炮膛多参数综合测量机器人系统设计

The Design of Multi-Parameter Synthetically Measuring Robot System for Artillery′s Bore

为改善传统的人工推拉式单参数炮膛质量检测方法,实现单机多参数综合测量,开发了一种具有自动定心功能,能携带测量装置在炮膛内自动移动的炮膛检测机器人.采用光学测量方法实现了炮膛内径、直线度及阴阳膛表面粗糙度的自动测量,并利用光散射特征值法实现了表面粗糙度的非接触测量.实验结果表明,该机器人不但具有高的测量精度,而且提高了检测的自动化程度和测量结果的客观性.

An artillery bore detecting robot system was developed, which has the function of self-centering and can move automatically with toting the measuring equipments in the bore, in order to change the traditional bore detecting system that can be pulled or pushed only by hand and to realize synthetic multi-parameter measurement with single equipment. The optical measuring methods were adopted to realize the automatic measurement of bore inside diameter, straightness and the negative and positive chambers＇ surface roughness. The system achieved the non-contact measurement of surface roughness with the light scattering eigenvalue. Experimental results show that this robot not only has high measure precision but improves the automation level and the objectivity of measuring results.