Research And Development Of A Multi-geometric Integrated Measuring Robot Control System For The Gun Barrel

The gun barrel is the core component of the artillery,and its quality affects the shooting accuracy and lifespan of the artillery.The measurement of the bore,roundness,wall thickness and straightness of the boring gun barrel is the key to evaluating its quality.The gun barrel is a hole part with a large aspect ratio.The current detection method is to manually measure the above-mentioned geometric dimensions.There are problems such as low measurement accuracy,low measurement efficiency,and inability to meet the full-length geometric measurement of the barrel.This paper proposes an integrated measurement method for the aperture,roundness,wall thickness,and straightness of the gun barrel,which breaks through the key technology of robot motion control in the measurement process,develops an integrated measurement pipeline robot,and develops a measurement control system and software.The specific research content is as follows:(1)Considering the needs of various types of geometric measurement and high accuracy,taking the axis of the barrel as a unified reference,an integrated measurement method of multiple geometric variables is proposed,and the evaluation method of aperture,roundness,wall thickness and straightness is determined,and the design is designed The pipeline robot structure integrating measurement execution unit,self-centering unit,and walking unit has developed a pipeline robot with integrated measurement of multiple geometric quantities.An adaptive measurement method based on measuring the sharpness of the surface shape change of the inner wall is proposed,and an algorithm model is established.Experiments show that the adaptive measurement with a threshold of 3.3 mm improves the measurement efficiency on the basis of ensuring the measurement accuracy.It is a motion control system.The design provides a theoretical basis.(2)Integrating the mechanical structure and control requirements of the measuring robot,a data acquisition system was designed to plan multiple geometric measurement paths;a motion control card was designed as the control system of the lower computer,and an electrical control cabinet was built.Based on the PID-based position loop control strategy,the driving control algorithm of the measuring robot is designed.Experiments show that when the proportional parameter is 1.025,the integral parameter is 0.215,and the derivative parameter is 0.1,the error between the target position and the actual position of the measuring robot when moving is achieved.Less than 2 mm,to meet the axial positioning requirements of the multi-geometric measurement process.Design a modular software structure,and develop an integrated measurement software with user management,measurement process setting,and measurement result display based on Lab VIEW.(3)The factors affecting the measurement accuracy of multiple geometric quantities are analyzed,and the measurement results of the coordinate machine are compared,and the positioning accuracy of the measuring robot in the hole is calibrated to 0.0036 mm.Use the measuring robot to measure the calibrated process sample,and perform data processing based on the Grubbs criterion to obtain multi-geometric measurement results,which verifies the measurement accuracy of the multi-geometric measurement robot: the straightness measurement accuracy is 0.0059 mm,and the roundness measurement accuracy is 0.0048 mm,the aperture measurement accuracy is 0.005 mm,and the wall thickness measurement accuracy is 0.04 mm,which meets the design index requirements.Through the above research,the problem of low measurement accuracy and low measurement efficiency of the gun barrel is solved,and the measurement of the full length of the barrel cannot be satisfied,and the high-precision integrated measurement of multiple geometrical quantities of the barrel is realized.