CN110230945A - The detection device and method of internal gun barrel surface hardness based on robot - Google Patents

Abstract

The invention belongs to the technical field of mechanical structures and equipment and methods for measuring material hardness, in particular to a robot-based detection device and method for the surface hardness of the inner bore of a gun barrel. Including the inner bore driver for driving the movement along the axis of the tube, the eight claw elastic automatic centering device for automatic centering, the hardness measurement system and the optical monitoring system for measuring the hardness of the inner surface of the gun barrel, the inner bore driver and the claw elastic automatic centering device connection, the claw elastic automatic centering device is connected with the hardness measurement system, and the hardness measurement system is connected with the optical monitoring system. The method of the invention is simple and easy to implement, and can use the monitoring system to inspect the inner surface of the gun barrel under the assistance of the robot, design the expected trajectory according to the inspected information, and then automatically follow the designed trajectory under the driving of the automatic walking system. The track conducts multi-point hardness tests on the inner surface of the gun barrel.

Description

Robot-based detection device and method for surface hardness of gun barrel

technical field

The invention belongs to the technical field of mechanical structures and equipment and methods for measuring material hardness, in particular to a robot-based detection device and method for the surface hardness of the inner bore of a gun barrel.

Background technique

Bore detection robot technology is a combination of sensing technology, control technology, information processing technology, machining technology, electronic technology, computer technology and other technologies. Therefore, the development of mobile robots must also be based on the rapid development of these technologies. The development trend of the bore detection robot is mainly manifested in the following aspects:

1. Advanced sensing technology, sensors are equivalent to the sensory organs of mobile robots, only advanced sensor technology can effectively collect environmental information, thereby improving the efficiency and accuracy of navigation.

2. Efficient information processing technology, information processing mainly refers to the processing of the information collected by the sensor, including speech recognition and understanding technology, image processing and pattern recognition technology. Since most of the current bore detection robots use vision-based or vision-involved navigation technology, the level of computer vision and image processing technology will play a crucial role in the development of mobile robot navigation.

3. Multi-sensor information fusion technology, multi-sensor navigation is an inevitable trend in the development of mobile robot navigation. This multi-sensor information fusion technology makes full use of the resources of multiple sensors, and through the reasonable control and utilization of these sensors and their observation information, the redundant or complementary information of multiple sensors in space or time is based on certain criteria. Combination, so as to obtain a consistent interpretation or description of the measured object, so it can not only improve the navigation accuracy, but also make the entire navigation system have a higher robustness.

4. The development and improvement of intelligent methods. At present, the application of intelligent methods is an important development direction in mobile robot navigation. However, the current application scope of intelligent algorithms in robot navigation has been greatly limited. For example, neural network applications are often limited to environmental modeling and cognition. Fuzzy logic is applied to complex and unknown dynamic environments, and fuzzy rules are difficult to extract. Navigation isn't great either. Therefore, in the navigation of mobile robots, intelligent methods still have great development space.

There are usually two types of carriers for gun-bore robots: integral and combined. Integral type: that is, one machine with one section. Its interior is equipped with detectors, control devices, data receiving devices and access devices. Its length is determined by the specific size of the barrel. Combined type: that is, one machine with multiple sections. Its length can reach several meters, and each section is a closed cylinder, which can be considered to be composed of a detection cabin, a control cabin, a data processing cabin and a power supply. The cabins are connected by universal joints to facilitate the passing of the robot's curves.

However, since the bore is a slender straight tube, the bore detection robot is usually an integral type, and its length and wall thickness can be determined according to the shape and size of the object to be measured and the measuring device.

The control method of the bore detection robot is still under further development and improvement. When direct control is used, it is worried that the remote control will interfere with the signal during the test. The control of the robot is directly controlled by the operator through the computer. The inspection of the inner surface of the artillery is an important content of the inspection of the artillery barrel. Although the surface of the inner bore will be chrome-plated after the production of the gun barrel to increase the hardness and life of the inner surface, but during the use of the gun, surface defects such as ablation, corrosion, copper hanging, cracks, and rifling fractures will appear in the inner bore of the gun barrel. Disease, the plated chrome will fall off after a long time of wear and tear. When it reaches a certain level, it will affect the shooting accuracy and safety of use. Therefore, the artillery must be regularly inspected. In the repair of artillery barrels, it is also necessary to determine the scope and level of artillery repair through the detection of artillery, and to improve the repair quality of artillery. Since the inner bore of the artillery is the inner surface of a deep hole, it cannot be observed directly with the human eye, and must be observed through a detection instrument.

SUMMARY OF THE INVENTION

In order to solve the above problems, the present invention provides a robot-based detection device and method for the surface hardness of the inner bore of a gun barrel.

The present invention adopts the following technical solutions: a robot-based detection device for the surface hardness of the inner bore of the gun barrel, including an inner bore driver for driving movement along the axis of the barrel, an eight-claw elastic automatic centering device for automatic centering, and a measuring device for measuring the inner surface of the gun barrel. A hardness measuring system and an optical monitoring system for surface hardness, the inner bore driver is connected with the claw elastic automatic centering device, the claw elastic automatic centering device is connected with the hardness measuring system, and the hardness measuring system is connected with the optical monitoring system.

The optical monitoring system includes infrared transmitter, optical window, infrared receiver, triangular prism I, triangular hat bracket, triangular prism II, CCD camera, light source, pose sensor and ring laser generator, infrared transmitter and infrared receiver They are respectively installed in the grooves at the leftmost and rightmost ends of the outer cylindrical surface of the optical window. A ring laser generator is installed at the center of the leftmost end inside the optical window. The right side of the ring laser generator is provided with a triangular prism I and a triangular prism II. The triangular prism I and the triangular prism II are fixed inside the triangular hat bracket. The right side of the triangular hat bracket is provided with a light source, a CCD camera, a pose sensor, a ring laser generator, a triangular prism I, a triangular prism II, and a light source. , The geometric centerline of the CCD camera and the pose sensor is in a straight line with the axis of the optical window.

The hardness measurement system is arranged radially along the inner bore of the gun barrel, including a motor, a constant pressure spring, a ceramic piezoelectric element, a coil, a vibrating rod and a diamond indenter. The motor, the constant pressure spring, the ceramic piezoelectric element, the vibrating rod and the diamond indenter are in sequence. It is connected and arranged radially along the inner bore of the gun barrel, the coil is wound on the vibrating rod, and the diamond indenter is pressed against the surface of the inner bore of the gun barrel.

Two sets of support mechanisms are arranged on the outside of the claw elastic automatic centering device. The claw elastic automatic centering device is provided with a guide sleeve that can slide axially. The outer side of the guide sleeve is provided with an external gear. The guide sleeve is connected with one end of the compression spring, and the compression spring The other end of the fixed claw is at the forward end of the elastic automatic centering device. Each group of support mechanisms includes four evenly distributed support arms. One end of the support arms is a sector gear, and the other end is equipped with a driven roller, which is in rolling contact with the inner wall of the gun barrel. The sector gear meshes with the outer circular gear on the outside of the guide sleeve.

The inner bore driver includes a servo motor, a driving wheel, an auxiliary wheel and an auxiliary wheel support rod. The servo motor is arranged inside the inner bore driver, and the servo motor is connected with the driving wheel. The driving wheel walks along the inner bore of the gun barrel. A small compression spring is arranged in the support rod of the auxiliary wheel, the auxiliary wheel is installed on the support rod of the auxiliary wheel, and the servo motor is connected with the signal of the PLC controller of the external main control box.

A detection method of a robot-based detection device for the surface hardness of the inner bore of a gun barrel, comprising the following steps:

S100~ First adjust the eight-claw elastic centering device to be slightly smaller than the diameter of the gun barrel, then insert the device into the gun barrel and slowly enter along the tube wall;

S200～Then turn on the switch of the device, the ring light emitted by the ring laser generator in the optical monitoring system is irradiated on the optical triangular prism I, and after reflection, it is projected to a certain section of the inner wall of the tube to form a ring light spot, and the shape of the ring light spot reflects The shape of a certain section of the barrel is obtained, and after being reflected by the optical triangular prism II, it is imaged on the photosensitive surface of the CCD camera, and an image of the inner surface of a section of the barrel can be obtained;

S300~ Feed back the image to the robot computer system through the infrared transmitter, and the robot computer system sets the appropriate automatic walking route according to the obtained image data;

S400～Select a suitable point on the set route as the hardness detection point, and the hardness detection device is driven by the robot walking system to test the points along the route one by one;

S500～When the test point is reached, the deformation force of the compression spring of the eight-claw elastic centering device acts on the guide sleeve under the control of the robot control system, and the outer circular gear on the guide sleeve moves with the guide sleeve. Rotate the meshing sector gear, and then push the support arm, so that the eight driven wheels are pressed against the inner bore wall to realize automatic centering;

S600 ~ If there is an error in the process of moving the device along the axis or rotating in the circumferential direction, the control system transmits the signal to the infrared receiver, and then passes through the two orthogonally placed attitude sensors in the optical monitoring system. Rotational and tilt errors inside the tube are compensated.

S700～Hardness measurement system transmits the measured data of each point to the display.

Compared with the prior art, the method of the present invention is simple and easy to implement, and can use the monitoring system to inspect the inner surface of the gun barrel with the assistance of the robot, design the expected trajectory according to the inspected information, and then drive the automatic walking system. It automatically conducts multi-point hardness tests on the inner surface of the gun barrel along the designed trajectory. The device has (the method is simple and easy to implement, the device structure is reasonable, accurate and reliable, the cost is low, the weight is light, the operation is simple, the portability is convenient, and it can be widely used in the inner hole of the oil pump pipe, the inner hole of the rotor of a large generator, and the stern of the destroyer. Hardness testing of the inner wall of deep-hole fittings such as the inner bore of the shaft and the inner bore of the gun barrel.

Description of drawings

Fig. 1 is the detection device of the surface hardness of the inner bore of the gun barrel based on the robot;

Figure 2 is the automatic walking system of the robot;

Figure 3 is a schematic diagram of the optical monitoring system of the robot;

Fig. 4 is the hardness measuring system of the robot;

Figure 5 is an eight-claw elastic automatic centering device;

Fig. 6 is A-A sectional view;

Figure 7 shows the triangular hat bracket

In the picture: 1-infrared receiver, 2-optical window, 3-infrared transmitter, 4-motor, 5-constant pressure spring, 6-ceramic piezoelectric element, 7-support arm of driven wheel, 8-guide sleeve, 9-compression spring, 10-auxiliary wheel, 11-auxiliary wheel support arm, 12-inner bore driver, 13-drive wheel, 14-driven wheel, 15-sector gear, 16-eight-claw elastic centering device, 17-coil , 18-Vibrating rod, 19-Diamond indenter, 20-Position sensor, 21-CCD camera, 22-Light source, 23-Optical triangular prism I, 24-Triangular hat bracket, 25-Optical triangular prism II, 26 -Ring laser generator.

Detailed ways

A robot-based detection device for the surface hardness of the inner surface of the gun barrel, comprising an inner bore driver 12 for driving movement along the axis of the tube, an eight-claw elastic automatic centering device 16 for realizing automatic centering, and a hardness measurement for measuring the hardness of the inner surface of the gun barrel. System and optical monitoring system, the inner bore driver 12 is connected with the claw elastic automatic centering device 16, the claw elastic automatic centering device 16 is connected with the hardness measurement system, and the hardness measurement system is connected with the optical monitoring system.

As shown in Figures 6 and 7, the optical monitoring system includes an infrared transmitter 1, an optical window 2, an infrared receiver 3, a triangular prism I23, a triangular hat bracket 24, a triangular prism II25, a CCD camera 21, a light source 22, and a position and attitude sensor. 20 and the ring laser generator 26, the infrared transmitter 1 and the infrared receiver 3 are respectively installed in the leftmost and rightmost grooves of the outer cylindrical surface of the optical window 2, and a ring laser is installed at the center of the leftmost end of the optical window 2. The generator 26, the right side of the ring laser generator 26 is provided with a triangular pyramid mirror I23 and a triangular pyramid mirror II25, and the triangular pyramid mirror I23 and the triangular pyramid mirror II25 are fixed in its interior through a triangular cap bracket 24, and a light source 22 is arranged on the right side of the triangular cap bracket in turn , CCD camera 21 and position sensor 20, ring laser generator 26, triangular prism I23, triangular prism II25, light source 22, CCD camera 21 and the geometric center line of the position sensor 20 and the axis of the optical window are in a straight line .

The schematic diagram of the optical monitoring system of the robot is shown in Figure 3, which consists of a ring laser generator; (points ) The emitted light beam is reflected by the reflective cone mirror and then projected onto the inner wall of the tube place, point After the reflected light is reflected by the reflective cone mirror, it passes through the receiving lens at The photosensitive surface of the camera forms an image point . corner in figure is the emission half angle of the ring laser generator; is the radius of the original ring light emitted by the ring laser generator; is the distance between the ring laser generator and the vertex of the reflecting cone 1; is the radius at the reflection point on the reflection cone 2; is the distance between the receiving lens and the vertex of the reflecting cone 2; is the distance between the vertices of mirrors 1 and 2. Depend on The image formed by the photosensitive surface actually corresponds to the image formed by a certain cylindrical surface of the inner wall of the tube in the reflection cone 2, which consists of a triangle. and similar available

(1)

in the formula for the receiving lens to The distance between the photosensitive surfaces (that is, the focal length of the lens); r is The radius of the ring on the photosensitive surface; ; ,Will , Substitute the expression into formula (1) to get

(2), d is the pixel size.

According to the above calculation process, the inner surface topography can be extracted from the annular light spot image. After the centerline of the annular light spot is extracted and the parameters are calculated, the structure parameters and imaging principles of the system can be used to observe the internal surface topography of the barrel. , and then transmit the view of the inside of the barrel to the display screen outside the device, and then set the measurement path.

The hardness measurement system is arranged radially along the inner bore of the gun barrel, including a motor 4, a constant pressure spring 5, a ceramic piezoelectric element 6, a coil 16, a vibrating rod 17 and a diamond indenter 18, a motor 4, a constant pressure spring 5, and a ceramic piezoelectric element. 6. The vibrating rod 17 and the diamond indenter 18 are connected and arranged radially along the inner bore of the gun barrel in turn, the coil 16 is wound on the vibrating rod 17, and the diamond indenter 18 is against the surface of the inner bore of the gun barrel.

The hardness measurement system of the robot is shown in Figure 5. The ultrasonic probe has a sensor rod with magnetostrictive effect, the excitation coil is wound on the vibrating rod (sensor rod), and a piezoelectric crystal is fixed on the upper end of the excitation coil. There is a diamond indenter on the other end of the vibrating rod. As a mechanical vibrator, the vibrating rod is inserted into the feedback circuit of the excitation amplifier. Under the action of the excitation coil, the vibrating rod generates longitudinal ultrasonic waves. The piezoelectric crystal plate detects the signal and feeds it back to the input end of the excitation amplifier. A self-excited oscillator, whose oscillation frequency is the resonant frequency of the sensor, will also drive the diamond indenter at the lower end of the vibrating rod to press tightly into the inner surface of the gun barrel, and the microscopic grains on the surface of the material also begin to vibrate at different frequencies, and then , the vibration frequencies of the two will tend to be synchronized, resulting in resonance. The sensing element on the vibrating rod will detect the resonance frequency, and the hardness of the inner surface of the gun barrel can still be measured by the frequency difference before and after the resonance.

Two sets of support mechanisms are arranged on the outside of the claw elastic automatic centering device 16. The claw elastic automatic centering device 16 is internally provided with a guide sleeve 8 that can slide axially. The other end of the compression spring 9 is fixed to the forward end of the elastic automatic centering device 16. Each group of support mechanisms includes four evenly distributed support arms 7. One end of the support arms 7 is a sector gear 15, and the other end is equipped with a driven roller. 14. The driven wheel 14 is in rolling contact with the inner wall of the gun barrel, and the sector gear 15 meshes with the outer circular gear on the outside of the guide sleeve 8.

The inner bore driver 12 includes a servo motor, a driving wheel 13, an auxiliary wheel 10 and an auxiliary wheel support rod 11, the servo motor is arranged inside the inner bore driver 12, the servo motor is connected with the driving wheel 13, and the driving wheel 13 walks along the inner bore of the gun barrel. An auxiliary wheel support rod 11 is installed on the bore driver 12, a small compression spring is arranged in the auxiliary wheel support rod 11, an auxiliary wheel 10 is installed on the auxiliary wheel support rod 11, and the servo motor is connected with the external main control box PLC controller signal.

As shown in Figure 2, the automatic walking system of the robot includes: an inner bore driver, which is driven by an AC servo motor to move the measuring device along the axis of the barrel, and provides power to the driving wheel to drive the entire device to measure the inner surface of the entire barrel. In order to avoid the phenomenon of circumferential rotation and axial deflection of the robot, as shown in Figure 5, the following eight-claw elastic automatic centering device is proposed. One end of the support arm is a fan-shaped gear, and the other end is equipped with a driven roller, which is in rolling contact with the inner wall of the gun barrel, and performs axial rolling or circumferential rotational motion, and the deformation force of the compression spring acts on the outer surface of the guide sleeve. On the round gear, the rack pushes the sector gears of the eight support arms, so that the eight driven rollers are pressed against the inner bore arm to realize automatic centering.

A detection method of a robot-based detection device for the surface hardness of the inner bore of a gun barrel, comprising the following steps:

S100~ First adjust the eight-claw elastic centering device 15 to be slightly smaller than the diameter of the gun barrel, then insert the device into the gun barrel and slowly enter along the tube wall;

S200～Then turn on the switch of the device, the ring light emitted by the ring laser generator 24 in the optical monitoring system is irradiated on the optical triangular prism I, and after reflection, it is projected to a certain section of the inner wall of the tube to form a ring light spot, the shape of the ring light spot Reflecting the shape of a certain section of the body tube, and imaging on the photosensitive surface of the CCD camera 20 after being reflected by the optical triangular prism II, the image of the inner surface of a section of the body tube can be obtained;

S300~ Feed back the image to the robot computer system through the infrared transmitter, and the robot computer system sets the appropriate automatic walking route according to the obtained image data;

S400～Select a suitable point on the set route as the hardness detection point, and the hardness detection device is driven by the robot walking system to test the points along the route one by one;

S500～When the test point is reached, the deformation force of the compression spring 9 of the eight-claw elastic centering device 15 acts on the guide sleeve 8 under the control of the robot control system. The outer cylindrical surface of the guide sleeve 8 has teeth, which are connected with the support The sector gears on the arm 7 mesh with each other. During the movement of the guide sleeve 8, the outer gear drives the sector gears, and then pushes the sector gears 14 of the four support arms 7, so that the eight driven wheels 13 are pressed against the inner bore wall. , to achieve automatic centering;

S600 ~ If there is an error in the process of moving the device along the axis or rotating in the circumferential direction, the control system transmits the signal to the infrared receiver 3, and then passes through the two orthogonally placed attitude sensors 19 in the optical monitoring system. Compensate for rotation error and tilt error inside the barrel;

S700～Hardness measurement system transmits the measured data of each point to the display.

Claims (6)

1. a detection device based on the surface hardness of the gun barrel inner bore of a robot, is characterized in that: comprise the inner bore driver (12) that is used to drive the movement along the tube axis, the eight-claw elastic automatic centering device (16) that realizes automatic centering ), a hardness measuring system and an optical monitoring system for measuring the hardness of the inner surface of the gun barrel, the inner bore driver (12) is connected with the claw elastic automatic centering device (16), and the claw elastic automatic centering device (16) is connected with the hardness measuring system. The measurement system is connected to the optical monitoring system. 2. The robot-based detection device for the surface hardness of the inner bore of the gun barrel according to claim 1, wherein the optical monitoring system comprises an infrared transmitter (1), an optical window (2), an infrared receiver (3). ), triangular prism I (23), triangular hat bracket (24), triangular prism II (25), CCD camera (21), light source (22), pose sensor (20) and ring laser generator (26), The infrared transmitter (1) and the infrared receiver (3) are respectively installed in the grooves at the leftmost and rightmost ends of the outer cylindrical surface of the optical window (2), and a ring laser is installed at the center of the inner leftmost end of the optical window (2). The generator (26), the right side of the ring laser generator (26) are provided with a triangular prism I (23) and a triangular prism II (25), and the triangular prism I (23) and the triangular prism II (25) pass through the triangular cap The bracket (24) is fixed inside it, and the right side of the triangular hat bracket is sequentially provided with a light source (22), a CCD camera (21), a pose sensor (20), a ring laser generator (26), a triangular pyramid mirror I (23), The geometric center line of the triangular pyramid mirror II (25), the light source (22), the CCD camera (21) and the pose sensor (20) is on a straight line with the axis of the optical window. 3. the detection device of the gun barrel bore surface hardness based on robot according to claim 2, is characterized in that: described hardness measurement system is arranged along gun barrel bore radial direction, comprises motor (4), constant pressure spring (5 ), ceramic piezoelectric element (6), coil (16), vibrating rod (17) and diamond indenter (18), motor (4), constant pressure spring (5), ceramic piezoelectric element (6), vibrating rod (17) and the diamond indenter (18) are connected and arranged radially along the inner bore of the gun barrel in turn, the coil (16) is wound on the vibrating rod (17), and the diamond indenter (18) is pressed against the surface of the inner bore of the gun barrel. 4. The robot-based detection device for the surface hardness of the inner bore of the gun barrel according to claim 3, characterized in that: two sets of support mechanisms are provided on the outside of the claw elastic automatic centering device (16), and the claw elastic automatic centering device (16) An axially slidable guide sleeve (8) is arranged inside, an outer circular gear is arranged on the outside of the guide sleeve (8), and the guide sleeve (8) is connected with one end of the compression spring (9), and the end of the compression spring (9) is The other end of the fixed claw elastic automatic centering device (16) is at the forward end. Each set of support mechanisms includes four evenly distributed support arms (7). One end of the support arms (7) is a sector gear (15), and the other end is provided with a driven roller. (14), the driven wheel (14) is in rolling contact with the inner wall of the gun barrel, and the sector gear (15) meshes with the outer circular gear on the outside of the guide sleeve (8). 5. The detection device of the surface hardness of the inner bore of a gun barrel based on a robot according to claim 4, wherein the inner bore driver (12) comprises a servo motor, a drive wheel (13), an auxiliary wheel (10) and The auxiliary wheel support rod (11), the servo motor is arranged inside the inner bore driver (12), the servo motor is connected with the driving wheel (13), the driving wheel (13) walks along the inner bore of the gun barrel, and the inner bore driver (12) is installed on the auxiliary wheel. The wheel support rod (11), a small compression spring is arranged in the auxiliary wheel support rod (11), the auxiliary wheel (10) is installed on the auxiliary wheel support rod (11), and the servo motor is connected with the external main control box PLC controller signal . 6. a detection method based on the detection device of the surface hardness of the gun barrel inner bore of a robot as claimed in claim 5, is characterized in that: comprises the following steps S100~ First adjust the eight-claw elastic centering device 15 to be slightly smaller than the diameter of the gun barrel, then insert the device into the gun barrel and slowly enter along the tube wall; S200～Then turn on the switch of the device, the ring light emitted by the ring laser generator (24) in the optical monitoring system is irradiated on the triangular pyramid mirror I, and after reflection, it is projected to a certain section of the inner wall of the tube to form a ring light spot. The shape reflects the shape of a certain section of the barrel, and after being reflected by the triangular prism II, it is imaged on the photosensitive surface of the CCD camera (20), and an image of the inner surface of a section of the barrel can be obtained; S300~ Feed back the image to the robot computer system through the infrared transmitter, and the robot computer system sets the appropriate automatic walking route according to the obtained image data; S400～Select a suitable point on the set route as the hardness detection point, and the hardness detection device is driven by the robot walking system to test the points along the route one by one; S500～When the test point is reached, the deformation force of the compression spring (9) of the eight-claw elastic centering device (15) under the control of the robot control system acts on the guide sleeve (8), and the outer cylinder of the guide sleeve (8) There are teeth on the surface, which mesh with the sector gears on the support arms (7). During the movement of the guide sleeve (8), the outer gears push the sector gears (14) of the four support arms (7) to make the guide sleeve (8) move. Eight driven wheels (13) are pressed against the inner bore wall to realize automatic centering; S600 ~ If there is an error in the process of moving the device along the axis or rotating in the circumferential direction, the control system transmits the signal to the infrared receiver (3), and then passes through the two orthogonally placed attitude sensors (19) in the optical monitoring system, Compensate the rotation error and tilt error of the optical monitoring system inside the barrel; S700～Hardness measurement system transmits the measured data of each point to the display.