A device and method for automatically adjusting the pitch of a steel pipe conveyor

Abstract

The present application relates to the field of steel pipe transmission, and discloses a device and a pitch adjustment method for automatically adjusting the pitch of steel pipe conveying, comprising a control system, a steel pipe measuring station and a pitch adjustment device, wherein the control system comprises an industrial computer, a PLC cabinet and a touch screen, the steel pipe measuring station comprises an online projection image measuring instrument and a measuring station, and the pitch adjustment device comprises a roller placement angle adjustment assembly and a rotating half-wheel axial distance adjustment assembly, wherein the control system is used for receiving signals input by the steel pipe measuring station and a human being and outputting control signals for adjusting the pitch of steel pipe transmission, the pitch adjustment device is used for receiving motion signals sent by the special control system and moving to a required pitch position, and the steel pipe measuring station is used for measuring the outer diameter of the steel pipe and transmitting the measurement data to the control system.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of steel pipe transmission processing, in particular to a device for automatically adjusting the pitch of steel pipe conveying and a pitch adjusting method. BACKGROUND

[0002] Steel pipe transmission is an indispensable process in the field of steel pipe processing, especially in production lines such as steel pipe outer wall cleaning or steel pipe outer wall treatment. Since the transmission pitch of the existing device cannot be changed after processing is completed, the adaptability of the entire production line to steel pipes of different diameters is weak. If a steel pipe whose diameter exceeds the range that the transmission device can adapt to appears, the production line will stop running or even be redesigned, thereby increasing the cost of enterprises.

[0003] In traditional steel pipe transmission, the transmission pitch cannot be adjusted after the steel pipe transmission device completes processing, and the transmission pitch precision is not high. When the diameter of the steel pipe exceeds the range that the steel pipe transmission device can adapt to, it is difficult to effectively change the transmission pitch of the steel pipe, which cannot meet the production requirements. SUMMARY

[0004] In view of the problems existing in the prior art, the present application provides a device for automatically adjusting the pitch of steel pipe conveying and a pitch adjusting method, which can effectively improve the defect that the conventional device cannot adjust the pitch, improve the adaptability of the steel pipe transmission device to the diameter of the steel pipe, and improve the transmission pitch precision. It can adjust the forward pitch of different steel pipes in real time online, has the advantages of being fast, accurate, automatic, etc., and can expand the adaptability of the steel pipe processing production line to different diameter steel pipes.

[0005] The technical scheme of the present application is as follows:

[0006] A device for automatically adjusting the pitch of steel pipe conveying, comprising a placement angle adjusting assembly, a control system, an online projection image measuring instrument, and a steel pipe measuring station. The placement angle adjusting assembly comprises a set of placement angle adjusting mechanisms, and the set of placement angle adjusting mechanisms are arranged at intervals along the conveying direction of the steel pipe. The control system is electrically connected to the set of placement angle adjusting mechanisms and is used for automatically controlling the placement angle adjusting assembly. The steel pipe measuring station is arranged at one end of the placement angle adjusting assembly, and the online projection image measuring instrument is arranged at the steel pipe measuring station. The online projection image measuring instrument is electrically connected to the control system, and the diameter of the steel pipe to be measured can be measured by the online projection image measuring instrument.

[0007] Further, the placing angle adjusting mechanism comprises a roller rotating device, an axial distance adjusting device, a roller angle adjusting device and a support platform; the roller angle adjusting device is arranged below the support platform and fixedly connected with the support platform; the roller rotating device and the axial distance adjusting device are arranged above the support platform, and the axial distance adjusting device is connected with the roller rotating device, so that the distance between the rotating half wheels of the roller rotating device can be adjusted through the axial distance adjusting device.

[0008] Further, the top end surface of the support platform is fixedly connected with an axial limiting support, a first through hole is arranged at the top of the axial limiting support, an angular contact ball bearing is installed in the first through hole, and the inner hole of the angular contact ball bearing is in rolling connection with the roller rotating device.

[0009] Further, the roller rotating device comprises a roller rotating device center shaft, rotating half wheels and a power output module; the both ends of the roller rotating device center shaft are provided with bearing seats, the bearing seats are internally installed with sliding shaft sleeves matched with the outer diameter of the roller rotating device center shaft, the sliding shaft sleeves are in sliding connection with the roller rotating device center shaft, and the sliding shaft sleeves are fixedly connected with the bearing seats; the roller rotating device center shaft is provided with a spline shaft matched with the interior of the rotating half wheel; one end of the roller rotating device center shaft away from the rotating half wheel is fixedly connected with the axial limiting stopper; a plum blossom coupling is installed at one end of the roller rotating device center shaft away from the axial limiting stopper, and the plum blossom coupling is fixedly connected with the power output module at the end face away from the axial limiting stopper; the power output module comprises a frequency conversion motor and a speed reducer; the speed reducer is provided with a speed reducer power output shaft at one end close to the plum blossom coupling, the speed reducer power output shaft is fixedly connected with the interior of the plum blossom coupling, and the speed reducer is fixedly connected with the frequency conversion motor.

[0010] Further, the axial distance adjusting device comprises a transmission screw, a connecting block, side plates, a sliding guide rail, a sliding block and a screw rod speed reduction servo motor; the bearing seat is provided with the connecting block close to an end surface of the support platform, the connecting block is provided with a threaded hole away from an end surface of the support platform, and the bearing seat and the connecting block are fixedly connected through a screw; the support platform is provided with symmetrically distributed side plates, the side plates are provided with the sliding guide rail close to an end surface of the central shaft of the roller rotating device, and the sliding guide rail and the symmetrically distributed side plates are fixedly connected; the connecting block is fixedly connected with the sliding block close to an end of the sliding guide rail, and the sliding block and the sliding guide rail are slidingly connected; the transmission screw is provided with the screw nut close to an end surface of the connecting block, and the screw nut is fixedly connected with the connecting block away from an end surface of the connecting block; the transmission screw is provided with the screw rod speed reduction servo motor away from an end surface of the rotating half wheel, and the screw rod speed reduction servo motor is fixedly connected with the support platform away from an end surface of the rotating half wheel; the screw rod speed reduction servo motor is provided with the speed reduction servo motor output shaft close to an end of the transmission screw, the speed reduction servo motor output shaft and the transmission screw are provided with the spring sheet coupling, the spring sheet coupling is fixedly connected with the speed reduction servo motor output shaft close to an end of the screw rod speed reduction servo motor output shaft, and the spring sheet coupling is fixedly connected with the transmission screw close to an end of the transmission screw; the transmission screw is provided with the screw connecting seat and the deep groove ball bearing away from an end of the screw nut, the screw connecting seat is provided with the fifth through hole matched with the deep groove ball bearing, the deep groove ball bearing is installed in the fifth through hole, the transmission screw is installed in the deep groove ball bearing away from an end of the screw nut, and the screw connecting seat is fixedly connected with the support platform away from an end surface of the support platform.

[0011] Further, the roller angle adjusting device comprises a base frame and a gear transmission assembly; one end of the support platform close to the ground is provided with a cylindrical boss, one end of the cylindrical boss close to the ground is provided with a base rotary driven gear, and one end face of the base rotary driven gear close to the support platform is fixedly connected with the support platform; one end of the base rotary driven gear close to the ground is provided with a base axial thrust ball bearing, and the base rotary driven gear is fixedly connected with the inner hole of the base axial thrust ball bearing; the end face of the base axial thrust ball bearing away from the support platform is provided with the base frame, and one end face of the base frame close to the support platform is provided with a first recess hole matched with the size of the base axial thrust ball bearing, and the first recess hole is installed in the base axial thrust ball bearing; the gear transmission assembly comprises a base rotary driving gear, a brake piece, an axial driving wheel thrust bearing and a driving speed reduction motor; one end face of the base rotary driving gear close to the base frame is provided with a second recess hole matched with the size of the axial driving wheel thrust bearing, the second recess hole is installed with the axial driving wheel thrust bearing, and one end face of the base rotary driving gear close to the axial driving wheel thrust bearing is fixedly connected with the brake piece; one end face of the base frame away from the base rotary driving gear is fixedly connected with the driving speed reduction motor, one end of the driving speed reduction motor close to the base rotary driving gear is provided with a power output shaft, the power output shaft is fixedly connected with the inside of the axial driving wheel thrust bearing, the base frame is provided with a second through hole matched with the size of the axial driving wheel thrust bearing, and the second through hole is internally installed with the axial driving wheel thrust bearing; the brake piece is used to prevent the change of the rotation angle when the roller rotating device is placed at a certain angle and the counterforce generated when the steel pipe is placed on the roller rotating device.

[0012] Further, the roller angle adjusting device further comprises a clamping device, the clamping device comprising an upper clamping piece, a guide column, a lower clamping piece, a guide column fixing block, a guide column spring, a central rotating block, a double-acting cylinder and a cylinder support; the central rotating block is fixedly connected with a rotating block protruding shaft at one end surface close to the bottom seat rotating driving gear, the bottom seat frame is provided with a first boss at one surface away from the bottom seat rotating driving gear, the first boss is provided with a third through hole matched with the rotating block protruding shaft, and the rotating block protruding shaft is installed in the third through hole. The central rotating block is fixedly connected with a cylinder connecting handle at one end surface away from the rotating block protruding shaft, the double-acting cylinder is provided with a cylinder acting rod at one end away from the ground, the cylinder acting rod is provided with a multi-degree-of-freedom ball head at one end close to the cylinder connecting handle, and the multi-degree-of-freedom ball head is hingedly connected with the inside of the cylinder connecting handle; the bottom seat frame is provided with a through slot matched with the lower clamping piece, the lower clamping piece is installed in the through slot, the lower clamping piece is provided with two fourth through holes matched with the guide column, the guide column is installed in the fourth through hole, the guide column is provided with the upper clamping piece at one end away from the lower clamping piece, and one end surface of the guide column away from the upper clamping piece is fixedly connected with the guide column fixing block. The double-acting cylinder is provided with trunnions at two end surfaces, the cylinder support is provided with trunnion through holes matched with the trunnions, and the trunnions are installed in the trunnion through holes. The cylinder support is fixedly connected with the ground at one end close to the ground. The guide column spring is used to simultaneously move the upper clamping piece and the lower clamping piece in opposite directions along the guide column.

[0013] A screw pitch adjusting method of a device for automatically adjusting the screw pitch of a steel pipe before conveying, comprising the following steps:

[0014] Step 1): Check the safety of the device, place the steel pipe to be transported in the steel pipe measuring station (60), and start the steel pipe screw pitch adjusting device for the first time;

[0015] Step 2): After step 1) is completed, adjust the angle of the roller placement;

[0016] Step 3): After step 2) is completed, adjust the axial distance of the rotating half axle;

[0017] Step 4): After step 3) is completed, transmit instructions to the double-acting cylinder through the control system, control the extension of the cylinder acting rod to the locking position, lock the bottom seat rotating driving gear, and complete the transmission screw pitch adjustment.

[0018] Further, a screw pitch adjusting method of a device for automatically adjusting the screw pitch of a steel pipe before conveying, the step 2) comprises the following specific steps:

[0019] 2.1) Establishment of the theoretical model: Taking the circular cross-section of the rotating half-wheel before rotation as the reference, a rectangular coordinate system oxyz is established. The x-axis is defined as the diameter direction of the circle, the y-axis as the roller axis, and the z-axis passes through the center of the cross-section circle and is perpendicular to the plane formed by the x and y axes. Using the z-axis of this coordinate system as the rotation axis, the coordinate system is rotated by a certain angle θ, which is the roller placement angle. Clockwise rotation is negative, and counterclockwise rotation is positive. This coordinate system is defined as ox1y1z1. Based on the principle of views, after the circular cross-section of the rotating half-wheel is rotated using the same method... An ellipse is formed, which is the reference ellipse. The major axis of the reference ellipse is the diameter D of the cross-section circle, and the direction of the major axis is the z1 axis. The minor axis is the diameter D*cos(θ), and the direction of the minor axis is the x1 axis. The center of the reference ellipse is point O. Similarly, using the principle of views, after the rotating half-wheel rotates around the z-axis, the projections of the large end circle and the small end circle in the ox1y1z1 coordinate system are both ellipses, which are called the large end ellipse and the small end ellipse, respectively. The distance from the center of the two ellipses to the reference ellipse is the distance L*cos(θ) from the center of the large end circle to the center of the middle cross-section circle.

[0020] 2.2) Database Establishment: Calculate the common tangent line between the large-end ellipse and the reference ellipse in the ox1y1z1 coordinate system. The slope of this common tangent line is defined as k. Since we are calculating the common tangent line of two intersecting ellipses, theoretically there are two. We take the common tangent line with a positive slope k, and its equation is y1 = k1x + b.

[0021] Calculate the point of tangency between the tangent line y1 and the reference ellipse. Theoretically, there are two points of tangency. Since the reference ellipse is in the ox1z1 plane, we take the point of tangency with a positive z1 value. Its coordinates in the ox1y1z1 coordinate system are (0, y0, z0).

[0022] Take the value of z0, and in the coordinate system oxyz, draw a straight line parallel to the x-axis with the point (0, 0, z0) intersecting the circle of the middle section of the rotating half wheel. Theoretically, there are two intersection points. Take the intersection point with a positive x value, and its coordinates are (x1, 0, z1).

[0023] Vector establishment: In the oxyz coordinate system, draw a vector through the point (x1, 0, z1), with the direction of the tangential velocity of the circular cross-section at the middle of the rotating half-wheel as the direction when the rotating half-wheel rotates clockwise. In the ox1y1z1 coordinate system, draw a vector through the point (0, y0, z0) with a direction perpendicular to the plane ox1z1, named ; ;Specified vector The coordinates in the coordinate system ox1y1z1 are (x2, y2, z2). Converting these coordinates to the oxyz coordinate system, we get (x3, y3, z3), and name this vector. ;

[0024] Calculate the vector angle: In the coordinate system oxyz, draw a vector angle through the point (x1, 0, z1) with the direction as... vector Calculate vector With vector The included angle is named β0;

[0025] Using the correspondence between β0 and θ as data, i.e., one θ value corresponds to one β0 value, the common tangent of the large-end ellipse and the reference ellipse was previously calculated, and its slope is k1. Using the correspondence between k1 and θ values, i.e., one θ value corresponds to two data, namely β0 and k1, a database is established.

[0026] 2.3) The online projection image measuring instrument is turned on by the control system. The user inputs the required steel pipe advance pitch through the touch screen. The control system controls the online projection image measuring instrument to measure the pipe diameter of the steel pipe to be measured.

[0027] 2.4) Calculation based on the formula: Since the steel pipe is in contact with the central section circle of the rotating half-wheel, the formula for calculating the forward pitch S of the steel pipe is:

[0028] ;

[0029] The corresponding formula for calculating β is:

[0030] ;

[0031] β is calculated based on the user-inputted pitch value and the measured outer diameter of the steel pipe. The calculated β value is matched with the nearest β0 value in the database, with a matching error of less than or equal to 0.2°, and then the corresponding θ value is obtained.

[0032] 2.5) The industrial control computer converts the θ value into a motion signal that the PLC can recognize, and transmits this signal to the PLC cabinet. After receiving the data, the PLC cabinet transmits the motion parameters to the drive reduction motor and the lead screw reduction servo motor. The control system controls the drive reduction motor to start, and the drive reduction motor drives the base rotation drive gear to rotate. The base rotation drive gear drives the base rotation driven gear to rotate, and the base rotation driven gear drives the support platform to rotate to the required placement angle.

[0033] Furthermore, a pitch adjustment method for an automatic adjustment device for the forward pitch of a steel pipe conveyor, wherein step 3) includes the following specific steps:

[0034] 3.1) Calculation of axial movement distance: a two-dimensional coordinate system is established based on the outer diameter of the steel pipe, the center of the outer diameter of the steel pipe is the coordinate origin o, the radius direction is the x2 axis, the direction perpendicular to the x2 axis is the y2 axis, and a circle with o as the center and the diameter of the steel pipe as the diameter is established, named og; a straight line named y2 is established, the slope of which is k1 corresponding to β0 in the database, then it is y2=k1x2+b2, wherein b2 is an arbitrary value, the tangent point of which with the circle og is calculated, and the absolute value of the horizontal coordinate is taken, which is the absolute axial movement distance t1 of the rotating half-wheel in theory, and the rotating half-wheel reference point distance t0 is subtracted, then the rotating half-wheel movement distance is positive or negative (t1-t0);

[0035] 3.2) The work computer converts the calculation result into a motion signal recognizable by the PLC, controls the output shaft of the speed servo motor to rotate, drives the spring sheet coupling to rotate through the output shaft of the speed servo motor, drives the transmission screw to rotate through the spring sheet coupling, drives the two screw nuts to move in opposite straight lines through the transmission screw, drives the connecting block to move in a straight line through the screw nut, and drives the rotating half-wheel to move to the required movement distance through the bearing seat.

[0036] The beneficial effects of the present application are as follows:

[0037] 1) The technical scheme of the present application can accurately adjust the required steel pipe transmission pitch of the user, and the user only needs to input the required pitch into the control system, and the control system can automatically calculate the angle and the movement distance of the two half-wheels to be adjusted. The steel pipe diameter range that can be adjusted by the present application is larger than the steel pipe diameter adaptive range of the traditional steel pipe transmission device, and the production flexibility of the production line and even the factory can be increased.

[0038] 2) The steel pipe diameter measurement of the present application is more accurate, and can automatically smooth the measurement roughness of the steel pipe outer diameter

[0039] 3) The support platform rotating mechanism adopted by the present application adopts small modulus gear transmission, the number of teeth of the rotating driven wheel is larger, the rotating precision is higher, the straight line distance adjustment adopts two reverse rotating screws, and the number of turns of the screw is larger, so the control precision is higher.

[0040] 4) The device structure of the present application is stable and reliable, and the automation degree is high.

[0041] 5) The present application changes the disadvantage that the pitch cannot be adjusted in the traditional steel pipe transmission; improves the adaptability of the transmission production line to different pipe diameter steel pipes; the adjustment precision of the pitch is high, and can meet the relatively precise steel pipe transmission requirements. BRIEF DESCRIPTION OF DRAWINGS

[0042] Figure 1 It is a perspective view of the device structure of the present application;

[0043] Figure 2 is a schematic view of the front structure of the device of the present application;

[0044] Figure 3 is a schematic view of the top structure of the device of the present application;

[0045] Figure 4 is a schematic view of the structure in the middle of A-A; Figure 3

[0046] Figure 5 is a schematic view of the structure in the middle of B-B; Figure 3

[0047] Figure 6 is a schematic view of the structure in the middle of C; Figure 4

[0048] Figure 7 is a schematic view of the structure in the middle of D; Figure 3

[0049] Figure 8 is a schematic view of the structure in the middle of E; Figure 1

[0050] Figure 9 is a schematic view of the overall structure of the device of the present application;

[0051] ​​​​​In the figure: 1, transmission screw; 2, bearing seat; 3, rotating half wheel; 4, axial limiting support; 5 angular contact ball bearing; 6, sliding shaft sleeve; 7, roller rotating device center shaft; 8, plum blossom shaft coupling; 9, variable frequency motor; 10, speed reducer; 11, connecting block; 12, sliding block; 13, base rotating driving gear; 14, upper clamping piece; 15, guide column; 16, lower clamping piece; 17, cylinder connecting handle; 18 guide column fixed block; 19, cylinder support; 20, double-acting cylinder; 21, central rotating block; 22, driving speed reducer motor; 23, base frame; 24, base rotating driven gear; 25, support platform; 26, screw speed reducer servo motor; 27, spring piece shaft coupling; 28, sliding guide rail; 29, control system; 30, side plate; 31, screw nut; 32, cylindrical boss; 33, base axial thrust ball bearing; 34, first recess; 35, first through hole; 36, spline shaft; 37, speed reducer power output shaft; 38, motor support; 39, brake piece; 40, axial driving wheel thrust bearing; 41, second recess; 42, power output shaft; 43, second through hole; 44, guide column spring; 45, rotating block protruding shaft; 46, first boss; 47, third through hole; 48, cylinder action rod; 49, multi-degree-of-freedom ball head; 50, through slot; 51, fourth through hole; 52, trunnion; 53, trunnion through hole; 54, speed reducer servo motor output shaft; 55, screw connecting seat; 56, deep groove ball bearing; 57, fifth through hole; 58, axial limiting block; 59, online projection image measuring instrument; 60, steel pipe measuring station; 61, industrial computer; 62, PLC cabinet; 63, touch screen; 64, second boss; 65, snap ring; 66, anchor bolt; 67, placing angle adjusting mechanism. DETAILED DESCRIPTION

[0052] The application will be further described below in conjunction with the drawings of the specification, but the scope of protection of the application is not limited to the scope described.

[0053] As shown in Figure 1 , Figure 5 , Figure 8 and Figure 9 , an automatic adjustment device for the lead of steel pipe conveying, comprising a set of placing angle adjusting mechanism 67, control system 29 and online projection image measuring instrument 59, the placing angle adjusting mechanism 67 comprises a roller rotating device, an axial distance adjusting device, a roller angle adjusting device and a support platform 25; the online projection image measuring instrument 59 is electrically connected with the control system 29, and the control system 29 comprises a PLC cabinet 62, a touch screen 63 and an industrial computer 61.

[0054] The top end face of the support platform 25 is fixedly connected with an axial limiting support 4, and the top of the axial limiting support 4 is provided with a first through hole 35, and an angular contact ball bearing 5 is installed in the first through hole 35, and the inner hole of the angular contact ball bearing 5 is in rolling connection with the roller rotating device. The roller rotating device is internally provided with a roller rotating device center shaft 7, and the two ends of the roller rotating device center shaft 7 are provided with bearing seats 2, and the end face of the bearing seat 2 close to the support platform 25 is provided with a connecting block 11, and the end face of the connecting block 11 away from the support platform is provided with a threaded hole, and the bearing seat 2 and the connecting block 11 are fixedly connected through screws. The support platform 25 is provided with symmetrically distributed side plates 30, and the end face of the side plate 30 close to the roller rotating device center shaft 7 is provided with a sliding guide rail 28, and the sliding guide rail 28 is fixedly connected with the symmetrically distributed side plates 30. The inside of the axial distance adjusting device is provided with a transmission screw 1, and the end face of the transmission screw 1 close to the connecting block 11 is provided with a screw nut 31, and the end face of the screw nut 31 close to the connecting block 11 is fixedly connected with the connecting block 11. The end of the support platform 25 close to the ground is provided with a cylindrical boss 32, and the roller angle adjusting device is provided with a base rotating driven gear 24 at the end of the cylindrical boss 32 close to the ground, and the end face of the base rotating driven gear 24 close to the support platform 25 is fixedly connected with the support platform 25. The end of the base rotating driven gear 24 close to the ground is provided with a base axial thrust ball bearing 33, and the base rotating driven gear 24 is fixedly connected with the inner hole of the base axial thrust ball bearing 33. The end face of the base axial thrust ball bearing 33 away from the support platform 25 is provided with a base frame 23, and the end face of the base frame 23 close to the support platform 25 is provided with a first recess hole 34 matched with the size of the base axial thrust ball bearing 33, and the first recess hole 34 is installed in the base axial thrust ball bearing 33.

[0055] As shown in Figure 1 and Figure 8 , the roller rotating device further comprises a rotating half wheel 3, an axial limiting block 58 and a power output module. The roller rotating device center shaft 7 is provided with a spline shaft 36 matched with the inside of the rotating half wheel 3, and the spline shaft 36 is installed in the inside of the rotating half wheel 3. The end face of the roller rotating device center shaft 7 away from the rotating half wheel 3 is fixedly connected with the axial limiting block 58. The end of the roller rotating device center shaft 7 away from the axial limiting block 58 is installed with a key joint 8, and the end face of the key joint 8 away from the axial limiting block 58 is fixedly connected with the power output module. The power output module comprises a variable frequency motor 9 and a speed reducer 10. The end of the speed reducer 10 close to the key joint 8 is provided with a speed reducer power output shaft 37, and the speed reducer power output shaft 37 is fixedly connected with the inside of the key joint 8. The speed reducer 10 is fixedly connected with the variable frequency motor 9.

[0056] As shown in Figure 1 and Figure 8As shown, the bearing seat 2 and the roller rotating device center shaft 7 are provided with a sliding sleeve 6, the sliding sleeve 6 is fixedly connected with the inner hole of the bearing seat 2, and the roller rotating device center shaft 7 is slidingly connected with the inner hole of the sliding sleeve 6. The sliding sleeve 6 is fixedly connected with the rotating half wheel 3. The end of the sliding sleeve 6 close to the plum blossom coupling 8 is provided with a second boss 64, the end surface of the second boss 64 close to the bearing seat 2 is attached to the bearing seat 2, and the second boss 64 is used to fix the relative position of the rotating half wheel 3 and the bearing seat 2. The sliding sleeve 6 is fixedly connected with a snap ring 65 outside, the side of the snap ring 65 close to the bearing seat 2 is attached to the bearing seat 2, and the snap ring 65 is used to limit the relative position of the rotating half wheel 3 and the bearing seat 2. When the roller rotating device center shaft 7 rotates around its axis, it will drive the rotating half wheel 3 to rotate around its axis through the spline shaft 36. When the connecting block 11 moves linearly, it will drive the bearing seat 2 to move linearly at the same time. The sliding sleeve 6 installed inside the bearing seat 2 is fixedly connected with the bearing seat 2, but is slidingly connected with the roller rotating device center shaft 7. The movement relationship between them is that the roller rotating device center shaft 7 rotates relative to the sliding sleeve 6, the sliding sleeve 6 rotates relative to the bearing seat 2, and the sliding sleeve 6 is fixed relative to the rotating half wheel 3. The end surface of the speed reducer 10 close to the support platform 25 is provided with a motor support seat 38 between the support platform 25, and the end surface close to the speed reducer 10 is fixedly connected with the motor support seat 38.

[0057] As shown in Figure 1 , Figure 4 and Figure 8 , the angle adjusting device includes a base frame 23, a gear transmission assembly, and a clamping device. The gear transmission assembly includes a base rotating driving gear 13, a brake piece 39, an axial driving wheel thrust bearing 40, and a driving speed reduction motor 22. The base rotating driving gear 13 is provided with a second recess hole 41 matching the size of the axial driving wheel thrust bearing 40 at the end surface close to the base frame 23, the second recess hole 41 is installed with the axial driving wheel thrust bearing 40, and the base rotating driving gear 13 is fixedly connected with the brake piece 39 at the end surface close to the axial driving wheel thrust bearing 40. The end surface of the base frame 23 away from the base rotating driving gear 13 is fixedly connected with the driving speed reduction motor 22, the driving speed reduction motor 22 is provided with a power output shaft 42 at the end close to the base rotating driving gear 13, the power output shaft 42 is fixedly connected with the inside of the axial driving wheel thrust bearing 40, and the base frame 23 is provided with a second through hole 43 matching the size of the axial driving wheel thrust bearing 40, the second through hole 43 is installed with the axial driving wheel thrust bearing 40 inside. The brake piece 39 is used to prevent the change of the rotating angle when the counterforce generated by the steel pipe placed on the roller rotating device changes the rotating angle after the angle of the roller rotating device is determined.

[0058] As shown in Figure 1 , Figure 2 , Figure 4 ,Figure 7 And Figure 8 As shown in

[0059] As shown in Figure 4 And Figure 6 As shown in

[0060] As shown in Figure 1 , Figure 5 And Figure 8 As shown in

[0061] As shown in Figure 1As shown, the transmission screw rod 1 is provided with a screw rod reduction servo motor 26 away from the end face of the rotating half wheel 3, and the screw rod reduction servo motor 26 is fixedly connected between the end face close to the rotating half wheel 3 and the support platform 25. The screw rod reduction servo motor 26 is provided with a reduction servo motor output shaft 54 close to one end of the transmission screw rod 1, and a spring sheet coupling 27 is arranged between the reduction servo motor output shaft 54 and the transmission screw rod 1. The end of the spring sheet coupling 27 close to the reduction servo motor output shaft 54 is fixedly connected with the reduction servo motor output shaft 54, and the end of the spring sheet coupling 27 close to the transmission screw rod 1 is fixedly connected with the transmission screw rod 1.

[0062] As shown in the figure, Figure 5 As shown, the transmission screw rod 1 is provided with a screw rod connection seat 55 and a deep groove ball bearing 56 away from the screw nut 31, the screw rod connection seat 55 is provided with a fifth through hole 57 matched with the deep groove ball bearing 56, the deep groove ball bearing 56 is installed in the fifth through hole 57, and the transmission screw rod 1 is installed in the deep groove ball bearing 56 away from the screw nut 31. The end of the screw rod connection seat 55 close to the support platform 25 is fixedly connected with the support platform 25.

[0063] A control method of a device for automatically adjusting the pitch of a steel pipe before conveying, comprising the following specific steps:

[0064] Step one: first, place the steel pipe to be transported in the steel pipe measuring station 60, and start the steel pipe pitch adjusting device for the first time to preheat.

[0065] Step two: after the system in step one is stable, the online projection image measuring instrument 59 is opened by the control system 29, the user inputs the specified steel pipe advancing pitch through the touch screen 63, the control system 29 controls the online projection image measuring instrument 59 to measure the diameter of the steel pipe to be measured. The measurement data is transmitted to the control system 29 for analysis and processing. The industrial computer 61 in the control system 29 calculates the platform rotation angle and the distance that the two rotating half wheels need to move symmetrically matched with the user-specified pitch online.

[0066] Step three: after the detection in step two is completed, the analyzed and processed data is transmitted to the PLC cabinet 62 by the industrial computer, the PLC cabinet 62 transmits the motion parameters to the drive reduction motor 22 and the screw rod reduction servo motor 26 after receiving the data, and the control system 29 controls the drive reduction motor 22 to start. The drive reduction motor 22 drives the base rotating driving gear 13 to rotate, the base rotating driving gear 13 drives the base rotating driven gear 24 to rotate, and the base rotating driven gear 24 drives the support platform 25 to rotate to the required angle of placement.

[0067] Step four: after step three, the control system 29 controls the deceleration servo motor output shaft 54 to rotate, the spring piece coupling 27 is driven to rotate by the deceleration servo motor output shaft 54, the transmission screw 1 is driven to rotate by the spring piece coupling 27, the two screw nuts 31 are driven to move linearly in the opposite direction by the transmission screw, the connecting block 11 is driven to move linearly by the screw nut 31, and the rotating half wheel 3 is driven to move to the required moving distance by the bearing seat 2.

[0068] Step five: after step four, the control system 29 transmits instructions to the double-acting cylinder 20 to control the extension of the cylinder action rod 48 to the locking position, and the locking base rotates the driving gear 13.

[0069] Step six: after step five, the control system 29 controls the steel pipe to be transported to the pitch adjustment device, and the frequency conversion motor 9 is started, the frequency conversion motor 9 drives the reduction gear power output shaft 37 to rotate, the plum blossom coupling 8 is driven to rotate by the reduction gear power output shaft 37, the roller rotating device center shaft 7 is driven to rotate by the plum blossom coupling 8, the rotating half wheel 3 is driven to rotate around the roller rotating device center shaft 7 by the spline shaft 36, and the steel pipe is driven to spiral forward by the rotating half wheel 3.

[0070] A pitch adjustment method of an automatic steel pipe conveying forward pitch adjustment device, comprising the following specific steps:

[0071] Step one: check the safety of the device, place the steel pipe to be transported in the steel pipe measurement station 60, and start the steel pipe pitch adjustment device for the first time.

[0072] Step two: adjustment of the angle of the roller placement:

[0073] Specifically, the following steps are included:

[0074] 1) Establishment of the theoretical model: Taking the central section circle of the rotating half-wheel 3 before rotation as the reference, a rectangular coordinate system oxyz is established. The x-axis is defined as the diameter direction of the circle, the y-axis is the axis of the roller, and the z-axis passes through the center of the section circle and is perpendicular to the plane formed by the x and y axes. The z-axis of this coordinate system is used as the rotation axis, and the coordinate system is rotated by a certain angle θ. This angle is the roller placement angle, with clockwise being negative and counterclockwise being positive. The coordinate system is defined as ox1y1z1. According to the principle of view, after the central section circle of the rotating half-wheel is rotated in the same way, it forms an ellipse. This is the reference ellipse. The major axis of the reference ellipse is the diameter D of the section circle, and the direction of the major axis is the z1 axis. The minor axis is the diameter D*cos(θ), and the direction of the minor axis is the x1 axis. The center of the reference ellipse is point O. Similarly, using the principle of views, after the rotating half-wheel rotates around the z-axis, the projections of the large-end circular surface and the small-end circular surface in the ox1y1z1 coordinate system are both ellipses (named the large-end ellipse and the small-end ellipse, respectively). Furthermore, the directions and magnitudes of their major and minor axes are similar to the reference ellipse, hence they are called the large-end ellipse and the small-end ellipse. The distance from their centers to the reference ellipse is equal to the distance L*cos(θ) between the centers of the large-end and small-end circular surfaces and the center of the mid-section circle.

[0075] 2) Database creation: In In a coordinate system, the common tangent line between the large-end ellipse and the reference ellipse is calculated. The slope of this common tangent line is defined as k. Since we are calculating the common tangent line of two intersecting ellipses, theoretically there are two. We take the common tangent line with a positive slope k, and its equation is y1 = k1x + b.

[0076] Calculate the point of tangency between the tangent line y1 and the reference ellipse. Theoretically, there are two points of tangency. Since the reference ellipse is in the ox1z1 plane, we take the point of tangency with a positive z1 value. Its coordinates in the ox1y1z1 coordinate system are (0, y0, z0).

[0077] Take the value of z0, and in the coordinate system oxyz, draw a straight line parallel to the x-axis with the point (0, 0, z0) intersecting the circle of the middle section of the rotating half wheel. Theoretically, there are two intersection points. Take the intersection point with a positive x value, and its coordinates are (x1, 0, z1).

[0078] Vector establishment: In the oxyz coordinate system, draw a vector through the point (x1, 0, z1), with the direction of the tangential velocity of the circular cross-section at the middle of the rotating half-wheel as the direction when the rotating half-wheel rotates clockwise. In the ox1y1z1 coordinate system, draw a vector through the point (0, y0, z0) with a direction perpendicular to the plane ox1z1, named . Defined vector The coordinates in the coordinate system ox1y1z1 are (x2, y2, z2). Converting these coordinates to the oxyz coordinate system, we get (x3, y3, z3), and name this vector. .

[0079] Calculate the vector angle: In the coordinate system oxyz, draw a vector angle through the point (x1, 0, z1) with the direction as... vector Calculate the angle between vector d and vector a, and name it β0;

[0080] Using the correspondence between β0 and θ (i.e., one θ value corresponds to one β0 value), the common tangent between the large-end ellipse and the reference ellipse was previously calculated, with a slope of k1. Based on the correspondence between k1 and θ values ​​(i.e., one θ value corresponds to two data points: β0 and k1), a database is established.

[0081] 3) The online projection image measuring instrument 59 is turned on by the control system 29. The user inputs the required steel pipe advance pitch through the touch screen 63. The control system 29 controls the online projection image measuring instrument 59 to measure the diameter of the steel pipe to be measured.

[0082] 4) Calculation based on the formula: Since the steel pipe is in contact with the central section circle of the rotating half-wheel, the formula for calculating the forward pitch of the steel pipe is:

[0083] ;

[0084] The corresponding formula for calculating β is:

[0085] ;

[0086] β is calculated based on the user-inputted pitch value and the measured outer diameter of the steel pipe. The calculated β value is then matched with the nearest β0 value in the database, with a matching error of less than or equal to 0.2°, resulting in the corresponding θ value.

[0087] 5) The industrial control computer 61 converts the θ value into a motion signal that the PLC can recognize, and transmits this signal to the PLC cabinet 62. After receiving the data, the PLC cabinet 62 transmits the motion parameters to the drive reduction motor 22 and the lead screw reduction servo motor 26. The control system 29 controls the drive reduction motor 22 to start. The drive reduction motor 22 drives the base rotation drive gear 13 to rotate. The base rotation drive gear 13 drives the base rotation passive gear 24 to rotate. The base rotation passive gear 24 drives the support platform 25 to rotate to the required placement angle.

[0088] The database setup in step two can be pre-entered into the calculation program to reduce the computational load on the industrial control computer 61.

[0089] Step 3: Adjust the axial distance of the rotating half-wheel:

[0090] Specifically, the steps include the following:

[0091] 1) Calculation of the axial movement distance: a two-dimensional coordinate system is established with the outer diameter of the steel pipe as the reference, the center of the outer diameter circle of the steel pipe as the coordinate origin o, the radius direction as the x2 axis, and the direction perpendicular to the x2 axis as the y2 axis. A circle with a diameter equal to the outer diameter of the steel pipe is established with o as the center and named og. A straight line named y2 is established with a slope of k1 corresponding to β0 in the database, and its equation is y2=k1x2+b2, where b2 is an arbitrary value. The tangent point of y2 and the circle og is calculated, and the absolute value of the horizontal coordinate is taken. This value is the absolute axial movement distance t1 of the rotating half-wheel in theory. The movement distance of the rotating half-wheel is positive or negative (t1-t0) after subtracting the reference point distance t0 of the rotating half-wheel (pre-set by the program).

[0092] 2) The industrial computer 61 converts the calculation result into a motion signal recognizable by the PLC and controls the output shaft 54 of the reduction servo motor to rotate. The output shaft 54 of the reduction servo motor drives the spring plate coupling 27 to rotate, which in turn drives the transmission screw 1 to rotate. The transmission screw drives the two screw nuts 31 to move in opposite directions, which in turn drives the connecting block 11 to move linearly. The connecting block 11 drives the rotating half-wheel 3 to move to the desired distance through the bearing seat 2.

[0093] After step three is completed, the control system 29 transmits instructions to the double-acting cylinder 20 to control the extension of the cylinder action rod 48 to the locking position, and the locking base rotates the driving gear 13, thereby completing the transmission pitch adjustment.

[0094] In addition, it should be understood that although the present specification is described in terms of embodiments, not every embodiment contains only one independent technical solution, and the description of the specification is only for the sake of clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can be appropriately combined to form other embodiments that those skilled in the art can understand.

Claims

1. A device for automatically adjusting the pitch of a steel pipe conveyor prior to advancing, characterized by, The device comprises a placing angle adjusting assembly, a control system (29), an online projection image measuring instrument (59) and a steel pipe measuring station (60). The placing angle adjusting assembly comprises a set of placing angle adjusting mechanisms (67) which are arranged at intervals along the conveying direction of the steel pipe. The control system (29) is electrically connected with the set of placing angle adjusting mechanisms (67) and is used for automatically controlling the placing angle adjusting assembly. The steel pipe measuring station (60) is arranged at one end of the placing angle adjusting assembly. The online projection image measuring instrument (59) is arranged at the steel pipe measuring station (60) and is electrically connected with the control system (29). The online projection image measuring instrument (59) can be used for measuring the diameter of the steel pipe to be measured. The placing angle adjusting mechanism (67) comprises a roller rotating device, an axial distance adjusting device, a roller angle adjusting device and a supporting platform (25). The roller angle adjusting device is arranged below the supporting platform (25) and is fixedly connected with the supporting platform (25). The roller rotating device and the axial distance adjusting device are arranged above the supporting platform (25). The axial distance adjusting device is connected with the roller rotating device. The axial distance adjusting device can be used for adjusting the distance between the rotating half wheels (3) of the roller rotating device. The top end surface of the supporting platform (25) is fixedly connected with an axial limiting support (4). The top of the axial limiting support (4) is provided with a first through hole (35). An angular contact ball bearing (5) is arranged in the first through hole (35). The inner hole of the angular contact ball bearing (5) is rollingly connected with the roller rotating device. The roller angle adjusting device comprises a base frame (23) and a gear transmission assembly; one end of the support platform (25) close to the ground is provided with a cylindrical boss (32), one end of the cylindrical boss (32) close to the ground is provided with a base rotary driven gear (24), and one end surface of the base rotary driven gear (24) close to the support platform (25) is fixedly connected with the support platform (25); one end of the base rotary driven gear (24) close to the ground is provided with a base axial thrust ball bearing (33), and the base rotary driven gear (24) is fixedly connected with the inner hole of the base axial thrust ball bearing (33); one end surface of the base axial thrust ball bearing (33) away from the support platform (25) is provided with the base frame (23), and one end surface of the base frame (23) close to the support platform (25) is provided with a first recess hole (34) matching the size of the base axial thrust ball bearing (33), and the first recess hole (34) is installed in the base axial thrust ball bearing (33); the gear transmission assembly comprises a base rotary driving gear (13), a brake piece (39), an axial driving wheel thrust bearing (40) and a driving speed reduction motor (22); one end surface of the base rotary driving gear (13) close to the base frame (23) is provided with a second recess hole (41) matching the size of the axial driving wheel thrust bearing (40), the second recess hole (41) is installed with the axial driving wheel thrust bearing (40), and one end surface of the base rotary driving gear (13) close to the axial driving wheel thrust bearing (40) is fixedly connected with the brake piece (39); one end surface of the base frame (23) away from the base rotary driving gear (13) is fixedly connected with the driving speed reduction motor (22), one end of the driving speed reduction motor (22) close to the base rotary driving gear (13) is provided with a power output shaft (42), the power output shaft (42) is fixedly connected with the inside of the axial driving wheel thrust bearing (40), the base frame (23) is provided with a second through hole (43) matching the size of the axial driving wheel thrust bearing (40), and the second through hole (43) is internally installed with the axial driving wheel thrust bearing (40); the brake piece (39) is used for preventing the change of the rotation angle when the counterforce generated by the steel pipe placed on the roller rotating device changes the rotation angle after the placement angle of the roller rotating device is determined.

2. A device for automatically adjusting the pitch of a steel pipe conveying advance according to claim 1, characterized in that, The roller rotating device comprises a roller rotating device central shaft (7), a rotating half wheel (3) and a power output module; both ends of the roller rotating device central shaft (7) are provided with bearing seats (2), the bearing seats (2) are internally provided with sliding shaft sleeves (6) matched with the outer diameter of the roller rotating device central shaft (7), the sliding shaft sleeves (6) are in sliding connection with the roller rotating device central shaft (7), and the sliding shaft sleeves (6) are fixedly connected with the bearing seats (2) internally; the roller rotating device central shaft (7) is provided with a spline shaft (36) matched with the inside of the rotating half wheel (3); one end of the roller rotating device central shaft (7) away from the rotating half wheel (3) is fixedly connected with an axial limiting block (58); one end of the roller rotating device central shaft (7) away from the axial limiting block (58) is provided with a plum blossom coupling (8), and one end of the plum blossom coupling (8) away from the axial limiting block (58) is fixedly connected with the power output module; the power output module comprises a variable frequency motor (9) and a speed reducer (10); one end of the speed reducer (10) close to the plum blossom coupling (8) is provided with a speed reducer power output shaft (37), the speed reducer power output shaft (37) is fixedly connected with the inside of the plum blossom coupling (8), and the speed reducer (10) and the variable frequency motor (9) are fixedly connected.

3. A device for automatically adjusting the pitch of a steel pipe conveying advance according to claim 2, characterized in that, The axial distance adjusting device comprises a transmission screw (1), a connecting block (11), a side plate (30), a sliding guide rail (28), a sliding block (12) and a screw rod reduction servo motor (26); the bearing seat (2) is provided with the connecting block (11) on the end face close to the support platform (25), the connecting block (11) is provided with a threaded hole on the end face away from the support platform, and the bearing seat (2) and the connecting block (11) are fixedly connected through a screw; the support platform (25) is provided with symmetrically distributed side plates (30), the side plate (30) is provided with a sliding guide rail (28) on the end face close to the center shaft (7) of the roller rotating device, and the sliding guide rail (28) and the symmetrically distributed side plates (30) are fixedly connected; the connecting block (11) is fixedly connected with the sliding block (12) on the end close to the sliding guide rail (28), and the sliding block (12) and the sliding guide rail (28) are slidingly connected; the transmission screw (1) is provided with a screw nut (31) on the end face close to the connecting block (11), and the screw nut (31) is fixedly connected with the connecting block (11) on the end face close to the connecting block (11); the transmission screw (1) is provided with a screw rod reduction servo motor (26) on the end face away from the rotating half wheel (3), and the screw rod reduction servo motor (26) is fixedly connected between the end face close to the rotating half wheel (3) and the support platform (25); the screw rod reduction servo motor (26) is provided with a reduction servo motor output shaft (54) on the end close to the transmission screw (1), a spring sheet coupling (27) is arranged between the reduction servo motor output shaft (54) and the transmission screw (1), the end close to the reduction servo motor output shaft (54) of the spring sheet coupling (27) is fixedly connected with the reduction servo motor output shaft (54), and the end close to the transmission screw (1) of the spring sheet coupling (27) is fixedly connected with the transmission screw (1); the transmission screw (1) is provided with a screw rod connecting seat (55) and a deep groove ball bearing (56) on the end away from the screw nut (31), the screw rod connecting seat (55) is provided with a fifth through hole (57) matched with the deep groove ball bearing (56), the deep groove ball bearing (56) is installed in the fifth through hole (57), the transmission screw (1) is installed in the deep groove ball bearing (56) on the end away from the screw nut (31), and the end face close to the support platform (25) of the screw rod connecting seat (55) is fixedly connected with the support platform (25).

4. A device for automatically adjusting the pitch of a steel pipe conveying advance according to claim 3, characterized in that, The roller angle adjusting device further comprises a clamping device, the clamping device comprises an upper clamping sheet (14), a guide column (15), a lower clamping sheet (16), a guide column fixing block (18), a guide column spring (44), a central rotating block (21), a double-acting cylinder (20) and a cylinder support (19); the central rotating block (21) is fixedly connected with a rotating block protruding shaft (45) near one end surface of the base rotating driving gear (13), the base frame (23) is provided with a first boss (46) away from the base rotating driving gear (13), the first boss (46) is provided with a third through hole (47) matched with the rotating block protruding shaft (45), and the rotating block protruding shaft (45) is installed in the third through hole (47); the central rotating block (21) is fixedly connected with a cylinder connecting handle (17) away from one end surface of the rotating block protruding shaft (45), the double-acting cylinder (20) is provided with a cylinder acting rod (48) away from the ground, the cylinder acting rod (48) is provided with a multi-degree-of-freedom ball head (49) near one end of the cylinder connecting handle (17), and the multi-degree-of-freedom ball head (49) is hinged in the cylinder connecting handle (17); the base frame (23) is provided with a through slot (50) matched with the lower clamping sheet (16), the lower clamping sheet (16) is installed in the through slot (50), the lower clamping sheet (16) is provided with two fourth through holes (51) matched with the guide column (15), the guide column (15) is installed in the fourth through hole (51), the guide column (15) is provided with the upper clamping sheet (14) away from the lower clamping sheet (16), and one end surface of the guide column (15) away from the upper clamping sheet (14) is fixedly connected with the guide column fixing block (18); the double-acting cylinder (20) is provided with trunnions (52) on two end surfaces, the cylinder support (19) is provided with trunnion through holes (53) matched with the trunnions (52), and the trunnions (52) are installed in the trunnion through holes (53); the cylinder support (19) is fixedly connected with the ground near the ground, and the guide column spring (44) is used for simultaneously moving the upper clamping sheet (14) and the lower clamping sheet (16) in opposite directions along the guide column (15).

5. A pitch adjustment method of a device for automatically adjusting the pitch of a steel pipe conveying advancement according to claim 4, characterized in that, The method comprises the following steps: Step 1): checking the safety of the device, placing the steel pipe to be transported in the steel pipe measuring station (60), and starting the steel pipe pitch adjusting device for the first time; Step 2): adjusting the placing angle of the roller after step 1) is completed; Step 3): adjusting the axial distance of the rotating half axle after step 2) is completed; Step 4): after step 3) is completed, transmitting instructions to the double-acting cylinder (20) through the control system (29), controlling the double-acting cylinder (20) to extend the cylinder acting rod (48) to the locking position, locking the base rotating driving gear (13), and completing the transmission pitch adjustment.

6. A pitch adjustment method of a device for automatically adjusting the pitch of a steel pipe conveying advancement according to claim 5, characterized in that, The step 2) comprises the following specific steps: 2.1) The establishment of a theoretical model: taking the middle section circle of the rotating half-wheel before rotation as the reference, a rectangular coordinate system oxyz is established, the x-axis is the diameter direction of the circle, the y-axis is the axial direction of the roller, the z-axis is perpendicular to the plane formed by the x and y axes and passes through the center of the section circle. The coordinate system is rotated by an angle θ, which is the angle of the roller, clockwise negative and counterclockwise positive. The coordinate system is defined as ox1y1z1. According to the view principle, the middle section circle of the rotating half-wheel is also rotated by the same method and becomes an ellipse, which is the reference ellipse. The long axis of the reference ellipse is the diameter D of the section circle, and the long axis direction is the z1 axis. The short axis is D*cos(θ), and the short axis direction is the x1 axis direction. The center of the reference ellipse is the o point. Similarly, according to the view principle, the projection of the large end circle and the small end circle in the ox1y1z1 coordinate system after the rotating half-wheel is rotated around the z-axis is an ellipse, which is called the large end ellipse and the small end ellipse, respectively. The distance between the centers of the two ellipses and the reference ellipse is L*cos(θ); 2.2) Database establishment: the common tangent of the large end ellipse and the reference ellipse is calculated in the ox1y1z1 coordinate system. The slope of the common tangent is k. Since it is to calculate the common tangent of two intersecting ellipses, there are theoretically two common tangents, and the common tangent with a positive slope k is taken. Its equation is y1=k1x+b The tangent y1 and the tangent point of the reference ellipse are calculated. The theoretical calculation result has two tangent points. Since the reference ellipse is in the ox1z1 plane, the z1 value of the tangent point is taken as positive, and its coordinates in the ox1y1z1 coordinate system are (0, y0, z0). Take the value of z0, and draw a straight line parallel to the x-axis through the point (0, 0, z0) in the oxyz coordinate system. Theoretically, there are two intersection points with the middle section circle of the rotating half-wheel, and the intersection point with a positive x value is taken, and its coordinates are (x1, 0, z1). Vector establishment: In the oxyz coordinate system, draw a vector through the point (x1, 0, z1), with the direction of the tangential velocity of the circular cross-section at the middle of the rotating half-wheel as the direction when the rotating half-wheel rotates clockwise. In the ox1y1z1 coordinate system, draw a vector through the point (0, y0, z0) with a direction perpendicular to the plane ox1z1, named ; ;Specified vector The coordinates in the coordinate system ox1y1z1 are (x2, y2, z2). Converting these coordinates to the oxyz coordinate system, we get (x3, y3, z3), and name this vector. ; Calculate the vector angle: In the coordinate system oxyz, draw a vector angle through the point (x1, 0, z1) with the direction as... vector Calculate vector With vector The included angle is named β0; Take the corresponding relationship between β0 and θ as data, that is, one θ value corresponds to one β0 value. The common tangent of the large end ellipse and the reference ellipse is calculated, and its slope is k1. Take the corresponding relationship between k1 and θ value, that is, one θ value corresponds to two data: β0, k1, and establish the database; 2.3) The control system (29) controls the online projection image measuring instrument (59) to open, and the user inputs the required forward pitch of the steel pipe through the touch screen (63). The control system (29) controls the online projection image measuring instrument (59) to measure the pipe diameter of the steel pipe to be measured; 2.4) According to the formula, since the steel pipe is in contact with the middle section circle of the rotating half-wheel, the forward pitch S of the steel pipe is calculated as follows: ； The corresponding β calculation formula is: ； According to the user input required pitch value and the measured steel pipe outer diameter value, β is calculated, the calculated β value is matched with the adjacent β0 value in the database, the matching error is less than or equal to 0.2°, and then the corresponding θ value is obtained. 2.5) the industrial computer (61) converts the θ value into a motion signal recognizable by the PLC, and transmits the signal to the PLC cabinet (62), which transmits the motion parameters to the drive reduction motor (22) and the screw reduction servo motor (26) after receiving the data. The control system (29) controls the drive reduction motor (22) to start, and the drive reduction motor (22) drives the base rotating driving gear (13) to rotate, which drives the base rotating driven gear (24) to rotate, and the base rotating driven gear (24) drives the support platform (25) to rotate to the desired angle.

7. A pitch adjustment method of a device for automatically adjusting the pitch of a steel pipe conveying advancement according to claim 6, characterized in that The step 3) includes the following specific steps: 3.1) Calculation of the axial movement distance: a two-dimensional coordinate system is established based on the outer diameter of the steel pipe, with the center of the steel pipe outer diameter as the coordinate origin o, the radius direction as the x2 axis, and the direction perpendicular to the x2 axis as the y2 axis. A circle with o as the center and a diameter equal to the outer diameter of the steel pipe is established, named og; a straight line named y2 is established, with a slope of k1 corresponding to β0 in the database, and its equation is y2=k1x2+b2, where b2 is an arbitrary value. The tangent point of y2 and og is calculated, and the absolute value of the horizontal coordinate is taken, which is the absolute axial movement distance t1 of the rotating half-wheel in theory. Subtract the reference point distance t0 of the rotating half-wheel (3) from t1, and the movement distance of the rotating half-wheel is (t1-t0). 3.2) The industrial computer (61) converts the calculation result into a motion signal recognizable by the PLC, controls the output shaft (54) of the reduction servo motor to rotate, and drives the spring piece coupling (27) to rotate, which drives the transmission screw (1) to rotate, and the two screw nuts (31) move in opposite directions, and the connecting block (11) moves linearly, and the rotating half-wheel (3) moves to the desired distance through the bearing seat (2).

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