Seamless steel tube detecting and stacking equipment and detecting method

Abstract

According to the seamless steel pipe detecting and stacking equipment and the detecting method, a plurality of conveying wheels are rotationally connected to a machine base in parallel and used for conveying seamless steel pipes, a photoelectric sensor is arranged on the machine base, and when the seamless steel pipes reach a photoelectric sensor detecting area, the conveying wheels stop conveying the seamless steel pipes; the laser displacement sensor is arranged above the conveying wheel and used for measuring the diameter, the length and the roundness of the seamless steel pipe, and the friction wheel is arranged on the machine base in a lifting mode and used for supporting the seamless steel pipe during roundness measurement. The seamless steel tube stacking device is high in automation degree, the diameter, length and roundness of seamless steel tubes are measured, a unique self-checking strategy is set, when the laser displacement sensor is distorted, errors can be amplified, operators can be assisted in better knowing failure of the laser displacement sensor, and the stacking mechanism can freely stretch or retract according to the number and size of the seamless steel tubes; the applicability is wide.

Description

Technical Field

[0001] The invention relates to seamless steel pipe detection and stacking equipment and a detection method. Background Art

[0002] At present, for the inspection of seamless steel pipes, such as diameter, wall thickness and other dimensions, most factories still use contact measurement methods such as calipers and micrometers. Of course, a few factories use physical measurement methods such as conversion measurement between pressure and voltage and Hall element measurement. However, these measurements have a lot of disadvantages, such as low detection accuracy and slow speed, which can easily cause wear of the detection head and damage the surface accuracy of the steel pipe. In addition, during the stacking process after the inspection, the steel pipe will fall from the pipe supply table to the forming frame, which will cause a certain collision and damage the surface of the steel pipe, thereby affecting the accuracy of the steel pipe. If the steel pipe does not fall into place, manual fine-tuning is required, which increases labor and labor costs. Therefore, in order to meet the needs of modern processing and manufacturing, it is particularly important to design a device that can not only detect with high accuracy but also automatically stack qualified products. Summary of the invention

[0003] The present invention provides a seamless steel pipe detection and stacking device and a detection method in order to solve the problems existing in the above-mentioned prior art.

[0004] The technical solutions adopted in the present invention are:

[0005] A seamless steel pipe detection and stacking equipment comprises a machine base, a transmission wheel, a photoelectric sensor, a laser displacement sensor, a friction wheel and a roller. A plurality of transmission wheels are connected to the machine base and rotate in parallel and are used to transport the seamless steel pipe. The photoelectric sensor is placed on the machine base. When the seamless steel pipe reaches the detection area of ​​the photoelectric sensor, the transmission wheel stops transporting the seamless steel pipe. The laser displacement sensor is placed above the transmission wheel and is used to measure the diameter, length and roundness of the seamless steel pipe. The friction wheel can be raised and lowered on the machine base and is used to support the seamless steel pipe during roundness measurement.

[0006] Furthermore, an XYZ three-axis motion mechanism is provided above the transmission wheel, and the XYZ three-axis motion mechanism drives the laser displacement sensor to perform linear displacement in the XYZ three-axis directions.

[0007] Furthermore, a friction wheel lifting mechanism is provided on the machine base, which includes a first cylinder and a second cylinder. The first cylinder drives the second cylinder to move horizontally. A motor that drives the friction wheel to rotate is fixed on the cylinder shaft of the second cylinder. The second cylinder drives the friction wheel to move vertically.

[0008] Furthermore, a roller lifting mechanism is provided on the machine base, which includes a third cylinder and a mounting seat, the mounting seat is fixed to the cylinder shaft of the third cylinder, and two rollers are rotatably connected on the mounting seat, and the axial direction of the rollers is parallel to the conveying direction of the seamless steel pipe.

[0009] Furthermore, a conical groove is provided on the circumferential wall of the transmission wheel, the bottom surface of the conical groove is a horizontal plane, and the angle between the conical wall surface and the bottom surface of the conical groove is 45°.

[0010] Furthermore, all the transmission wheels on the machine base are linked via a driving motor and a plurality of belts and pulleys.

[0011] Furthermore, a calibration block is provided on the machine base, and the calibration block is placed above the photoelectric sensor and the upper end surface of the calibration block is a horizontal plane.

[0012] The present invention also discloses a detection method.

[0013] 1) Device initialization:

[0014] After the equipment is turned on, the laser displacement sensor moves horizontally. When the laser displacement sensor moves above one of the rollers, the laser displacement sensor measures the distance M between it and the bottom surface of the cone groove in the roller, and the distance M is set as the initial value of the laser displacement sensor in the Z-axis direction;

[0015] 1) Device initialization:

[0016] After the equipment is turned on, the laser displacement sensor moves horizontally. When the laser displacement sensor moves above one of the rollers, the laser displacement sensor measures the distance M between it and the bottom surface of the cone groove in the roller, and the distance M is set as the initial value of the laser displacement sensor in the Z-axis direction;

[0017] 2) Diameter measurement:

[0018] The robot moves the seamless steel pipe into the conical groove of the conveying wheel. After the seamless steel pipe is horizontally conveyed by the conveying wheel to the detection area of ​​the photoelectric sensor (3), the conveying wheel stops conveying the seamless steel pipe. At this time, the laser displacement sensor moves horizontally in the direction of the seamless steel pipe (400). During the movement, the laser displacement sensor passes through the calibration block and measures the distance D between the laser displacement sensor and the calibration block. After moving away from the calibration block, when the distance measurement value of the laser displacement sensor suddenly changes greatly, the point where the value suddenly changes is recorded as the initial detection point K1 of the seamless steel pipe. Then, the laser displacement sensor continues to move horizontally in the same direction for a distance and then stops. Then, the laser displacement sensor moves vertically downward by D. At this time, the downward displacement D value is obtained by the formula D=k*A*f. After moving the D value distance, the laser displacement sensor measures the vertical distance B between the surface of the seamless steel pipe.

[0019] The diameter of the seamless steel pipe is then calculated according to the diameter formula, which is:

[0020]

[0021] Wherein: when the laser displacement sensor is at the initial value of the Z-axis direction, the initial value of the pulse number of the Z-axis register is 0, the ratio of the pulse equivalent of the stepper motor driving the Z-axis direction movement in the XYZ three-axis motion mechanism to the moving distance of the Z-axis slide is k, and after the laser displacement sensor passes through the calibration block and measures the distance D, the pulse number of the Z-axis register is A;

[0022] 3) Length measurement:

[0023] After the diameter detection, the laser displacement sensor continues to move horizontally in the same direction. When the distance measurement value of the laser displacement sensor suddenly changes greatly, the point where the value suddenly changes is recorded as the final detection point K2 of the seamless steel pipe. The distance between K1 and K2 is the length of the seamless steel pipe.

[0024] 4) Roundness measurement:

[0025] After the length measurement is completed, the laser displacement sensor moves horizontally in the opposite direction for a distance and then stops. Then the friction wheel rises and lifts the seamless steel pipe horizontally out of the cone groove. The friction wheel moves and presses on the seamless steel pipe. The friction wheel rotates and drives the seamless steel pipe to rotate. During the rotation of the seamless steel pipe, the laser displacement sensor measures the roundness of the seamless steel pipe.

[0026] The present invention has the following beneficial effects:

[0027] The present invention has a high degree of automation and can measure the diameter, length and roundness of seamless steel pipes. It sets a unique self-checking strategy and can amplify the error when the laser displacement sensor is distorted, thereby assisting operators to better know the failure of the laser displacement sensor. The stacking mechanism can be freely extended or shortened according to the number and size of seamless steel pipes and has wide applicability. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 This is a structural diagram of the present invention.

[0029] Figure 2 It is an assembly diagram of the XYZ three-axis motion mechanism and the laser displacement sensor of the present invention.

[0030] Figure 3 This is the assembly drawing of the friction wheel and roller.

[0031] Figure 4 This is the assembly drawing of the roller.

[0032] Figure 5 Schematic diagram of laser displacement sensor detection.

[0033] Figure 6 Schematic diagram of diameter measurement.

[0034] Figure 7 This is the overall picture of the seamless steel pipe inspection and stacking equipment.

[0035] Figure 8 This is the structural diagram of the palletizing mechanism. DETAILED DESCRIPTION

[0036] The present invention will be further described below in conjunction with the accompanying drawings.

[0037] like Figure 1 and Figure 2 The present invention discloses a seamless steel pipe detection and stacking device, comprising a machine base 1, a transmission wheel 2, a photoelectric sensor 3, a laser displacement sensor 4, a friction wheel 5 and a roller 6. A plurality of transmission wheels 2 are connected to the machine base 1 and rotated in parallel and used to transport seamless steel pipes 400. All transmission wheels 2 have the same size and are arranged at the same height. The photoelectric sensor 3 is placed on the machine base 1 and is fixed in position. When the seamless steel pipe 400 reaches the detection area of ​​the photoelectric sensor 3, the transmission wheel 2 stops the seamless steel pipe from being transported. The laser displacement sensor 4 is placed above the transmission wheel 2 and is used to measure the diameter, length and roundness of the seamless steel pipe. The friction wheel 5 can be raised and lowered on the machine base 1 and is used to support the seamless steel pipe during roundness measurement.

[0038] The laser displacement sensor 4 in the present invention can move in three directions of XYZ, wherein the X-axis is the conveying direction of the seamless steel pipe 400, and the Z-axis is the vertical direction. It is driven by an XYZ three-axis motion mechanism 7, which includes a slide and a screw module, and a register is set in each direction.

[0039] like Figure 3 A friction wheel lifting mechanism 8 is provided on the machine base 1, which includes a first cylinder 81 and a second cylinder 82. The first cylinder 81 drives the second cylinder 82 to move in the Y-axis direction. A motor for driving the friction wheel 5 to rotate is fixed on the cylinder shaft of the second cylinder 82. The second cylinder 82 drives the friction wheel 5 to move vertically.

[0040] A roller lifting mechanism 9 is provided on the machine base 1, which includes a third cylinder 91 and a mounting seat 92. The mounting seat 92 is fixed to the cylinder shaft of the third cylinder 91, and two rollers 6 are rotatably connected on the mounting seat 92. The axial direction of the rollers is parallel to the conveying direction of the seamless steel pipe.

[0041] like Figure 4 In order to better position and support the seamless steel pipe 400 on the transmission wheel 2, a conical groove 21 is provided on the circumferential wall of the transmission wheel 2. The bottom surface of the conical groove 21 is a horizontal plane, and the angle between the conical wall surface and the bottom surface of the conical groove 21 is 45°.

[0042] A calibration block 800 is provided on the machine base 1 . The calibration block 800 is placed on one side of the photoelectric sensor 3 and above the photoelectric sensor 3 . The upper end surface of the calibration block 800 is a horizontal surface.

[0043] All the transmission wheels 2 on the machine base 1 of the present invention are linked by a driving motor and multiple belts and pulleys, and the arrangement is as follows: Figure 1 shown.

[0044] like Figure 5 and Figure 6 , based on the above device, the detection method of the present invention is:

[0045] 1) Device initialization:

[0046] After the equipment is turned on, the laser displacement sensor 4 first moves horizontally to the left or right. When the laser displacement sensor 4 moves to the top of one of the rollers 6, the laser displacement sensor 4 measures the distance M between it and the bottom surface of the cone groove in the roller, and the distance M is set as the initial value of the laser displacement sensor 4 in the Z-axis direction. Then the friction wheel 5 and the roller 6 are reset, and the friction wheel 5 and the roller 6 do not interfere with the transportation of the seamless steel pipe. After measuring the distance M, the laser displacement sensor 4 moves horizontally to the right side of the photoelectric sensor 3.

[0047] 2) Diameter measurement:

[0048] The robot moves the seamless steel pipe into the conical groove 21 of the conveying wheel 2. After the seamless steel pipe is horizontally transported by the conveying wheel 2 to the detection area of ​​the photoelectric sensor 3, the conveying wheel 2 stops conveying the seamless steel pipe. At this time, the laser displacement sensor 4 moves horizontally to the left (i.e., in the X direction). During the movement, the laser displacement sensor 4 passes through the calibration block 800 and measures the distance D between it and the calibration block 800. After moving away from the calibration block 800, when the ranging distance value of the laser displacement sensor 4 suddenly changes greatly, the point where the sudden change in value is recorded is the initial detection point K1 of the seamless steel pipe 400.

[0049] Then the laser displacement sensor 4 continues to move horizontally to the left for a distance and then stops. Then the laser displacement sensor 4 moves vertically downward by D (i.e., reaches Figure 5 At this time, the downward displacement D value is calculated by the formula D=k*A*f (f: the frequency of the Z-axis stepper motor). After moving the D value distance, the laser displacement sensor 4 measures the vertical distance B between the surface of the seamless steel pipe 400 and the surface of the seamless steel pipe 400.

[0050] The diameter of the seamless steel pipe is then calculated according to the diameter formula, which is:

[0051]

[0052] Among them: assuming that when the laser displacement sensor 4 is at the initial value of the Z-axis direction, the initial assignment of the number of pulses in the Z-axis register is 0, the ratio of the pulse equivalent of the stepper motor driving the Z-axis direction movement in the XYZ three-axis motion mechanism 7 to the moving distance of the Z-axis slide is k, and after the laser displacement sensor 4 passes through the calibration block 800 and measures the distance D, the number of pulses in the Z-axis register is A.

[0053] In the present invention, the distance M is obtained by measurement and is a fixed value, and the vertical downward displacement D value is calculated by the stepper motor operating parameters. After the laser displacement sensor 4 passes through the calibration block 800, D is measured and compared with the actual downward displacement D calculated by the laser displacement sensor 4 through the operating parameters, so as to realize the self-check of the laser displacement sensor 4.

[0054] Because the sensor will fail to detect after being used for a period of time, for example, the actual distance is 20cm, but the measured distance is greater than or less than 20cm (if it is 15cm or 22cm). Once this happens, the measured results are all wrong, especially when the error is small, such as the actual pipe diameter is 20cm, but the measured distance is 21cm. The small error is not easy to distinguish by the naked eye. However, the distance H is divided into two parts, instead of being measured directly (that is, directly moving the laser displacement sensor 4 to the left to J3 and then measuring the vertical distance H (H=D+B) between the surface of the seamless steel pipe 400), but the D value of the vertical downward displacement is calculated by the operating parameters of the stepper motor. Therefore, under the premise that the M value is known and unchanged, if the measured vertical of B is wrong, it is easy to infer whether the laser displacement sensor 4 has inaccurate measurement through the superposition of errors.

[0055] 3) Length measurement:

[0056] After the diameter detection, the laser displacement sensor 4 continues to move horizontally in the same direction. When the distance value of the laser displacement sensor 4 suddenly changes greatly, the point where the value suddenly changes is recorded as the final detection point K2 of the seamless steel pipe 400. The distance between K1 and K2 is the length of the seamless steel pipe 400.

[0057] 4) Roundness measurement:

[0058] After the length measurement is completed, the laser displacement sensor 4 moves horizontally in the opposite direction for a distance and then stops. Then the friction wheel 5 rises and lifts the seamless steel pipe 400 horizontally out of the conical groove 21. The friction wheel 5 moves and presses on the seamless steel pipe 400. The friction wheel 5 rotates and drives the seamless steel pipe 400 to rotate. During the rotation of the seamless steel pipe 400, the laser displacement sensor 4 measures the roundness of the seamless steel pipe.

[0059] how Figure 7 and Figure 8The present invention further comprises a manipulator 11 and a palletizing mechanism 12, wherein the manipulator 11 is respectively arranged at the beginning and the end of the conveying line formed by the conveying wheel 2 (for the convenience of drawing, Figure 7 After the seamless steel pipe 400 is inspected, the robot 11 takes the seamless steel pipe 400 away and places it on the stacking mechanism 12.

[0060] The stacking mechanism 12 includes a linear displacement mechanism 121, a rotating motor 122 and a stacking frame 123. The linear displacement mechanism 121 is an electric screw mechanism. A fixed seat 124 is provided at the linear free end of the linear displacement mechanism 121. The rotating motor 122 is fixed on the fixed seat 124. The stacking frame 123 is placed horizontally, and the middle part of the stacking frame 123 is fixed to the motor shaft of the rotating motor 122.

[0061] The stacking frame 123 is a rectangular frame, and the length of its long side can be adjusted electrically. A fixed rod 125 and a movable rod 126 are provided on each wide side. The gap between the fixed rod 125 and the movable rod 126 is adjustable, and the fixed rod 125 and the movable rod 126 are arranged at intervals on the upper end surface of the stacking frame 123 to prevent the seamless steel pipe 400 from rolling away from the stacking frame 123.

[0062] The long side length adjustable structure of the stacking frame 123 is as follows: the stacking frame 123 includes a U-shaped frame 127 and a middle beam 128. The two sides of the two U-shaped frames 127 are plugged into the two middle beams 128. Two adjustment motors 129 are fixed on each middle beam 128. Each adjustment motor 129 is connected to the U-shaped frame 127 on the corresponding side through a crank structure. The U-shaped frame 127 and the middle beam 128 are plugged into a guide slide, and the length of the long side is electrically adjusted through the crank structure.

[0063] A slide groove is provided on the wide side of the stacking frame 123, a slider is provided in the slide groove, an electric screw for driving the slider to slide is provided in the wide side, and a moving rod 126 is fixed to the straight free end of the electric screw. The electric screw adjusts the gap between the moving rod 126 and the fixed rod 125. The stacking frame can be freely extended or shortened according to the number and size of the seamless steel pipes 400, and has wide applicability.

[0064] The above description is only a preferred embodiment of the present invention. It should be pointed out that a person skilled in the art can make several improvements without departing from the principle of the present invention, and these improvements should also be regarded as within the protection scope of the present invention.

Claims

1. A seamless steel pipe detection and stacking device, characterized in that: The invention comprises a machine base (1), a transmission wheel (2), a photoelectric sensor (3), a laser displacement sensor (4), a friction wheel (5) and a roller (6); a plurality of transmission wheels (2) are connected to the machine base (1) for rotation in parallel and are used for conveying seamless steel pipes; the photoelectric sensor (3) is arranged on the machine base (1); when the seamless steel pipe reaches the detection area of ​​the photoelectric sensor (3), the transmission wheel (2) stops conveying the seamless steel pipe; the laser displacement sensor (4) is arranged above the transmission wheel (2) and is used for measuring the diameter, length and roundness of the seamless steel pipe; the friction wheel (5) can be raised and lowered and is arranged on the machine base (1) and is used for supporting the seamless steel pipe when measuring the roundness.

2. The seamless steel pipe detection and stacking equipment according to claim 1, characterized in that: An XYZ three-axis motion mechanism (7) is provided above the transmission wheel (2), and the XYZ three-axis motion mechanism (7) drives the laser displacement sensor (4) to perform linear displacement in the XYZ three-axis directions.

3. The seamless steel pipe detection and stacking equipment according to claim 1, characterized in that: The machine base (1) is provided with a friction wheel lifting mechanism (8), which comprises a first cylinder (81) and a second cylinder (82); the first cylinder (81) drives the second cylinder (82) to move horizontally; a motor for driving the friction wheel (5) to rotate is fixed on the cylinder shaft of the second cylinder (82); and the second cylinder (82) drives the friction wheel (5) to move vertically.

4. The seamless steel pipe detection and stacking equipment according to claim 1, characterized in that: The machine base (1) is provided with a roller lifting mechanism (9), which comprises a third cylinder (91) and a mounting seat (92). The mounting seat (92) is fixed to the cylinder shaft of the third cylinder (91), and two rollers (6) are rotatably connected on the mounting seat (92). The axial direction of the rollers is parallel to the conveying direction of the seamless steel pipe.

5. The seamless steel pipe detection and stacking equipment according to claim 1, characterized in that: A conical groove (21) is provided on the circumferential wall of the transmission wheel (2), the bottom surface of the conical groove (21) is a horizontal plane, and the angle between the conical wall surface and the bottom surface of the conical groove (21) is 45 degrees.

6. The seamless steel pipe detection and stacking equipment according to claim 1, characterized in that: All the transmission wheels (2) on the machine base (1) are linked via a driving motor and a plurality of belts and pulleys.

7. The seamless steel pipe detection and stacking equipment according to claim 1, characterized in that: The base (1) is provided with a calibration block (800), which is placed above the photoelectric sensor (3) and has an upper end surface that is a horizontal plane.

8. A detection method for a palletizing device according to any one of claims 1 to 7, characterized in that: 1) Device initialization: After the device is turned on, the laser displacement sensor (4) moves horizontally. When the laser displacement sensor (4) moves above one of the rollers (6), the laser displacement sensor (4) measures the distance M between it and the bottom surface of the conical groove in the roller, and the distance M is set as the initial value of the laser displacement sensor (4) in the Z-axis direction; 2) Diameter measurement: The robot moves the seamless steel pipe into the conical groove (21) of the conveying wheel (2). After the seamless steel pipe is horizontally conveyed by the conveying wheel (2) to the detection area of ​​the photoelectric sensor (3), the conveying wheel (2) stops conveying the seamless steel pipe. At this time, the laser displacement sensor (4) moves horizontally toward the seamless steel pipe (400). During the movement, the laser displacement sensor (4) passes through the calibration block (800) and measures the distance D between the laser displacement sensor (4) and the calibration block (800). After moving away from the calibration block (800), when the distance measurement value of the laser displacement sensor (4) suddenly changes greatly, the point where the value suddenly changes is recorded as the initial detection point K1 of the seamless steel pipe (400); then the laser displacement sensor (4) continues to move horizontally in the same direction for a distance and then stops. Then the laser displacement sensor (4) moves vertically downward by D. At this time, the downward displacement D value is obtained by the formula D=k*A*f. After moving the D value distance, the laser displacement sensor (4) measures the vertical distance B between the surface of the seamless steel pipe (400). The diameter of the seamless steel pipe is then calculated according to the diameter formula, which is: Wherein: when the laser displacement sensor (4) is at the initial value of the Z-axis direction, the initial value of the pulse number of the Z-axis register is 0, the ratio of the pulse equivalent of the stepping motor driving the Z-axis direction movement in the XYZ three-axis motion mechanism (7) to the moving distance of the Z-axis slide is k, and after the laser displacement sensor (4) passes through the calibration block (800) and measures the distance D, the pulse number of the Z-axis register is A; 3) Length measurement: After the diameter detection, the laser displacement sensor (4) continues to move horizontally in the same direction. When the distance measurement value of the laser displacement sensor (4) suddenly changes greatly, the point where the value suddenly changes is recorded as the final detection point K2 of the seamless steel pipe (400). The distance between K1 and K2 is the length of the seamless steel pipe (400). 4) Roundness measurement: After the length measurement is completed, the laser displacement sensor (4) moves horizontally in the opposite direction for a distance and then stops. Then the friction wheel (5) rises and lifts the seamless steel pipe (400) horizontally to separate it from the conical groove (21). The friction wheel (5) moves and presses on the seamless steel pipe (400). The friction wheel (5) rotates and drives the seamless steel pipe (400) to rotate. During the rotation of the seamless steel pipe (400), the laser displacement sensor (4) measures the roundness of the seamless steel pipe.

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