Spiral conveying steel pipe advancing speed detection device and detection system

Abstract

The application relates to a screw conveying steel pipe advancing speed detection device and a detection system, wherein the detection device comprises a lifting device, the lifting device comprises a fixed part and a sliding part which is slidably connected with the fixed part in the vertical direction; an angle sensor is fixedly installed on the sliding part, the rotating shaft of the angle sensor is arranged in the vertical direction, and the rotating shaft of the angle sensor is fixedly connected with a rotating block; a speed measuring part comprises an encoder and a roller which is coaxial and fixedly sleeved on the outer periphery of the rotating shaft of the encoder, and the roller and the rotating shaft of the encoder can synchronously rotate; a connecting rod is fixedly connected with the upper part of the encoder, the rotating block is hinged with the lower part of the connecting rod through a hinge shaft, the axis of the hinge shaft is parallel to the axis of the rotating shaft of the encoder; a reset spring is connected with the connecting rod and the rotating block at two ends, and the roller can be tightly abutted against the bottom of the steel pipe to be detected under the action of the reset spring. The application is convenient for calculating the linear advancing speed and the rotating speed of the steel pipe.

Description

Technical Field

[0001] This invention relates to the field of anti-corrosion coating technology for steel pipes, specifically to a device and system for detecting the forward speed of a spiral conveyor steel pipe. Background Technology

[0002] During the production process of coating the outer surface of steel pipe with 3PE anti-corrosion coating, the steel pipe moves forward in a spiral along its axis. To ensure the coating quality of the steel pipe, the linear speed of the steel pipe, the rotational speed and the speed of the coating extruder need to be precisely matched. If the three are not well matched, it is easy to produce defective products or waste materials.

[0003] The common practice in existing technologies is to use the actual frequency value of the roller conveyor motor's frequency converter as a reference value for the linear speed of the steel pipe's advance. However, the steel pipe moves forward in a spiral motion on the roller conveyor, and the actual frequency value of the frequency converter can only represent the rotational linear speed of the roller conveyor motor. The steel pipe rolls on the roller conveyor in a spiral motion, and sometimes slippage or jamming can occur. Therefore, the frequency value of the frequency converter is not the linear speed value of the steel pipe's advance. Furthermore, adjustments to the angle and spacing of the support wheels on the coating roller conveyor can cause inaccuracies in the linear speed of the steel pipe's advance and rotation during the coating process. Therefore, at the beginning of steel pipe anti-corrosion production, a considerable amount of time is required to adjust the process parameters before normal production can begin, which affects production efficiency, wastes raw materials, and further impacts coating quality. Summary of the Invention

[0004] To address the shortcomings of existing technologies, one of the technical problems this invention aims to solve is to provide a device for detecting the forward speed of a spiral-conveyed steel pipe, so as to calculate the linear forward speed and rotational speed of the steel pipe; another technical problem this invention aims to solve is to provide a system for detecting the forward speed of a spiral-conveyed steel pipe, which can provide real-time feedback on the linear forward speed and rotational speed of the steel pipe.

[0005] To solve one of the aforementioned technical problems, the present invention provides a device for detecting the forward speed of a spiral-conveyed steel pipe, comprising a lifting device, which includes a fixed part and a sliding part slidably connected to the fixed part in the vertical direction; an angle sensor, the housing of which is fixedly mounted on the sliding part, the rotating shaft of which is arranged in the vertical direction and fixedly connected to a transition block; a speed measuring part, which includes an encoder and a roller, the roller being coaxial and fixedly sleeved on the outer circumference of the encoder's rotating shaft, so that the roller and the encoder's rotating shaft can rotate synchronously; a connecting rod, the housing of which is fixedly connected to the upper part of the connecting rod, the transition block being hinged to the lower part of the connecting rod via a hinge shaft, and the axis of the hinge shaft being parallel to the axis of the encoder's rotating shaft; and a return spring, the two ends of which are respectively connected to the connecting rod and the transition block, and the roller being able to tightly abut against the bottom of the steel pipe to be tested under the action of the return spring.

[0006] This invention is applicable to the speed detection of steel pipes in a spiral conveying state. During detection, the detection device is placed below the steel pipe to be tested, and the lifting device is adjusted so that the roller is in close contact with the bottom of the steel pipe. When the steel pipe moves, the roller rotates under the influence of friction, and the encoder shaft rotates synchronously with the roller. Simultaneously, since the steel pipe is spiraling forward, the shafts of the speed measuring unit, connecting rod, adapter block, and angle sensor rotate synchronously around the axis of the angle sensor until the radial direction of the roller aligns with the spiral forward direction of the steel pipe. Therefore, the spiral forward linear velocity of the steel pipe can be calculated based on the number of pulses generated by the encoder per unit time. The angle detected by the angle sensor indicates the angle between the spiral forward direction and the straight forward direction of the steel pipe. Furthermore, based on trigonometric relationships, the straight forward velocity and rotational linear velocity of the steel pipe can be calculated, thereby guiding the rotation speed of the coating extruder, ensuring product quality and reducing material waste.

[0007] Preferably, the lifting device is a linear motor, the frame of which forms the fixed part, and the slide of which forms the sliding part.

[0008] Preferably, the speed measuring unit is located directly below the steel pipe to be tested.

[0009] Preferably, the roller is made of polyurethane material.

[0010] Preferably, the diameter of the roller is larger than the diameter of the encoder.

[0011] Preferably, the connecting rod has a first mounting hole and a second mounting hole from top to bottom; the hinge shaft passes through the second mounting hole and is fixedly connected to the adapter block, and the hinge shaft is rotatably engaged with the second mounting hole; the encoder housing and the roller are located on both sides of the connecting rod, the encoder shaft passes through the first mounting hole and is fixedly connected to the roller, and the encoder shaft is rotatably engaged with the first mounting hole. This structural design allows the connecting rod to rotate around the axis of the hinge shaft, achieving hinge connection between the connecting rod and the adapter block; simultaneously, the connection structure of the encoder, connecting rod, and roller makes the overall structure more compact, facilitating the installation of the encoder and roller, and enabling synchronous rotation of the roller and encoder shafts.

[0012] Preferably, the bottom of the return spring is connected to the adapter block, and the top of the return spring is connected to the connecting rod near the speed measuring part. When the return spring is in its free state, the connecting rod is arranged vertically. In use, rotating the connecting rod causes the roller to abut against the bottom of the steel pipe to be tested. At this time, the connecting rod rotates a certain angle around the axis of the hinge shaft, thereby causing the return spring to stretch, so that the roller can abut tightly against the bottom of the steel pipe to be tested under the restoring force of the return spring.

[0013] Preferably, the spiral conveying steel pipe forward speed detection device of the present invention further includes a base mounted on a horizontal plane, and the fixing part of the lifting device is mounted on the base.

[0014] To solve the second technical problem mentioned above, the present invention provides a spiral conveying steel pipe forward speed detection system, including the aforementioned spiral conveying steel pipe forward speed detection device, and further including a PLC controller, used to acquire the deflection angle θ of the angle sensor relative to its zero point, and to acquire the cumulative pulse count n1 of the encoder at time t1 and the cumulative pulse count n2 of the encoder at time t2, and to calculate the spiral forward linear velocity v of the steel pipe under test according to equation (1):

[0015]

[0016] Where r is the radius of the roller, and N is the number of pulses generated by the encoder in one revolution; when the deflection angle of the angle sensor is 0, if the hinge shaft is perpendicular to the axis of the steel pipe to be tested, the PLC controller calculates the linear forward speed v1 and the rotational linear speed v2 of the steel pipe to be tested according to equations (2) and (3) respectively:

[0017] v1=vcosθ (2)

[0018] v2=vsinθ (3)

[0019] v1=vsinθ (4)

[0020] v2=vcosθ (5)

[0021] When the deflection angle of the angle sensor is 0, if the hinge shaft is parallel to the axis of the steel pipe to be tested, the PLC controller calculates the linear forward speed v1 and the rotational linear speed v2 of the steel pipe to be tested according to equations (4) and (5), respectively.

[0022] Before the detection begins, the zero point of the angle sensor can be calibrated. The straight line of the hinge axis corresponding to the zero point position can be parallel or perpendicular to the axis of the steel pipe to be tested. Therefore, during the detection, there is no need to deliberately adjust the initial position of the speed measuring part. It is only necessary to ensure that the roller is in contact with the bottom of the steel pipe to be tested. The PLC controller obtains the cumulative number of encoder pulses every certain period of time (the time interval Δt = t2 - t1) and calculates the spiral forward linear velocity v of the steel pipe to be tested according to formula (1). Combined with the deflection angle θ of the angle sensor relative to the zero point, the real-time linear forward speed and rotational linear velocity of the steel pipe to be tested can be calculated. The operator can adjust the speed of the coating extruder based on this.

[0023] Preferably, the spiral conveyor steel pipe forward speed detection system of the present invention further includes an industrial computer, which is signal-connected to the PLC controller, for acquiring and displaying the spiral forward linear speed v, the linear forward speed v1, and the rotational linear speed v2 of the steel pipe under test. The industrial computer can display the spiral forward linear speed v, the linear forward speed v1, and the rotational linear speed v2 in real time, so that the operator can monitor the speed change of the steel pipe under test in real time and better adjust the rotation speed of the coating extruder. Attached Figure Description

[0024] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the accompanying drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the elements or parts are not necessarily drawn to scale.

[0025] Figure 1 This is a schematic diagram of the structure of the spiral conveying steel pipe forward speed detection device according to an embodiment of the present invention;

[0026] Figure 2 This is a schematic diagram illustrating the trigonometric function relationship between the spiral forward velocity, linear forward velocity, and rotational linear velocity of the steel pipe under test in an embodiment of the present invention.

[0027] Figure 3 This is a structural block diagram of a spiral conveying steel pipe forward speed detection system according to an embodiment of the present invention.

[0028] Figure label:

[0029] 1-Base; 2-Lifting device; 21-Fixing part; 22-Sliding part; 3-Angle sensor; 4-Adapter block; 5-Connecting rod; 6-Reset spring; 7-Roller; 8-Encoder; 9-PLC controller; 10-Industrial computer. Detailed Implementation

[0030] The embodiments of the technical solution of the present invention will now be described in detail with reference to the accompanying drawings. These embodiments are merely illustrative of the technical solution of the present invention and are therefore intended to limit the scope of protection of the present invention.

[0031] It should be noted that, unless otherwise stated, the technical or scientific terms used in this application should have the ordinary meaning as understood by one of ordinary skill in the art to which this invention pertains.

[0032] like Figure 1 As shown in the figure, this embodiment discloses a spiral conveying steel pipe forward speed detection device, including a base 1, a lifting device 2, an angle sensor 3, an adapter block 4, a speed measuring part, a connecting rod 5, and a return spring 6.

[0033] The aforementioned lifting device 2 is a linear motor. The frame of the linear motor forms a fixed part 21, and the slide of the linear motor forms a sliding part 22. The sliding part 22 and the fixed part 21 are slidably connected in the vertical direction. The fixed part 21 is fixedly installed on the base 1, and the base 1 is installed on a horizontal surface.

[0034] The housing of the angle sensor 3 is fixedly mounted on the sliding part 22. The rotating shaft of the angle sensor 3 is arranged in the vertical direction, and the rotating shaft of the angle sensor 3 is fixedly connected to the adapter block 4.

[0035] The aforementioned speed measuring unit is located directly below the steel pipe to be tested, and includes an encoder 8 and a roller 7. The roller 7 is coaxial and fixedly sleeved on the outer circumference of the encoder 8's rotating shaft, so that the roller 7 and the encoder 8's rotating shaft can rotate synchronously. The roller 7 is made of polyurethane material, and the diameter of the roller 7 is larger than the diameter of the encoder 8.

[0036] Both the speed measuring unit and the adapter block 4 are connected to the connecting rod 5. The connecting rod 5 has a first mounting hole for connecting to the speed measuring unit and a second mounting hole for connecting to the adapter block 4, arranged from top to bottom.

[0037] The encoder 8 housing and roller 7 are located on opposite sides of the upper part of the connecting rod 5. The encoder 8 housing is fixedly connected to one side of the connecting rod 5, and the encoder 8 shaft passes through the first mounting hole of the connecting rod 5 and is fixedly connected to the roller 7 located on the other side of the connecting rod 5. The encoder 8 shaft is rotatably engaged with the first mounting hole. Specifically, the roller 7 has a coaxial connecting hole, the inner circumference of which is adapted to the outer circumference of the encoder 8 shaft. The encoder 8 shaft is fixedly connected in the connecting hole of the roller 7, realizing synchronous rotation of the roller 7 and the encoder 8 shaft.

[0038] The aforementioned adapter block 4 is hinged to the lower part of the connecting rod 5 via a hinge shaft, and the axis of the hinge shaft is parallel to the axis of the encoder 8's rotating shaft. Specifically, the hinge shaft passes through the second mounting hole of the connecting rod 5 and is fixedly connected to the adapter block 4. The hinge shaft and the second mounting hole are rotatably engaged, allowing the connecting rod 5 to rotate around the axis of the hinge shaft, thus achieving the hinge connection between the connecting rod 5 and the adapter block 4.

[0039] In this embodiment, since the roller 7 and the encoder 8 are coaxially fixedly connected, they can rotate synchronously around the axis of the encoder 8. The speed measuring part and the connecting rod 5 can rotate around the hinge axis as a whole. In addition, the speed measuring part, the connecting rod 5, the adapter block 4 and the angle sensor 3 can rotate synchronously around the axis of the angle sensor 3 as a whole.

[0040] The two ends of the aforementioned return spring 6 are connected to the connecting rod 5 and the adapter block 4, respectively. The roller 7 can be tightly pressed against the bottom of the steel pipe to be tested under the action of the return spring 6. Specifically, the bottom of the return spring 6 is connected to the adapter block 4, and the connection position of the top of the return spring 6 with the connecting rod 5 is close to the speed measuring part. The connection position of the bottom of the return spring 6 with the adapter block 4 is located above the aforementioned hinge shaft. When the return spring 6 is in its free state, the connecting rod 5 is set vertically. In use, rotating the connecting rod 5 causes the roller 7 to abut against the bottom of the steel pipe to be tested. At this time, the connecting rod 5 rotates a certain angle around the axis of the hinge shaft, thereby stretching the return spring 6, so that the roller 7 can be tightly pressed against the bottom of the steel pipe to be tested under the restoring force of the return spring 6.

[0041] During testing, the testing device is placed below the steel pipe to be tested. The height of the sliding part 22 of the lifting device 2 is adjusted, and the rotation angle of the connecting rod 5 around the hinge axis is adjusted simultaneously, so that the speed measuring part is directly below the steel pipe to be tested, and the roller 7 is in close contact with the bottom of the steel pipe. When the steel pipe to be tested moves, the roller 7 rotates under the action of friction. The rotating shaft of the encoder 8 rotates synchronously with the roller 7. At the same time, since the steel pipe to be tested is in a spiral forward state, the rotating shafts of the speed measuring part, connecting rod 5, adapter block 4, and angle sensor 3 rotate synchronously around the axis of the angle sensor until the radial direction of the roller 7 is consistent with the spiral forward direction of the steel pipe to be tested. Thus, the spiral forward linear velocity of the steel pipe to be tested can be calculated based on the number of pulses generated by the encoder 8 per unit time. The angle between the spiral forward direction and the straight forward direction of the steel pipe to be tested can be determined based on the angle detected by the angle sensor 3. Then, based on trigonometric functions, the straight forward velocity and rotational linear velocity of the steel pipe to be tested can be calculated, which guides the rotation speed of the coating extruder, thereby ensuring the quality of the finished product and reducing material waste.

[0042] For ease of testing, the zero-point position of the angle sensor 3 needs to be calibrated. The straight line of the hinge axis corresponding to this zero-point position can be parallel or perpendicular to the axis of the steel pipe under test. In this embodiment, when the angle sensor 3 is at its zero-point position, the straight line of the hinge axis is perpendicular to the axis of the steel pipe under test. Therefore, during testing, there is no need to adjust the initial angle of the speed measuring unit relative to the steel pipe under test. The angle returned by the angle sensor 3 is the angle of deflection relative to its zero point, which is the angle between the spiral forward direction and the straight forward direction of the steel pipe under test.

[0043] Furthermore, such as Figure 3 As shown, this embodiment provides a spiral conveying steel pipe forward speed detection system, including the aforementioned spiral conveying steel pipe forward speed detection device, and also includes a PLC controller 9 and an industrial computer 10. The PLC controller 9 is a Siemens S7-1500 series PLC, used to acquire the deflection angle θ of the angle sensor 3 relative to its zero point, and to acquire the cumulative pulse count n1 of the encoder 8 at time t1 and the cumulative pulse count n2 of the encoder 8 at time t2, and to calculate the spiral forward linear speed v of the steel pipe under test according to equation (1):

[0044]

[0045] v1=vcosθ (2)

[0046] v2=vsinθ (3)

[0047] Where r is the radius of roller 7, and N is the number of pulses generated by encoder 8 in one revolution. In this embodiment, the trigonometric relationships of the spiral forward linear velocity v, the linear forward velocity v1, and the rotational linear velocity v2 of the steel pipe under test are as follows: Figure 2 As shown, the PLC controller 9 can calculate the linear forward speed v1 and rotational linear speed v2 of the steel pipe under test according to equations (2) and (3), respectively.

[0048] The industrial computer 10 is connected to the PLC controller 9 to acquire and display the spiral advance linear speed v, linear advance speed v1, and rotational linear speed v2 of the steel pipe under test. The industrial computer can display the spiral advance linear speed v, linear advance speed v1, and rotational linear speed v2 in real time, so that the operator can monitor the speed changes of the steel pipe under test in real time and better adjust the rotation speed of the coating extruder.

[0049] It should be noted that the PLC controller 9 acquires the cumulative pulse count of the encoder 8 at times t1 and t2 respectively. The time interval Δt between these two acquisitions of the encoder 8 information is set to 10ms, or the operator can design it to other reasonable values ​​as needed.

[0050] Of course, in practice, the zero point of the angle sensor 3 can also be calibrated to other positions, such as the straight line of the hinge axis corresponding to the zero point position being parallel to the axis of the steel pipe to be tested. In this case, the deflection angle measured by the angle sensor 3 is the angle between the spiral forward direction of the steel pipe to be tested and the radial direction of the steel pipe to be tested. Then, the PLC controller 9 can calculate the linear forward speed v1 and the rotational linear speed v2 of the steel pipe to be tested according to equations (4) and (5), respectively.

[0051] v1=vsinθ (4)

[0052] v2=vcosθ (5)

[0053] Numerous specific details are set forth in this specification. However, it will be understood that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, systems, and techniques have not been shown in detail so as not to obscure the understanding of this specification.

[0054] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, system, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, systems, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0055] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention, and they should all be covered within the scope of the claims and specification of the present invention.

Claims

1. A screw conveying steel pipe advancing speed detecting device characterized by, The application relates to a spiral conveying steel pipe advancing speed detection device. The device comprises a lifting device, an angle sensor and a speed measuring part. The lifting device comprises a fixed part and a sliding part which is connected with the fixed part in the vertical direction. The housing of the angle sensor is fixedly installed on the sliding part, the rotating shaft of the angle sensor is arranged in the vertical direction, and the rotating shaft of the angle sensor is fixedly connected with a rotating block. The speed measuring part comprises an encoder and a roller, the roller is coaxially and fixedly sleeved on the outer periphery of the rotating shaft of the encoder, and the roller and the rotating shaft of the encoder can synchronously rotate. The housing of the encoder is fixedly connected with the upper part of a connecting rod, the rotating block is hingedly connected with the lower part of the connecting rod through a hinge shaft, the axis of the hinge shaft is parallel to the axis of the rotating shaft of the encoder. The two ends of a reset spring are respectively connected with the connecting rod and the rotating block, and the roller can be tightly abutted against the bottom of the steel pipe to be detected under the action of the reset spring. During detection, the detection device is arranged below the steel pipe to be detected, the height of the sliding part of the lifting device is adjusted, and the rotating angle of the connecting rod around the hinge shaft is adjusted, so that the speed measuring part is located directly below the steel pipe to be detected, and the roller is tightly abutted against the bottom of the steel pipe to be detected. When the steel pipe to be detected moves, the roller rotates under the drive of the friction force, the rotating shaft of the encoder synchronously rotates with the roller, the speed measuring part, the connecting rod, the rotating block and the rotating shaft of the angle sensor synchronously rotate around the axis of the angle sensor due to the spiral advancing state of the steel pipe to be detected, and the radial direction of the roller is consistent with the spiral advancing direction of the steel pipe to be detected. The spiral advancing linear speed of the steel pipe to be detected can be calculated according to the pulse number generated by the encoder in unit time, the angle of the angle sensor can be known, and the linear advancing speed and the rotating linear speed of the steel pipe to be detected can be calculated according to the trigonometric function relationship.

2. The spiral conveying steel pipe advancing speed detection device according to claim 1, wherein the lifting device is a linear motor, the rack of the linear motor forms the fixed part, and the sliding table of the linear motor forms the sliding part.

3. The spiral conveying steel pipe advancing speed detection device according to claim 1, wherein the speed measuring part is located directly below the steel pipe to be detected.

4. The spiral conveying steel pipe advancing speed detection device according to claim 1, wherein the roller is made of polyurethane material.

5. The spiral conveying steel pipe advancing speed detection device according to claim 1, wherein the diameter of the roller is greater than the diameter of the encoder.

6. The spiral conveying steel pipe advancing speed detection device according to claim 1, wherein a first mounting hole and a second mounting hole are arranged on the connecting rod from top to bottom. The hinge shaft is fixedly connected with the rotating block after penetrating through the second mounting hole, and the hinge shaft is rotationally matched with the second mounting hole. ​ ​ ​ ​ The shell of the encoder and the roller are respectively located on two sides of the connecting rod, the rotating shaft of the encoder is fixedly connected with the roller after penetrating through the first mounting hole, and the rotating shaft of the encoder is rotationally matched with the first mounting hole.

7. The screw-conveyed steel pipe advancing speed detection device according to claim 6, characterized in that: The bottom of the reset spring is connected with the adapter block, and the top of the reset spring is close to the connecting position of the connecting rod to the speed measuring part.

8. The screw-conveyed steel pipe advancing speed detection device according to claim 1, characterized in that: The lifting device further comprises a base installed on a horizontal plane, and the fixing part of the lifting device is installed on the base.

9. A screw-conveyed steel pipe advancement speed detection system characterized by, The screw-conveyed steel pipe advancing speed detection device further comprises: A PLC controller is configured to obtain a deflection angle θ of the angle sensor relative to a zero point, and to obtain a cumulative pulse number n1 of the encoder at a time t1 and a cumulative pulse number n2 of the encoder at a time t2, and to calculate a helical advancing linear speed v of the steel pipe to be measured according to formula (1): （1） Wherein, r is a radius of the roller, and N is a pulse number generated by one rotation of the encoder; When the deflection angle of the angle sensor is 0, if the hinged shaft is perpendicular to an axis of the steel pipe to be measured, the PLC controller calculates a linear advancing speed v1 and a rotational linear speed v2 of the steel pipe to be measured according to formula (2) and formula (3) respectively: （2） （3） （4） （5） When the deflection angle of the angle sensor is 0, if the hinged shaft is parallel to the axis of the steel pipe to be measured, the PLC controller calculates the linear advancing speed v1 and the rotational linear speed v2 of the steel pipe to be measured according to formula (4) and formula (5) respectively.

10. The helically conveyed steel pipe advancement velocity detection system of claim 9, wherein: The screw-conveyed steel pipe advancing speed detection device further comprises: An industrial computer is signal-connected with the PLC controller, and is configured to obtain and display the helical advancing linear speed v, the linear advancing speed v1 and the rotational linear speed v2 of the steel pipe to be measured.

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