摘要：针对目前深孔轴线度测试技术的不足，设计了一种基于PSD的自定心深孔轴线度测量机器人。通过螺旋管道机器人驱动，带动内径自定心装置沿管道轴线前进，置于定心轴端的激光头发出激光束并照射到外置的四象限PSD面板，通过电路转换和数据采集实时显示当前管道位置的轴线位置，并完成所测深孔轴线的测量。与现有测量系统相比，该机器人可以实现精密仪器中深孔、盲孔任意截面直线度参数的测量。

关键词：PSD； 深孔；直线度；测量机器人

中图分类号：TH122；TH741；TG803；TG839文献标志码：A

Design of Measuring Robot for Deephole Axis Based on PSD

Zhao Haifeng，Guo Yan，Wang Guodong

Abstract:Concerning the drawbacks of the present measuring technology and based on PSD，a selfcentering robot for measuring deephole axis is designed.The selfcentering unit is driven to move along the whole axis while a laser beam from one end of the selfcentering unit is projected to a fourquadrant PSD plate.By circuit conversion and realtime data acquisition，the whole axis position can be displayed and measured.The measuring robot can implement the straightness detection at any section of deep holes and blind holes in precision instruments.

Keywords:PSD；deep hole；straightness；measuring robot