Burr detection device and burr height detection method

Abstract

The present disclosure relates to a burr detection device and a burr height detection method, which are used to detect the height of burrs at the weld of a welded pipe. The detection device includes: a base, configured to move along the extension direction of the weld; and a measuring mechanism, including a first sensor and a second sensor installed on the base at intervals in the moving direction, the first sensor and the second sensor are contact sensors capable of obtaining contact displacement, wherein the contact of the first sensor is used to contact the weld surface, and the contact of the second sensor is used to contact the burr; and a controller, which is electrically connected to the first sensor and the second sensor, respectively. The dual sensor adds position data of the weld surface to improve the measurement accuracy. Compared with the prior art, which can only provide the function of ultra-high alarm, it can also provide specific data for each detection position, which is convenient for optimizing the production line in subsequent quality work. In addition, the present disclosure can also measure internal burrs, which is more helpful to further improve the quality of welded pipes.

Description

Technical Field

[0001] The present disclosure relates to the field of welding technology, and in particular to a burr detection device and a burr height detection method. Background Art

[0002] Weld burrs will increase the wear of parts in contact with the welding area. For example, in high-frequency welded pipes, the shedding of burrs will cause turbulence or laminar flow of the fluid, reduce the performance of the system, affect its sealing and even cause leakage, seriously affecting the quality of the welded pipe. Some mechanisms with welded structures work under harsh conditions such as high pressure and strong corrosion for a long time. In addition to being affected by their own loads, they must also withstand the effects of external conditions. If the burr height is unqualified, it may cause some large-scale hazards and cause unpredictable losses. At present, there are three main methods for burr height detection: camera photography, infrared ranging and pneumatic trigger, but the above three methods for measuring the height of internal burrs have shortcomings. In the camera photography method, the burr height is mainly detected for the burrs on the surface of the weld exposed to the outside world, but in a small space, such as the space inside the welded pipe is limited and cannot be illuminated, it is also impossible to detect the burrs inside the welded pipe. In the infrared ranging method, the burr height is detected using a three-jaw chuck for positioning. The size is too large and it cannot be measured in a small space. At the same time, the infrared rangefinder cannot meet the needs in places with high precision requirements. In the pneumatic trigger measurement method, the alarm signal is triggered when the burr height exceeds the manually set height value, and the burr height cannot be specifically quantified. Summary of the invention

[0003] The purpose of the present disclosure is to provide a burr detection device and a burr height detection method to solve the problems existing in the prior art, such as the inability to detect burrs in a narrow space, low detection accuracy, and inability to quantify the burr height.

[0004] In order to achieve the above-mentioned object, the present disclosure provides a burr detection device for detecting the height of burrs at a weld seam of a welded pipe, the detection device comprising:

[0005] a base configured to move along an extending direction of the weld; and

[0006] a measuring mechanism, comprising a first sensor and a second sensor installed on the base at an interval in the moving direction, wherein the first sensor and the second sensor are contact sensors capable of obtaining contact point displacement, wherein the contact point of the first sensor is used to contact the weld surface, and the contact point of the second sensor is used to contact the burr; and

[0007] The controller is electrically connected to the first sensor and the second sensor respectively.

[0008] Optionally, the contact point of the first sensor is a first roller rolling along the weld surface, and the contact point of the second sensor is a second roller rolling along the weld.

[0009] Optionally, a groove is formed in the middle section of the first roller, so that the two side sections of the first roller are higher than the middle section of the first roller, the two side sections of the first roller are used for rolling contact with the weld surface, and the middle section of the first roller is used for spacing from the burr;

[0010] The middle section of the second roller is formed with a flange so that the middle section of the second roller is higher than the two side sections of the second roller. The middle section of the second roller is used for rolling contact with the burr, and the two side sections of the second roller are used for spacing from the weld surface.

[0011] Optionally, it also includes an adjustment mechanism for driving the first sensor and the second sensor in a direction perpendicular to the weld surface.

[0012] Optionally, the adjustment mechanism comprises:

[0013] A mounting base, used for mounting the first sensor and the second sensor;

[0014] a first driving unit, electrically connected to the controller, and configured to drive the mounting seat to move in a direction away from the weld surface; and

[0015] An elastic connecting member is connected to the base and is used to push the mounting seat in a direction approaching the welding seam surface.

[0016] Optionally, the mounting seat includes a first fixing block and a second fixing block respectively arranged on both sides of the base in a direction perpendicular to the weld surface, and a long rod connected between the first fixing block and the second fixing block and passing through the base, the first sensor and the second sensor are mounted on the first fixing block or on the second fixing block, and a through hole for the first sensor and the second sensor to pass through is opened on one of the first fixing block and the second fixing block close to the weld surface;

[0017] The elastic connecting member is a spring sleeved on the outside of the long rod, and the spring is connected between the base and the first fixing block, or between the base and the second fixing block.

[0018] Optionally, a pulley is installed on the base, and the first driving unit includes:

[0019] A linear actuator, mounted on the base, for providing power in the extending direction of the weld; and

[0020] A pull rope, one end of which is connected to the output end of the linear actuator, and the other end of which is connected to one of the first fixed block and the second fixed block away from the weld surface, wherein the pull rope is overlapped on the pulley to form two sections at an angle to each other.

[0021] Optionally, it further includes a second driving unit for driving the base, and the second driving unit is electrically connected to the controller.

[0022] Optionally, the burr detection device further includes a first amplifier and a second amplifier connected to the controller, the first amplifier is connected to the first sensor, and the second amplifier is connected to the second sensor.

[0023] Optionally, the weld surface is the inner side surface of a square welded pipe.

[0024] According to another aspect of the present disclosure, a burr height detection method is provided, using the above-mentioned burr detection device, the burr height detection method comprising:

[0025] Controlling the burr detection device to move along the extension direction of the weld;

[0026] Controlling the contact point of the first sensor to contact the weld surface, and controlling the contact point of the second sensor to contact the burr;

[0027] Acquire a first value fed back by the first sensor and a second value fed back by the second sensor; and

[0028] An estimated height of the burr is calculated based on the first value and the second value.

[0029] Optionally, the burr height detection method includes:

[0030] Before controlling the burr detection device to move along the extension direction of the weld, the contact point of the first sensor in contact with the weld surface and the contact point of the second sensor in contact with the burr are adjusted to be flush.

[0031] Optionally, in the step of controlling the contact point of the first sensor to contact the weld surface and controlling the contact point of the second sensor to contact the burr, the method includes:

[0032] The contact point of the first sensor is controlled to always contact the weld surface.

[0033] Optionally, the step of obtaining the first value fed back by the first sensor and the second value fed back by the second sensor includes: detecting the displacement value of the contact point of the first sensor, selecting the minimum value A from all the detected displacement values 1-minDetect the displacement value of the contact of the second sensor, and select the maximum value B from all the detected displacement values 1-max ;

[0034] The estimated height R satisfies: R = B 1-max -A 1-min .

[0035] Optionally, the step of obtaining the first value fed back by the first sensor and the second value fed back by the second sensor comprises: detecting a first displacement value of a contact of the first sensor at a plurality of positions to be tested at equal intervals, and detecting a second displacement value of a contact of the second sensor;

[0036] The step of calculating the estimated height of the burr according to the first value and the second value includes: calculating the difference between the first displacement value and the second displacement value at each position to be measured as the estimated height of the burr at the position to be measured.

[0037] Optionally, in the step of controlling the contact point of the first sensor to contact the weld surface and controlling the contact point of the second sensor to contact the burr, the method includes:

[0038] The contacts of the first sensor are controlled to contact the weld surface at intervals.

[0039] Optionally, the step of obtaining a first value fed back by the first sensor and a second value fed back by the second sensor includes:

[0040] Each time the contact point of the first sensor contacts the weld surface, the first sensor is controlled to detect the displacement value of the contact point, and the minimum value A is selected from all the detected displacement values. 3-min ; At the same time, control the second sensor to detect the displacement value of the contact, and select the maximum value B from all the displacement values ​​detected 3-max ;

[0041] The estimated height R satisfies: R = B 3-max -A 3-min .

[0042] Through the above technical solution, after the base is inserted into the welded pipe, the first sensor and the second sensor are used to detect the position data of the weld surface and the burr at the corresponding position to obtain the estimated height. Compared with the single sensor, the dual sensor adds the position data of the weld surface to improve the measurement accuracy of the final estimated height. At the same time, the data obtained by the first sensor and the second sensor can be stored in the controller. Compared with the prior art that can only provide the function of over-high alarm, it can also provide specific data for each detection position, which is convenient for optimizing the production line in subsequent quality work. In addition, in the present disclosure, the base can be inserted into the narrow welded pipe for measurement. Compared with the prior art tools that cannot penetrate into the welded pipe and can only measure external burrs, the present disclosure can also measure internal burrs, which is more conducive to further improving the quality of the welded pipe.

[0043] Other features and advantages of the present disclosure will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] The accompanying drawings are used to provide a further understanding of the present disclosure and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the present disclosure but do not constitute a limitation of the present disclosure. In the accompanying drawings:

[0045] Figure 1 is a schematic diagram of a burr detection device according to an embodiment of the present disclosure.

[0046] Figure 2 is a schematic diagram of a first sensor of a burr detection device according to an embodiment of the present disclosure.

[0047] Figure 3 is a schematic diagram of a second sensor of a burr detection device according to an embodiment of the present disclosure.

[0048] Figure 4 It is a schematic diagram of the working position of a burr detection device according to an embodiment of the present disclosure.

[0049] Figure 5 It is a connection diagram of a burr detection device according to an embodiment of the present disclosure.

[0050] Figure 6 It is a connection diagram of a burr detection device according to another embodiment of the present disclosure.

[0051] Figure 7 It is a flow chart of a burr height detection method according to a first embodiment of the present disclosure.

[0052] Figure 8 It is a flow chart of a burr height detection method according to a second embodiment of the present disclosure.

[0053] Fig. 9 It is a flow chart of a burr height detection method according to a third embodiment of the present disclosure.

[0054] Fig.10 It is a flow chart of a burr height detection method according to a fourth embodiment of the present disclosure.

[0055] Description of Reference Numerals

[0056] 1-base; 11-branch end; 21-first sensor; 211-first roller; 2111-groove; 22-second sensor; 221-second roller; 2211-flange; 23-first fixed block; 231-first part; 232-second part; 24-second fixed block; 25-long rod; 26-elastic connecting member; 27-elastic member; 3-second driving part; 41-linear pusher; 42-pull rope; 43-pulley; 51-controller; 52-distributor; 53-communication module; 54-valve; 55-driver; 61-first amplifier; 62-second amplifier; 7-welded pipe; 71-weld surface; 72-burr. DETAILED DESCRIPTION

[0057] The specific implementation of the present disclosure is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described herein is only used to illustrate and explain the present disclosure, and is not used to limit the present disclosure.

[0058] In the present disclosure, unless otherwise stated, the directional words such as "inner" and "outer" used are defined with respect to the actual contours of the corresponding parts, and the terms "first" and "second" used are used to distinguish different components and do not have order and importance. In addition, in the following description, when referring to the drawings, unless otherwise explained, the same reference numerals in different drawings represent the same or similar elements.

[0059] According to one embodiment of the present disclosure, Figures 1 to 6 As shown, a burr detection device is provided, which can be used to detect the height of burrs at the weld of a welded pipe. The burr detection device includes a base 1, a measuring mechanism and a controller 51. The base 1 can be configured to extend along the extension direction of the weld (i.e. Figure 1The measuring mechanism may include a first sensor 21 and a second sensor 22 installed on the base 1 at intervals in the front and rear directions of the movement direction. The first sensor 21 and the second sensor 22 are contact sensors capable of obtaining contact displacement. The embodiment of the present disclosure does not limit the front and rear positions of the first sensor 21 and the second sensor 22. The contact of the first sensor 21 is used to contact the weld surface 71, and the contact of the second sensor 22 is used to contact the burr 72. The controller 51 may be electrically connected to the first sensor 21 and the second sensor 22, respectively, to obtain data obtained by the first sensor 21 and the second sensor 22, and may control the actions of other components as will be described below.

[0060] It should be noted that the burr detection device in the present disclosure is used to detect the weld burr height of two flush surfaces at the butt joint position, for example, the burr height on a flat metal weld can be measured, and the weld burr height inside or outside a square welded pipe can also be measured, and the present disclosure does not limit this. The weld surface 71 in this article refers to the aforementioned flush surface, for example, it can refer to the base surface of the welded pipe 7 on both sides of the weld inside or outside the welded pipe 7. The weld surface 71 will be described as the base surface inside the welded pipe 7 in the following. The first sensor 21 and the second sensor 22 can adopt high-precision contact digital sensors commonly used in this field. The high-precision contact digital sensors can feedback measurement data in real time through amplifiers and communication modules, and have a resolution of 0.1 microns and an accuracy of 1 micron, that is, micron-level measurements can be achieved, and the height of the burr 72 can be measured more accurately. However, it should be noted that the present disclosure does not limit the specific model of the sensor.

[0061] Through the above technical solution, after the base 1 is inserted into the welded pipe 7, the first sensor 21 and the second sensor 22 are used to detect the position data of the weld surface 71 and the burr 72 at the corresponding positions to obtain the estimated height. Compared with the single sensor, the dual sensor adds the position data of the weld surface 71 to improve the measurement accuracy of the final estimated height. At the same time, the data obtained by the first sensor 21 and the second sensor 22 can be stored in the controller 51. Compared with the related technology that can only have the function of over-high alarm, it can also provide specific data for each detection position, which is convenient for optimizing the production line in subsequent quality work. In addition, in the present disclosure, the base 1 can be inserted into a small space (such as the inside of the square welded pipe 7 described below) for measurement. Compared with the solution in which the tools of the related technology cannot penetrate into the welded pipe 7 and can only measure the external burrs, the present disclosure can also measure the internal burrs, which is more conducive to further improving the quality of the weld.

[0062] Furthermore, if Figures 1 to 4As shown, the contact point of the first sensor 21 may be a first roller 211 rolling along the weld surface 71, and the contact point of the second sensor 22 may be a second roller 221 rolling along the weld. The first sensor 21 and the second sensor 22 may obtain data when the weld surface 71 or the weld rolls through the first roller 211 and the second roller 221, and may accurately measure the relative height of the weld surface 71 or the weld based on the reference plane, thereby preventing errors caused by manual movement. The contact point of the sensor contacts the position to be measured in the form of rolling contact, which may reduce the wear of the contact point and increase the service life of the sensor.

[0063] Furthermore, if Figure 2 and Figure 3 As shown, the middle section of the first roller 211 may be provided with a groove 2111, so that the two side sections of the first roller 211 are higher than the middle section of the first roller 211, the two side sections of the first roller 211 are used for rolling contact with the weld surface 71, and the middle section of the first roller 211 is used for spacing from the burr 72. In this way, the weld can be placed at the groove 2111, and the first roller 211 is prevented from pressing on the weld with the burr 72, thereby affecting the data accuracy of the first roller 211. The middle section of the second roller 221 may be formed with a flange 2211, so that the middle section of the second roller 221 is higher than the two side sections of the second roller 221, the middle section of the second roller 221 is used for rolling contact with the burr 72, and the two side sections of the second roller 221 are used for spacing from the weld surface 71. In this way, the weld can be located at the flange 2211, avoiding the situation that the height of the burr 72 at the uneven weld surface 71 (such as the weld is sunken in the weld surface 71 on both sides) cannot be contacted due to the end of the second roller 221 being too wide, resulting in the inability to measure or inaccurate measurement of the burr 72 at that location. The connection between the first roller 211 and the main part of the first sensor 21 and the connection between the second roller 221 and the main part of the second sensor 22 can be provided with an elastic member 27, and the elastic member 27 can make the first roller 211 move relative to the first sensor 21 along the length direction of the first sensor 21, and the second roller 221 move relative to the second sensor 22 along the length direction of the second sensor 22, so that the contact can stably contact the object to be measured. The first sensor 21 and the second sensor 22 transmit the value of the corresponding position to the controller 51 through the displacement of the first roller 211 and the second roller 221 in the length direction of the first sensor 21 and the second sensor 22, respectively.

[0064] According to one embodiment of the present disclosure, Figures 1 to 3 As shown, the burr detection device may also include a device for detecting the burr in a direction perpendicular to the weld surface 71 (i.e. Figure 1The adjusting mechanism drives the first sensor 21 and the second sensor 22 in the vertical direction of the drawing). The adjusting mechanism makes the first sensor 21 and the second sensor 22 approach or move away from the weld surface 71 by adjusting the positions of the first sensor 21 and the second sensor 22. The adjusting mechanism can drive the first sensor 21 or the second sensor 22 alone, or the first sensor 21 and the second sensor 22 can be fixed together and then driven together by the adjusting mechanism, which is not limited in the present disclosure.

[0065] According to some embodiments, Figures 1 to 3 As shown, the adjustment mechanism may include a mounting seat, a first driving part and an elastic connector 26, wherein the mounting seat may be used to mount the first sensor 21 and the second sensor 22. The first driving part may be electrically connected to the controller 51, and used to drive the mounting seat to move in a direction away from the weld surface 71. The elastic connector 26 may be connected to the base 1, and used to push the mounting seat in a direction close to the weld surface 71. After the first driving part drives the mounting seat away from the weld surface 71, the mobile base 1 moves the burr detection device to a suitable position, and the mounting seat can be reset by the elastic force stored in the elastic connector 26.

[0066] Furthermore, if Figures 1 to 3 As shown, the mounting base may include a first fixing block 23 and a second fixing block 24 disposed on both sides of the base 1 in a direction perpendicular to the weld surface 71, and a long rod 25 connected between the first fixing block 23 and the second fixing block 24 and passing through the base 1. The base 1 may include a main body portion and a protrusion extending from the main body portion and forming an angle with the main body portion (e.g. Figure 1 The support end 11 is in a vertical relationship (as shown in the figure), and the first fixed block 23 and the second fixed block 24 are respectively arranged on both sides of the support end 11. The first sensor 21 and the second sensor 22 are installed on the first fixed block 23 or the second fixed block 24, and one of the first fixed block 23 and the second fixed block 24 is closer to the weld surface 71 to be measured, and the first sensor 21 and the second sensor 22 are arranged on the one closer to the weld surface 71 to be measured. In addition, a through hole for the first sensor 21 and the second sensor 22 to pass through can be opened on the one of the first fixed block 23 and the second fixed block 24 close to the weld surface 71, so as to limit the first sensor 21 and the second sensor 22. The specific embodiment will be described in detail below. The elastic connecting member 26 can be a spring sleeved on the outside of the long rod 25, and the spring is connected between the base 1 and the first fixed block 23, or between the base 1 and the second fixed block 24. For example, in Figure 1In the illustrated embodiment, the first sensor 21 and the second sensor 22 are mounted on the first fixed block 23 closer to the weld surface 71, and a spring is connected between the base 1 and the first fixed block 23, and the spring has an elastic force that always pushes the first fixed block 23 away from the branch end 11. When the first driving unit drives the first fixed block 23 to drive the first sensor 21 and the second sensor 22 away from the weld surface 71 to be measured, the first fixed block 23 approaches the base 1, and the spring is compressed, and the mobile base 1 selects the position to be detected. When the position to be detected is selected, the first driving unit is turned off, and the spring releases the stored elastic force to push the first fixed block 23 back to its original position. Of course, as will be mentioned below, the first driving unit can always be in a closed state. In this case, the spring can always orient the sensor to the weld surface 71 or burr 72 to be measured, that is, each position can be a position to be detected. In addition, a spring may be provided between the base 1 and the second fixed block 24. When the first driving unit drives the first fixed block 23 to drive the first sensor 21 and the second sensor 22 away from the weld surface 71 to be measured, the second fixed block 24 moves away from the base 1, and the spring is stretched. At this time, the mobile base 1 selects the position to be detected. After the position to be detected is selected, the first driving unit is closed. At this time, the spring releases the stored elastic force and pulls the second fixed block 24 back to its original position. Since the long rod 25 is connected to the first fixed block 23, the first sensor 21 and the second sensor 22 on the first fixed block 23 are indirectly driven to approach the weld surface 71 to be measured. In addition, a spring may also be provided between the base 1 and the first fixed block 23 and the second fixed block 24 at the same time. The specific setting method is as shown above. When the first driving unit is closed, the compressed spring and the stretched spring simultaneously release the stored elastic force, driving the mounting seat to reset, so that the first sensor 21 and the second sensor 22 are close to the weld surface 71 to be measured.

[0067] Furthermore, if Figures 1 to 3 As shown, a pulley 43 may be installed on the base 1, and the first driving part may include a linear pusher 41 and a pull rope 42, wherein the linear pusher 41 may be installed on the base 1 to provide power in the extension direction of the weld. One end of the pull rope 42 is connected to the output end of the linear pusher 41, and the other end is connected to one of the first fixed block 23 and the second fixed block 24 away from the weld surface 71, wherein the pull rope 42 is overlapped on the pulley 43 to form two sections at an angle to each other. The cooperation between the pull rope 42 and the pulley 43 can change the setting position and setting direction of the linear pusher 41, so that the linear pusher 41 can be set outside the base 1. When the pull rope 42 is long enough, the linear pusher 41 may not enter the welded pipe 7 to be tested with the base 1, and the pull rope 42 may be directly driven outside to complete the driving of the mounting seat. The linear pusher 41 may be a cylinder, an oil cylinder or an electric cylinder, which is not limited in the present disclosure.

[0068] According to one embodiment of the present disclosure, Figures 1 to 3 As shown, taking the first fixing block 23 closer to the weld surface 71 as an example, the first fixing block 23 may include a first part 231 and a second part 232, the second part 232 is located between the weld surface 71 and the first part 231, and the two may be integrally formed or be two parts connected to each other. In the through hole of the second part 232, only the two side sections of the first roller 211 and the middle section of the second roller 221 may protrude from the second part 232, or they may protrude to the radius length of the first roller 211 and the second roller 221. The second part 232 plays a certain fixing role on the first roller 211 and the second roller 221. The contact points between the first sensor 21 and the second sensor 22 and the position to be measured are the first roller 211 and the second roller 221. The second part 232 can prevent the first roller 211 and the second roller 221 from shaking in a direction not required for detection, that is, limit the displacement direction of the first roller 211 and the second roller 221, so that the first roller 211 and the second roller 221 move in the length direction of the first sensor 21 and the second sensor 22 through the elastic member 27 mentioned above. Since the entire first roller 211 and the second roller 221 can be used as contact points, in this embodiment, only the two side sections of the first roller 211 and the middle section of the second roller 221 can protrude from the second part 232 to ensure that the unnecessary positions of the rollers contact the weld surface or burrs, affecting the measurement accuracy. Alternatively, the upper half of the first roller 211 and the second roller 221 can both protrude from the second part 232, ensuring that the volume of the protruding part is no greater than half of the volume of the corresponding first roller 211 or second roller 221, so as to ensure that the second part 232 can limit the first roller 211 and the second roller 221.

[0069] According to one embodiment of the present disclosure, Figures 1 to 6As shown, the burr detection device may also include a second drive unit 3 for driving the base 1, the second drive unit 3 is electrically connected to the controller 51, and the controller 51 controls the second drive unit 3 to drive the base 1 to move in the welding pipe 7. The second drive unit 3 may be a motor or other drive member. In addition, according to another embodiment of the present disclosure, the controller 51 may also be connected to a branching device 52, and the controller 51 may indirectly drive the first sensor 21, the second sensor 22 and the second drive unit 3 through the branching device 52, a valve 54 may be connected between the controller 51 and the linear actuator 41, a communication module 53 may be connected between the branching device 52 and the first sensor 21 and the second sensor 22, and a driver 55 may be connected between the branching device 52 and the second drive unit 3. Among them, the controller 51 can be a PLC, the brancher 52 can be used to establish an EtherCAT (Ethernet control automation technology) communication network, the communication module 53 sends the information of the first sensor 21 and the second sensor 22 to the controller 51 through the EtherCAT communication method, the valve 54 can be a solenoid valve, and the movement of the linear actuator 41 is controlled by opening and closing the solenoid valve, and the driver 55 can be a servo driver, which is used to send the instructions of the controller 51 to the second drive unit 3 to control its movement.

[0070] According to some embodiments, the burr detection device mentioned in the present disclosure, the weld surface 71 can be the inner side of a square welded pipe, and the inner side of the square welded pipe to be tested is a plane, which is suitable for the rolling fit of the first roller 211 and the second roller 221 mentioned in the present disclosure. Of course, in other embodiments, the burr detection device is also suitable for circular welded pipes or other shapes of welded pipes or plane welds, and the burr detection device is not limited to detecting the burr height, but can also detect the plane height difference. It is only necessary to configure the initial position of the sensor as needed, and the present disclosure does not limit this.

[0071] According to one embodiment of the present disclosure, Figure 5 and Figure 6 As shown, the burr detection device may further include a first amplifier 61 and a second amplifier 62 connected to the controller 51, the first amplifier 61 is connected to the first sensor 21, and the second amplifier 62 is connected to the second sensor 22. The first amplifier 61 and the second amplifier 62 are used to amplify the analog quantity (i.e., current signal) measured by the first sensor 21 and the second sensor 22 and convert it into a digital quantity.

[0072] According to a second aspect of the present disclosure, based on the above-mentioned burr detection device, a burr height detection method using the device can also be provided. Figure 7As shown, the burr height detection method may include step S101, i.e., controlling the burr detection device to move along the weld. Here, the burr detection device may be controlled to move by controlling the second drive unit 3 to drive the base 1 through the controller 51 to control the burr detection device to move on the weld. The weld position may be the outer surface or inner surface of the weld pipe 7, or may be on other planes with welds. The measurement position may be vertical or horizontal to the ground, or may be any angle position, which is not limited in the present disclosure. When the weld position to be measured is the inner surface of the weld pipe 7, it is necessary to control the base 1 to enter the interior of the weld pipe 7. Hereinafter, the weld is taken as the inner surface of the weld pipe 7 as an example. After the base 1 is controlled to enter the interior of the weld pipe 7, step S102 is executed, i.e., controlling the contact of the first sensor 21 to contact the weld surface 71, and controlling the contact of the second sensor 22 to contact the burr 72. Here, for example, the first sensor 21 and the second sensor 22 may be controlled to approach or move away from the position to be measured by controlling the linear actuator 41. When the first sensor 21 and the second sensor 22 are both in contact with the corresponding positions to be measured, step S103 is executed to obtain the first value fed back by the first sensor 21 and the second value fed back by the second sensor 22. The first value and the second value can be transmitted to the controller 51, and finally, step S104 is executed to calculate the estimated height of the burr 72 according to the first value and the second value, and the calculation can be completed by the controller 51. According to different calculation methods, the definitions of the first value and the second value are also different, and accordingly, the definition of the estimated height is also different. Different calculation methods will be described below in combination with different embodiments.

[0073] It should be noted that the sequence of steps described in the text of the present disclosure and shown in the drawings is only an example. Without violating the concept of the scheme, two steps can be performed simultaneously, or the step described later can be performed first.

[0074] Furthermore, if Figures 8 to 10 As shown, the burr height detection method may further include step S201, that is, before controlling the burr detection device to move along the weld, adjusting the contact point of the first sensor 21 in contact with the weld surface 71 and the contact point of the second sensor 22 in contact with the burr 72 to a flush state. This ensures that the base surfaces of the first sensor 21 and the second sensor 22 are the same, reduces measurement errors, and when the first sensor 21 and the second sensor 22 can be driven at the same time, driving only one of them can drive the other to move.

[0075] like Figure 8 and Fig. 9 As shown, in the step of controlling the contact of the first sensor 21 to contact the weld surface 71 and controlling the contact of the second sensor 22 to contact the burr 72 , the height detection method may include step S202 , namely controlling the contact of the first sensor 21 to always contact the weld surface 71 .

[0076] According to some embodiments, Figure 8 As shown, the step of obtaining the first value fed back by the first sensor 21 and the second value fed back by the second sensor 22 may include step S203, that is, detecting the displacement value of the contact point of the first sensor 21, and selecting the minimum value A among all the detected displacement values. 1-min Detect the displacement value of the contact of the second sensor 22, and select the maximum value B among all the displacement values ​​detected 1-max ; and step S204, according to the first value A 1-min and the second value B 1-max , estimated height R 1-max Satisfaction: R 1-max =B 1-max -A 1-min This method can be applied to the whole line detection. In this method, the interval time t1 can be set. After step S202, the burr detection device can be controlled to move along the inner axial direction of the welded pipe 7. At each interval time t1, the value A fed back by the first sensor 21 and the value B fed back by the second sensor 22 can be obtained. The value of the first sensor 21 is obtained as A. 1-1 To A 1-n , the value of the second sensor 22 is B 1-1 To B 1-n Get A 1-1 To A 1-n The minimum value A in 1-min , get B 1-1 To B 1-n The maximum value B 1-max Finally, the maximum value of the height of the burr 72 in the weld can be calculated by the controller 51 R=B 1-max -A 1-min This method is an extreme value method, and the maximum value R is the estimated height of the burr 72 required. To distinguish it from other embodiments, it is recorded as R 1-max .

[0077] According to other embodiments, Figure 4 and Fig. 9As shown, the step of obtaining the first value fed back by the first sensor 21 and the second value fed back by the second sensor 22 may include step S301, detecting the first displacement value of the contact of the first sensor 21 at multiple positions to be tested at equal intervals, and detecting the second displacement value of the contact of the second sensor 22, that is, at each position to be tested, the first displacement value is the first value of the position, and the second displacement value is the second value of the position. The step of calculating the estimated height of the burr 72 according to the first value and the second value may include step S302, calculating the difference between the first displacement value and the second displacement value at each position to be tested, as the estimated height of the burr 72 at the position to be tested, that is, in this embodiment, there may be multiple estimated heights, and the height of the burr may be judged according to these estimated heights whether it meets the product quality requirements. This method can also be applied to the whole line detection. It should be noted that the position to be tested refers to a certain position in the extension direction of the weld. Since the first sensor 21 and the second sensor 22 are arranged at intervals in front and behind, at each position to be tested, it is necessary to adjust the position of the entire detection device in a small range to ensure that the values ​​of the two sensors at the position to be tested are obtained. For example, in this method, the welded pipe 7 to be measured can be divided into n sections, each section is s in length. For the convenience of explanation, the movement of the detection device is defined as uniform motion, and the time required to control the burr detection device to move along the internal axial direction of the welded pipe 7 is t2=s / v, where v is the movement speed of the detection device. The first sensor 21 and the second sensor 22 are spaced apart. When the first sensor 21 is located in the first section, the second sensor 22 is located in the 1+x section. The value of x is determined according to the space between the first sensor 21 and the second sensor 22. This disclosure does not limit this. Figure 4 In the example, x is 2, and the interval between the first sensor 21 and the second sensor 22 is 2s. Each interval time is t2, and the value of the first sensor 21 is obtained as A 2-1 To A 2-(n-x) , the value of the second sensor 22 is B 2-(1+x) To B 2-n . Get the value A 2-(1+x) To A 2-(n-x) , get the value B 2-(1+x) To B 2-(n-x) , through the formula R n =B n -A n Calculate and obtain multiple estimated heights R of the burr 72 in the weld 2-(1+x) To R 2(n-x) Get R 2-(1+x) To R 2-(n-x) The maximum value R 2-max , recorded as the maximum value of the height of the burr 72 in the weld. This method is an array method, and the maximum value R is obtained. 2-max is the final estimated height of the burr 72 .

[0078] like Fig.10 As shown, in the step of controlling the contact of the first sensor 21 to contact the weld surface 71 and controlling the contact of the second sensor 22 to contact the burr 72 , the method may include step S401 , namely controlling the contact of the first sensor 21 to contact the weld surface 71 at intervals.

[0079] According to some embodiments, Fig.10 As shown, the step of obtaining the first value fed back by the first sensor 21 and the second value fed back by the second sensor 22 may include step S402, that is, each time the contact point of the first sensor 21 contacts the weld surface 71, controlling the first sensor 21 to detect the displacement value of the contact point, and selecting the minimum value A from all the detected displacement values. 3-min At the same time, the second sensor 22 is controlled to detect the displacement value of the contact, and the maximum value B is selected from all the displacement values ​​detected 3-max ; and step S403, according to the first value A 3-min and the second value B 3-max , the estimated height R satisfies: R = B 3-max -A 3-min , denoted as R 3-max . This method can be applied to multi-point sampling. In this method, n positions can be selected during the movement of the detection device. The number n can be set as needed. The specific positions of the detection points can also be specified according to actual needs. The positions of the detection points can be fixed or set in the program of the controller 51 to be randomly selected within a certain distance. The present disclosure does not limit this. When detection is required, the end face of the first sensor 21 is controlled to contact the weld surface 71, and the value A fed back by the first sensor 21 and the value B fed back by the second sensor 22 are obtained. After obtaining the values, the end face of the first sensor 21 is controlled to be away from the weld surface 71, and then prepare for the next detection or end the detection. Finally, the value A of the first sensor 21 will be obtained. 3-1 To A 3-n Take the minimum value A 3-min , the value B of the second sensor 22 is obtained 3-1 To B 3-n Take the maximum value B 3-max Finally, the controller 51 can calculate the estimated height of the burr 72 in the weld seam R=B 3-max -A 3-min , denoted as R 3-max .

[0080] The preferred embodiments of the present disclosure are described in detail above in conjunction with the accompanying drawings; however, the present disclosure is not limited to the specific details in the above embodiments. Within the technical concept of the present disclosure, a variety of simple modifications can be made to the technical solution of the present disclosure, and these simple modifications all fall within the protection scope of the present disclosure.

[0081] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, the present disclosure will not further describe various possible combinations.

[0082] In addition, various embodiments of the present disclosure may be arbitrarily combined, and as long as they do not violate the concept of the present disclosure, they should also be regarded as the contents disclosed by the present disclosure.

Claims

1. A burr detection device for detecting the height of burrs at the weld of a welded pipe, characterized in that: The detection device comprises: a base configured to move along an extending direction of the weld; and a measuring mechanism, comprising a first sensor and a second sensor installed on the base at an interval in the moving direction, wherein the first sensor and the second sensor are contact sensors capable of acquiring contact point displacement, wherein the contact point of the first sensor is used to contact the weld surface, and the contact point of the second sensor is used to contact the burr; and a controller, electrically connected to the first sensor and the second sensor respectively; The contact point of the first sensor is a first roller rolling along the weld surface, and the contact point of the second sensor is a second roller rolling along the weld surface; A groove is formed in the middle section of the first roller, so that the two side sections of the first roller are higher than the middle section of the first roller, the two side sections of the first roller are used for rolling contact with the weld surface, and the middle section of the first roller is used for spacing from the burr; The middle section of the second roller is formed with a flange so that the middle section of the second roller is higher than the two side sections of the second roller. The middle section of the second roller is used for rolling contact with the burr, and the two side sections of the second roller are used for spacing from the weld surface.

2. The burr detection device according to claim 1, characterized in that: Also included is an adjustment mechanism for driving the first sensor and the second sensor in a direction perpendicular to the weld plane.

3. The burr detection device according to claim 2, characterized in that: The regulating mechanism comprises: A mounting base, used for mounting the first sensor and the second sensor; a first driving unit, electrically connected to the controller, and configured to drive the mounting seat to move in a direction away from the weld surface; and An elastic connecting member is connected to the base and is used to push the mounting seat in a direction approaching the welding seam surface.

4. The burr detection device according to claim 3, characterized in that: The mounting seat includes a first fixing block and a second fixing block respectively arranged on both sides of the base in a direction perpendicular to the weld surface, and a long rod connected between the first fixing block and the second fixing block and passing through the base, the first sensor and the second sensor are mounted on the first fixing block, and the first fixing block is closer to the weld surface than the second fixing block, and the first fixing block is provided with a through hole for the first sensor and the second sensor to pass through; The elastic connecting member is a spring sleeved on the outside of the long rod, and the spring is connected between the base and the first fixing block, or between the base and the second fixing block.

5. The burr detection device according to claim 4, characterized in that: A pulley is installed on the base, and the first driving part includes: A linear actuator, mounted on the base, for providing power in the extending direction of the weld; and A pull rope, one end of which is connected to the output end of the linear actuator, and the other end of which is connected to one of the first fixed block and the second fixed block away from the weld surface, wherein the pull rope is overlapped on the pulley to form two sections at an angle to each other.

6. The burr detection device according to claim 1, characterized in that: It also includes a second driving unit for driving the base, and the second driving unit is electrically connected to the controller.

7. The burr detection device according to claim 1, characterized in that: The burr detection device further includes a first amplifier and a second amplifier connected to the controller, the first amplifier is connected to the first sensor, and the second amplifier is connected to the second sensor.

8. The burr detection device according to any one of claims 1 to 7, characterized in that: The weld surface is the inner side surface of the square welded pipe.

9. A burr height detection method, characterized in that: Using the burr detection device according to any one of claims 1 to 8, the burr height detection method comprises: Controlling the burr detection device to move along the extension direction of the weld; Controlling the contact point of the first sensor to contact the weld surface, and controlling the contact point of the second sensor to contact the burr; Acquire a first value fed back by the first sensor and a second value fed back by the second sensor; and An estimated height of the burr is calculated based on the first value and the second value.

10. The burr height detection method according to claim 9, characterized in that: The burr height detection method comprises: Before controlling the burr detection device to move along the extension direction of the weld, the contact point of the first sensor in contact with the weld surface and the contact point of the second sensor in contact with the burr are adjusted to be flush.

11. The burr height detection method according to claim 9 or 10, characterized in that: In the step of controlling the contact point of the first sensor to contact the weld surface and controlling the contact point of the second sensor to contact the burr, the method comprises: The contact point of the first sensor is controlled to always contact the weld surface.

12. The burr height detection method according to claim 11, characterized in that: The step of obtaining the first value fed back by the first sensor and the second value fed back by the second sensor comprises: detecting the displacement value of the contact point of the first sensor, selecting the minimum value A from all the detected displacement values 1-min Detect the displacement value of the contact of the second sensor, and select the maximum value B from all the detected displacement values 1-max ; The estimated height R satisfies: R = B 1-max -A 1-min .

13. The burr height detection method according to claim 11, characterized in that: The step of obtaining the first value fed back by the first sensor and the second value fed back by the second sensor comprises: detecting the first displacement value of the contact of the first sensor at a plurality of positions to be tested at equal intervals, and detecting the second displacement value of the contact of the second sensor; The step of calculating the estimated height of the burr according to the first value and the second value includes: calculating the difference between the first displacement value and the second displacement value at each position to be measured as the estimated height of the burr at the position to be measured.

14. The burr height detection method according to claim 9 or 10, characterized in that: In the step of controlling the contact point of the first sensor to contact the weld surface and controlling the contact point of the second sensor to contact the burr, the method comprises: The contacts of the first sensor are controlled to contact the weld surface at intervals.

15. The burr height detection method according to claim 14, characterized in that: The step of obtaining a first value fed back by the first sensor and a second value fed back by the second sensor comprises: Each time the contact point of the first sensor contacts the weld surface, the first sensor is controlled to detect the displacement value of the contact point, and the minimum value A is selected from all the detected displacement values. 3-min ; At the same time, control the second sensor to detect the displacement value of the contact, and select the maximum value B from all the displacement values ​​detected 3-max ; The estimated height R satisfies: R = B 3-max -A 3-min .

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