2, and the direction is towardsMeasuring meter
The Z axis is used as the Z axis of the adjusted tool coordinate system, so that the adjusted tool coordinate system is converted into a new tool coordinate system through the attitude adjustment amount, and the data can be conveniently processed by an upper computer.
Step three, converting the original tool coordinate system into an adjusted tool coordinate system according to the posture adjustment amount, and converting the converted coordinate system into an XYZ coordinate system and an OX coordinate system1Y1Z1And (5) overlapping, extending the inner laser displacement sensor 8 into the large-scale revolving body 2 again for scanning layer by layer, and acquiring section data and corresponding attitude data. And acquiring section data of the outer wall of the large revolving body 2 through an outer laser displacement sensor 9 outside the large revolving body 2.
The step two and the step three are scanned layer by layer, and the specific steps are as follows: the robot 3 is controlled by an upper computer program to enable the inner laser displacement sensor 8 to extend into the large-scale revolving body 2 for a certain distance to realize equidistant angular rotation scanning, after the section data of one group of elliptical sections are collected, the inner laser displacement sensor 8 is controlled to move linearly in the large-scale revolving body 2 for a certain distance along the Z-axis direction of a tool coordinate system, then the section data collection of the next group of elliptical sections is completed, and the steps are repeated to obtain a plurality of groups of section data.
The equidistant angle rotary scanning takes the center of a flange plate 4 as a rotary center, after the flange plate is stretched into a large-scale revolving body 2, the clamping bracket 5 is fixedly rotated for a certain angle at each time at the equidistant angle, and laser ranging is carried out through an inner laser displacement sensor 8 or an outer laser displacement sensor 9 after each rotation, so that the distance detection scanning of a plurality of measuring points on the pipe wall is realized, and finally all data are transmitted to an upper computer.
And step four, performing circle fitting by a least square method according to the data acquired in the step three to obtain an inner section circle, and further calculating the inner diameter and the inner circle roundness of the large-scale revolving body 2. The calculation is carried out by adopting a roundness evaluation method according to the mutual deviation data of the inner section circle obtained by fitting and each measuring point. And simultaneously, performing circle fitting on the outer wall of the large revolving body 2 to obtain an outer section circle, further calculating the outer diameter and the outer circle roundness of the large revolving body 2, and calculating the thickness of the large revolving body 2 by combining the inner diameter of the large revolving body 2. The length calculation can be based on the length L of the extending end of the hydraulic device after the robot posture is adjusted.
And step five, fitting the centers of the inner section circles to obtain the axis of the inner hole of the large-scale revolving body 2, and further calculating the straightness of the inner hole of the large-scale revolving body 2. The calculation is carried out by adopting a straightness evaluation method and also according to the mutual deviation data of the inner hole axis and each measuring point obtained by fitting. The method also obtains the axis of the outer wall of the large revolving body 2 by fitting the centers of all the outer section circles, and further calculates the straightness of the outer wall of the large revolving body 2. The detailed steps of each part are shown in fig. 4, wherein the step of performing posture adjustment is shown in fig. 2.
The invention is described above with reference to the accompanying drawings, it is obvious that the specific implementation of the invention is not limited by the above-mentioned manner, and it is within the scope of the invention to adopt various insubstantial modifications of the inventive concept and solution of the invention, or to apply the inventive concept and solution directly to other applications without modification.
Claims (8)
1. A method for measuring parameters of a large-scale revolving body by using a mechanical arm is characterized in that: comprises the following steps:
step one, adjusting a robot (3) to enable an inner laser displacement sensor (8) installed at the tail end of the robot (3) to extend into a large-scale revolving body (2), establishing an original tool coordinate system, and taking the extending direction of the inner laser displacement sensor (8) as the Z-axis direction of the original tool coordinate system;
step two, the inner laser displacement sensor (8) is stretched into the large revolving body (2) to scan the inner wall of the large revolving body (2) layer by layer, cross section data and corresponding attitude data are collected, and an attitude adjustment amount is calculated through quadratic fitting and an Euler angle method, so that the attitude of the robot (3) is adjusted;
converting the original tool coordinate system into an adjusted tool coordinate system according to the attitude adjustment quantity, extending the inner laser displacement sensor (8) into the large-scale revolving body (2) again to scan layer by layer, and acquiring section data and corresponding attitude data;
fourthly, obtaining an inner section circle through circle fitting according to the data collected in the third step, and further obtaining the inner diameter and the inner circle roundness of the large revolving body (2);
and fifthly, fitting the centers of all the inner section circles to obtain the axis of the inner hole of the large revolving body (2), and further obtaining the straightness of the inner hole of the large revolving body (2).
2. The method for measuring the parameters of the large-scale revolving body by using the mechanical arm according to claim 1, wherein the method comprises the following steps: the second fitting in the second step comprises the following specific steps: and carrying out ellipse fitting on the cross section data obtained by scanning by using a least square method, calculating the central point of each ellipse, and carrying out linear fitting on each central point by using the least square method to obtain a space straight line.
3. The method for measuring the parameters of the large-scale revolving body by using the mechanical arm as claimed in claim 2, wherein the method comprises the following steps: the method for obtaining the attitude adjustment amount in the second step is as follows: setting the Z-axis direction vector of the original tool coordinate system as [ a, b, c ]]TIs recorded as a vector
And converting the space straight line to obtain a direction vector and recording the direction vector as
The formula is transformed by a coordinate system:
wherein R isZYXIs a transformation matrix, and the expression is:
in the above formula, α is an adjusted euler angle corresponding to the Z axis, β is an adjusted euler angle corresponding to the Y axis, γ is an adjusted euler angle corresponding to the X axis, cos α is abbreviated as c α and other functions are analogized in the same way;
calculating a direction vector according to the equation of the space straight line obtained by fitting in the step two
Vector quantity
Substituting the known Z-axis direction vector of the original tool coordinate system into a formula (1), and combining the formula (2) to obtain Euler angles alpha, beta and gamma, namely attitude adjustment quantity, required to be adjusted by each coordinate axis of the tool coordinate system.
4. The method for measuring the parameters of the large-scale revolving body by using the mechanical arm according to claim 1, wherein the method comprises the following steps: the step two and the step three are scanned layer by layer, and the specific steps are as follows: the robot (3) is controlled by an upper computer program to enable the inner laser displacement sensor (8) to stretch into the large-scale revolving body (2) for a certain distance to realize equidistant angular rotation scanning, after the section data acquisition of a group of elliptical sections is finished, the inner laser displacement sensor (8) is controlled to move forward for a certain distance in the large-scale revolving body (2) in a linear motion mode along the Z-axis direction of a tool coordinate system, then the section data acquisition of the next group of elliptical sections is finished, and the steps are repeated to obtain a plurality of groups of section data.
5. The method for measuring the parameters of the large-scale revolving body by using the mechanical arm according to any one of claims 1 to 4, wherein the method comprises the following steps: an outer laser displacement sensor (9) is further mounted at the tail end of the robot (3), the inner laser displacement sensor (8) and the outer laser displacement sensor (9) are respectively arranged on the inner side and the outer side of the large revolving body (2) and can synchronously move linearly, and cross section data acquisition is carried out on the outer wall of the large revolving body (2) through the outer laser displacement sensor (9) outside the large revolving body (2) in the third step; in the fourth step, the outer wall of the large revolving body (2) is subjected to circle fitting to obtain an outer section circle, so that the outer diameter and the outer circle roundness of the large revolving body (2) are obtained, and the thickness of the large revolving body (2) is calculated by combining the inner diameter of the large revolving body (2); and in the fifth step, the axis of the outer wall of the large revolving body (2) is obtained by fitting the center of each outer section circle, so that the straightness of the outer wall of the large revolving body (2) is obtained.
6. The method for measuring the parameters of the large-scale revolving body by using the mechanical arm according to claim 1, wherein the method comprises the following steps: the first step is to finish the calibration of the parameters of the laser displacement sensor before the robot (3) is adjusted; the adjusting robot (3) is required to enable the distance from the position, extending into the large revolving body (2), of the inner laser displacement sensor (8) to the axis of the large revolving body (2) to be smaller than a certain threshold value, and the included angle between the extending direction of the inner laser displacement sensor (8) and the axis direction of the large revolving body (2) is smaller than a certain threshold value.
7. The utility model provides an application robotic arm measures equipment of large-scale solid of revolution parameter, is including platform (1) of placing large-scale solid of revolution (2), robot (3) and the host computer of installing on platform (1), the host computer is used for handling data and control robot (3), its characterized in that: the memory in the upper computer stores a computer program, and the processor in the upper computer implements the steps of the method for measuring parameters of the large-scale revolving body by using the mechanical arm according to any one of claims 1 to 6 when executing the computer program.
8. The apparatus of claim 7, wherein the apparatus comprises a robotic arm for measuring parameters of a large-scale rotation body, and the robotic arm comprises: robot (3) end can rotate around self center, anchor clamps support (5) are installed through ring flange (4) to robot (3) end, anchor clamps support (5) one end is established be close to robot (3) end department, and the other end stretches out to be located large-scale solid of revolution (2) outside position, hydraulic means (6) that can synchronous motion are installed at anchor clamps support (5) both ends, the direction of motion of hydraulic means (6) with the axial of ring flange (4) is unanimous, and anchor clamps (7), two are respectively installed to the flexible end of every hydraulic means (6) anchor clamps (7) are fixed respectively interior laser displacement sensor (8) with outer laser displacement sensor (9).
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112894881A (en) * | 2020-12-29 | 2021-06-04 | 埃夫特智能装备股份有限公司 | Industrial robot joint idle stroke testing device and measuring method thereof |
| CN113375577A (en) * | 2021-06-18 | 2021-09-10 | 明峰医疗系统股份有限公司 | Large-scale revolving body inner hole measuring system and measuring method |
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| CN113375577A (en) * | 2021-06-18 | 2021-09-10 | 明峰医疗系统股份有限公司 | Large-scale revolving body inner hole measuring system and measuring method |
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