The Design Of The Large-scale Inner Diameter Automatic Measurement Robot

In the assembly process of the large workpiece, the high accuracy measurement of the geometric dimensioning and tolerancing is a key factor to guarantee the quality and performance of a complete set of the workpiece. For a long time, scholars both at home and abroad did a lot of research on the geometric measurement, there are many measuring method and system appeared. This paper developed a universal laser non-contact automatic measurement system through the comparison and comprehensive all kinds of ways.This paper, based on the laser non-contact measurement method, realize the fast, nondestructive, high precision measurement; Combined with piping robot technology to realize the automatic system , high precision coaxial orientation, quickly scanning ; Using wireless communication mode, realize high flexibility and automatic operation reliable. The system can not only obtain pipe diameter of real-time data, and quickly generate pipe diameter of the assessment of the parameters. Its precision can meet the technological requirements, also it will be able to realize the long distance wireless measurement, it is a Large-scale inner diameter measurement system with high precision, high degree of freedom, high flexibility.The main contents of paper are shown as following:1, The domestic and foreign large size measurement methods and pipe diameter online inspection robot are introduced. This research obtained the method through comparing various methods and robotic device.2, The laser non-contact large-scale wheel measuring system was developed. The system used the high precision laser sensor to extract the data of the inner diameter of a pipeline. The measurement system including wheel drive mechanism; Precision self-centering institutions; Axial symmetrical double head institutions and precision spindle. The system realized the fast smooth movement, reliable self-centering, and the high accuracy data collection.3, The measurement robot control system was designed, which integrated sensor scanning system, wireless communication module, motor drive control etc. Based on the DSP platform and C programming language we developed hardware control platform and software program. The upper computer with the modular designed, realized the reliability of the data processing.4, The ZigBee wireless communication was used to avoid the influence of the cable. By choosing a high-performance wireless module, the system can realized the high reliability of wireless data communication, Based on the ZigBee protocol stack and C programming language, it is simplify to program the wireless communication software. The software including: temperature acquisition module software and wireless data transmission software.5, Use the successful development of the measurement system do a series of experiments, including institutions eccentric experiment, the agency climbing experiment, repeatability and stability of the system experiment, the comparative experiments between institutions and FARO laser tracker, etc. Finally, Used the measurement system to detect the pipeline, we make sure that the system can measure and evaluate the inner diameter.