Method and device for measuring parameters of large rotary body by using mechanical arm

Abstract

The invention discloses a method and device for measuring parameters of a large rotary body through a mechanical arm. The method comprises the steps of 1 adjusting an internal laser displacement sensor, and building an original tool coordinate system; 2 enabling the inner laser displacement sensor to extend into the large rotary body for scanning, calculating the posture adjustment amount according to the collected data, and carrying out the posture adjustment of the robot according to the posture adjustment amount; 3 converting the original tool coordinate system into an adjusted tool coordinate system according to the posture adjustment amount, and then collecting data; 4 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 rotary body; and 5 fitting to obtain the axis of the inner hole of the large rotary body, and calculating the straightness of the inner hole of the large rotary body. Automatic posture adjustment of the robot is achieved, so that the detection result of the laser displacement sensor is real and reliable; and on the other hand, the requirement for an operator is low, the measurement efficiency is improved, and the detection complexity is reduced.

Description

Technical field [0001] The invention belongs to the field of rotating body measurement, and relates to a method and equipment for measuring parameters of a large rotating body using a mechanical arm. Background technique [0002] Large rotating bodies include round steel pipes and round pipes of various diameters. They are a widely used material, such as structure, construction, fluid transportation, high, medium and low pressure boilers, underground facilities, fertilizer equipment, gas cylinders, hydraulic devices, precision inner cylinders of hydraulic and pneumatic cylinders, automobile axle sleeves, etc. For different large-scale rotary products and applications, there are different index parameter requirements. Among them, the degree of conformity between the thickness, straightness, length and other processing parameters of the large-scale rotary product and the design index is a direct manifestation of its quality. Therefore, the measurement of the thickness, straightne...

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Problems solved by technology

[0004] The purpose of the present invention is to provide a method and equipment for measuring the parameters of a large-scale rotary body by using a mechanical arm, so as to solve the inconvenience of measuring the inner and outer diameters, straightness and roundness of each part of a large-scale rotary body in the prior art. Large factors lead to inaccurate measured results and low degree of automation

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