A method and device for measuring parameters of a large revolving body using a mechanical arm
A technology of a robotic arm and a rotating body, applied in the field of rotating body measurement, can solve the problems of low degree of automation, inconvenient measurement methods, inaccurate measured results, etc., and achieve the effect of improving efficiency, real and reliable detection results, and improving practicability.
Active Publication Date: 2021-12-28
ANHUI POLYTECHNIC UNIV
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[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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[0031] The specific embodiments of the present invention will be further described in detail by describing the embodiments below with reference to the accompanying drawings, so as to help those skilled in the art have a more complete, accurate and in-depth understanding of the inventive concepts and technical solutions of the present invention.
[0032] Such as Figure 1-5 As shown, the present invention provides a device for measuring parameters of a large-scale revolving body by using a mechanical arm. The device includes a platform 1 on which a large-scale revolving body 2 is placed, a robot 3 installed on the platform 1, and a host computer. The end of the robot 3 can rotate around its own center, and the end of the robot 3 is equipped with a clamp bracket 5 through the flange 4. One end of the clamp bracket 5 is located at the end of the robot 3, and the other end extends out. To the position located outside the large revolving body 2, hydraulic devices 6 capable of synch...
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The invention discloses a method and equipment for measuring the parameters of a large-scale rotary body by using a mechanical arm. The method includes: step 1, adjusting the inner laser displacement sensor, and establishing an original tool coordinate system; step 2, extending the inner laser displacement sensor Scan in a large rotating body, calculate the attitude adjustment amount according to the collected data, and then adjust the attitude of the robot; step 3, convert the original tool coordinate system into the adjusted tool coordinate system according to the attitude adjustment amount, and then collect data; Step 4. According to the data, the inner section circle is obtained through circle fitting, and the inner diameter and inner roundness of the large-scale rotary body are calculated; Step 5, the axis of the hole in the large-scale rotary body is obtained by fitting, and the straightness of the hole in the large-scale rotary body is calculated. . The invention realizes the automatic attitude adjustment of the robot, thereby leading to the detection result of the laser displacement sensor being true and reliable. On the other hand, the invention has lower requirements on the operator, improves the measurement efficiency, and reduces the complexity of detection.
Description
technical field [0001] 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 technique [0002] The large rotary body includes 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 half shaft casings, etc. For different large-scale rotary products and applications, there are different index parameter requirements. Among them, the degree to which processing parameters such as thickness, straightness, and length of large-scale rotary products conform to design indicators is a direct reflection of its quality. Therefore, the measurement of parameters such as th...
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IPC IPC(8): G01B11/08G01B11/12G01B11/24G01B11/27G01B11/06G01B11/02
CPCG01B11/08G01B11/12G01B11/2408G01B11/27G01B11/06G01B11/02
Inventor 陈玉韩波许高齐阚延鹏刘莉葛攀丁庆东李文荟
Owner ANHUI POLYTECHNIC UNIV