Device for detecting ovality of metal bent pipe

Abstract

The invention provides a metal elbow ovality detection device, and belongs to the technical field of detection. The problems that at present, the bending path of a bent pipe is tracked inaccurately, the center of a bent section and the center of a cross section of the bent pipe are positioned inaccurately, and when the ellipticity of the bent pipe is measured, the precision is low, and errors are large are solved. A metal elbow ovality detection device comprises a frame, the top of the frame is provided with a clamp, the frame is provided with a first camera motion platform, the frame is further provided with a second camera motion platform, the bottom of the frame is provided with an XY motion platform, the XY motion platform is provided with a rotating platform, and the XY motion platform controls the rotating platform to move in an X-Y plane. An XZ motion platform is arranged on the rotating platform, and an annular detector is arranged on the XZ motion platform. The method has the advantages that the bending path of the bent pipe is accurately tracked, the bent section center and the section center of the bent pipe are accurately positioned, the measurement precision is high, and the error is small.

Description

Technical Field

[0001] The invention relates to the technical field of detection technology, and in particular to a device for detecting the ovality of a metal bent pipe. Background Art

[0002] In some current high-precision usage scenarios, the accuracy requirements for pipe bending are very high, which is directly related to the overall quality and transportation performance of the product. In response to this demand, it is particularly important to accurately scan the pipe bending to ensure that its performance accuracy meets the standards.

[0003] The current non-contact measurement and 3D scanning technology cannot accurately track the bending path of the curved pipe during the ovality measurement of the curved pipe, which ultimately leads to poor measurement accuracy. Secondly, in the process of scanning the curved pipe, the center of the curved section and the center of the cross section of the curved pipe need to be located first, and the current device positioning is not accurate enough. Finally, when measuring the ovality of the curved pipe, the measurement accuracy is not high and the measurement error is large. Summary of the invention

[0004] 1. Technical issues to be resolved In view of the deficiencies in the prior art, the present invention provides a device for detecting the ovality of a metal bent pipe, which has the advantages of accurately tracking the bending path of the bent pipe, accurately positioning the center of the bending section and the center of the cross section of the bent pipe, and having high measurement accuracy and small error. This solves the problem that the current non-contact measurement and three-dimensional scanning technology cannot accurately track the bending path of the bent pipe during the measurement of the bent pipe, which ultimately leads to poor measurement accuracy. Secondly, in the process of scanning the bent pipe, it is first necessary to locate the center of the bending section and the center of the cross section of the bent pipe, and the current device positioning is not accurate enough. Finally, when measuring the ovality of the bent pipe, the measurement accuracy is not high and the measurement error is large.

[0005] (II) Technical solution In order to achieve the above-mentioned purpose of accurately tracking the bending path of the bent pipe, accurately positioning the center of the bent section and the center of the cross section of the bent pipe, and having high measurement accuracy and small error, the present invention provides the following technical solutions: a metal bent pipe ovality detection device, comprising a frame, a clamp is arranged on the top of the frame, a bent pipe is clamped between the clamps, a camera first motion platform is also arranged on the top of the frame, the camera first motion platform is used to take a top-view angle image of the bent section of the bent pipe, a camera second motion platform is also arranged on the frame, the camera second motion platform is used to take a side-view angle cross section of the positioned straight section of the bent pipe, the An XY motion platform is installed at the bottom of the frame, and a rotating platform is arranged on the XY motion platform. The XY motion platform controls the rotating platform to move in the XY plane so that the center of the rotating platform coincides with the center of the bending section of the elbow. An XZ motion platform is arranged on the rotating platform, and an annular detector is arranged on the XZ motion platform. The XZ motion platform drives the center of the annular detector to coincide with the center of the cross-section of the elbow. The rotating platform drives the annular detector on the XZ motion platform to intermittently rotate around the bending section of the elbow. The annular detector is used to surround the elbow and perform ellipticity detection as the bending section of the elbow intermittently advances.

[0006] Preferably, the XY motion platform includes a linear motion module 1, the linear motion module 1 includes a base 1, the base 1 is provided with a first threaded hole 2, the base 1 is fixedly mounted on the bottom plate through the first threaded hole 2, the base 1 is provided with a motor mounting seat 1 and a first threaded hole 1, a servo motor 1 is mounted on the motor mounting seat 1 and the first threaded hole 1, the servo motor 1 is provided with a coupling 1, the servo motor 1 is connected to a ball screw 1 through a coupling 1, a screw nut 1 is mounted on the ball screw 1, and front shafts are respectively mounted at both ends of the ball screw 1 A bearing seat 1 and a rear bearing seat 1, the front bearing seat 1 and the rear bearing seat 1 are fixedly mounted on the base 1 through the first threaded hole 3 and the first threaded hole 5 respectively, and a linear guide rail 1 is also provided on both sides of the base 1, and the linear guide rail 1 is provided with a first threaded hole 4, and the linear guide rail 1 is fixedly mounted on the base 1 through the first threaded hole 4, and each linear guide rail 1 is installed with two sliders 1; a linear motion module 2 perpendicular to the linear motion module 1 is installed on the linear motion module 1, and the linear motion module 2 includes a base 2, and a first threaded hole 7 is provided on the screw nut 1, The slider 1 is provided with a first threaded hole 6, the base 2 is fixedly mounted on the screw nut 1 and the slider 1, the base 2 is provided with a motor mounting seat 2 and a first threaded hole 11, the motor mounting seat 2 and the first threaded hole 11 are mounted with a servo motor 2, the servo motor 2 is provided with a coupling 2, the servo motor 2 is connected to a ball screw 2 through the coupling 2, the ball screw 2 is mounted with a screw nut 2, the two ends of the ball screw 2 are respectively mounted with a front bearing seat 2 and a rear bearing seat 2, the front bearing seat 2 and the rear bearing seat 2 are respectively connected through the first threaded hole 12 and the first threaded hole 13. Hole thirteen is fixedly installed on the base two, and linear guide rails two are respectively provided on both sides of the base two, and a first threaded hole ten is provided on the linear guide rail two, and the linear guide rail two is fixedly installed on the base two through the first threaded hole ten, and two sliders two are installed on each linear guide rail two; a workbench is also installed on the linear motion module two, and a first threaded hole eight and a first threaded hole nine are provided on the workbench, and a first threaded hole fourteen is provided on the screw nut two, and the workbench is fixedly installed on the screw nut two and the slider two through the first threaded hole eight, the first threaded hole nine and the first threaded hole fourteen.

[0007] Preferably, the rotating platform includes a base, the base is fixedly mounted on the workbench, a motor mounting seat 3 is arranged inside the base, a servo motor 3 is mounted on the motor mounting seat 3, a thrust bearing is also installed on the base, an upper shell is fixedly mounted above the base through the thrust bearing, teeth are arranged on the inner annular surface of the upper shell, a fixing rod is also installed in the base and the upper shell, the fixing rod is L-shaped, a second threaded hole 2 and a second threaded hole 3 are arranged on the fixing rod, and the fixing rod is fixedly connected to the base through the second threaded hole 3 On the upper part, the second threaded hole two is respectively installed with a rotating shaft one and a rotating shaft two, and the rotating shaft one and the rotating shaft two are respectively installed with an external gear one and an external gear two, and the external gear one and the external gear two are meshed with each other, and the external gear one is meshed with the internal teeth of the upper shell, and the servo motor three is installed with incomplete teeth, and the incomplete teeth are meshed with the external gear two, and the upper shell is covered with a top cover, and the upper shell and the top cover are fixedly connected; the number of teeth on the incomplete teeth is 10; the number of teeth arranged on the inner annular surface of the upper shell is 360.

[0008] Preferably, the XZ motion platform includes a linear motion module three and a linear motion module four, the linear motion module three includes a base three, the base three is provided with a third threaded hole one, the base three is mounted on the rotating platform through the third threaded hole one, the base three is provided with a motor mounting seat four, the motor mounting seat four is mounted with a servo motor four, the servo motor four is provided with a coupling three, the servo motor four is connected to a ball screw three through the coupling three, the front and rear ends of the ball screw three are respectively mounted on the front bearing seat three and the rear bearing seat three, the front shaft The bearing seat 3 and the rear bearing seat 3 are fixedly mounted on the base 3 through the third threaded hole 2 and the third threaded hole 4 respectively, the ball screw 3 is provided with a screw nut 3, and linear guide rails 3 are provided on both sides of the base 3, and the linear guide rails 3 are provided with third threaded holes 3. The linear guide rails 3 are fixedly mounted on both sides of the base 3 through the third threaded holes 3, and each linear guide rail 3 is installed with a slider 3, and the slider 3 is provided with a third threaded hole 5, and the screw nut 3 is provided with a third threaded hole 6; the linear motion module 4 includes a base 4, and the base 4 is provided with a third threaded hole 5. and the third threaded hole six are fixedly mounted on the slider three and the screw nut three, the base four is provided with a motor mounting seat five, the motor mounting seat five is installed with a servo motor five, the servo motor five is provided with a coupling four, the servo motor five is connected with a ball screw four through a coupling four, the ball screw four is installed with a screw nut four, the screw nut four is provided with a slider four, the front and rear ends of the ball screw four are respectively mounted on the front bearing seat four and the rear bearing seat four, the front bearing seat four and the rear bearing seat four are respectively fixedly mounted through the fourth threaded hole one and the fourth threaded hole three On the base four, two linear guide rails one are arranged between the front bearing seat four and the rear bearing seat four, the slider four is provided with a fourth threaded hole four, the slider four is fixedly mounted with a functional rod through the fourth threaded hole four, a motor mounting seat six is ​​arranged at the end of the functional rod away from the slider four, the motor mounting seat six is ​​provided with a fourth threaded hole six, the motor mounting seat six is ​​fixedly mounted on the functional rod through the fourth threaded hole six, and the motor mounting seat six is ​​also provided with a fourth threaded hole five and a mounting hole one; a card slot is arranged on the functional rod, and fourth threaded holes two are arranged on both sides of the card slot.

[0009] Preferably, the annular detector includes a servo motor six and an outer ring, the servo motor six is ​​installed on a motor mounting seat six through a fourth threaded hole five and a mounting hole one, a mounting plate is provided on the outer ring, and the outer ring is fixedly installed in the slot through the mounting plate and the fourth threaded hole two, a bevel gear is provided on the servo motor six, a concave raceway is provided inside the outer ring, an inner ring is installed in the concave raceway, a convex raceway is provided on the inner ring, the concave raceway and the convex raceway are matched and connected with each other, teeth are provided on one side of the inner ring, the bevel gear is meshed with the teeth provided on one side of the inner ring, two mounting holes two are provided on the inner side of the inner ring at a distance of 180°, and a laser displacement sensor is installed on the mounting hole two; the curvatures of the outer ring and the inner ring are equal and both are greater than 180°.

[0010] Preferably, the camera motion platform is inverted and fixedly installed below the top mounting seat, the camera motion platform includes an industrial camera 1, and the camera motion platform has the same structure as the XY motion platform.

[0011] Preferably, the camera 2 motion platform includes a front bearing seat 5 and a rear bearing seat 5, the front bearing seat 5 is provided with a sixth threaded hole 1, the rear bearing seat 5 is provided with a sixth threaded hole 3, the front bearing seat 5 and the rear bearing seat 5 are respectively fixedly mounted on the mounting column 1 through the sixth threaded hole 1 and the sixth threaded hole 3, a ball screw 5 is arranged between the front bearing seat 5 and the rear bearing seat 5, a screw nut 5 is installed on the ball screw 5, the ball screw 5 is connected to the servo motor 7 through a coupling 5, a linear guide rail 2 is also arranged between the front bearing seat 5 and the rear bearing seat 5, a slider 5 is arranged on the screw nut 5, an industrial camera 2 is arranged on the slider 5, the industrial camera 2 is provided with a sixth threaded hole 2, and the industrial camera 2 is fixedly mounted on the slider 5 through the sixth threaded hole 2.

[0012] Preferably, the clamp includes a linear slide rail four, a seventh threaded hole one is provided on the linear slide rail four, the linear slide rail four is fixedly installed on the top frame through the seventh threaded hole one, a fixed V-block is provided at the end of the linear slide rail four away from the top frame, and a gas-liquid rapid cylinder is also provided between the linear slide rails four, a seventh threaded hole two and a seventh threaded hole three are provided on the gas-liquid rapid cylinder, the gas-liquid rapid cylinder is fixedly installed on the mounting column two through the seventh threaded hole two, the gas-liquid rapid cylinder is fixedly connected to a V-shaped slider through the seventh threaded hole three, and the V-shaped slider can slide on the linear slide rail four.

[0013] Preferably, the frame includes a top frame, four support columns extending vertically downward are arranged at the four corners of the top frame, a bottom plate is arranged between the lower parts of the four support columns, a top mounting seat is arranged on the top frame, and mounting column 1 and mounting column 2 extending into the interior of the frame are also arranged on the top frame, and the number of mounting column 2 is two.

[0014] (III) Beneficial effects Compared with the prior art, the present invention provides a device for detecting the ovality of a metal bent pipe, which has the following beneficial effects: The metal pipe bending ovality detection device is used by the mutual cooperation of XY motion platform, rotating platform, XZ motion platform, annular detector, camera 1 motion platform, camera 2 motion platform, fixture and frame. First, the bent pipe is clamped by the fixture, and the bent pipe is manually placed on the fixed V-block at the lower end of the two fixtures. Then, the upper V-shaped slider is driven by the manually controlled gas-liquid steady speed cylinder to clamp the bent pipe to keep it horizontal and fixed. By replacing the V-shaped slider and the fixed V-shaped block, the device can measure bent pipes with different outer diameters. The device can detect the following types of bent pipes: outer diameter 20~90mm, bending angle 90°, bending radius 320~420mm.

[0015] After the bent pipe is clamped, manually control the industrial camera to move to the top of the middle part of the bent section of the bent pipe (make sure to shoot the bent pipe from directly above to ensure the accuracy of the bending center coordinates in the future). Then the industrial camera takes a picture of the positioned bent pipe to generate an image of the bent pipe, and the computer calculates the bending center of the bent pipe (you can take several pictures to calculate the average value to improve the accuracy), and determines the coordinates of the bending center in the industrial camera coordinate system. The absolute and relative positions of the industrial camera coordinate system and the device mechanical coordinate system are fixed, so the coordinates of the bending center in the device mechanical coordinate system can be calculated. The computer calculates the displacement required to move the center of the rotating platform to the bending center of the bent pipe, and the XY motion platform control system controls the center of the rotating platform to move in the XY coordinate plane. Finally, the center of the rotating platform coincides with the bending center of the bent pipe.

[0016] When the center of the rotating platform coincides with the bending center of the curved pipe, the camera 2 motion platform is manually controlled to move the industrial camera 2 to a position roughly opposite the straight section of the curved pipe. The industrial camera 2 takes the positioned straight section of the curved pipe to generate a straight section image of the curved pipe. The computer calculates the center position of the straight section of the curved pipe (several pictures can be taken to calculate the average value to improve the accuracy), and then determines the coordinates of the center of the straight section in the industrial camera 2 coordinate system. The absolute and relative positions of the industrial camera 2 coordinate system and the device mechanical coordinate system are fixed, so the coordinates of the center of the curved pipe section in the device mechanical coordinate system can be calculated. Subsequently, the center of the annular detector has a new position coordinate in the device mechanical coordinate system. The computer calculates the displacement required to move the center of the annular detector to the center of the curved pipe section, and the XZ motion platform control system controls the movement of the annular detection center in the XZ coordinate plane. Finally, the center of the annular detector coincides with the center of the curved pipe section.

[0017] When the center of the annular detector coincides with the center of the cross section of the bent pipe. The inner ring with two laser displacement sensors rotates 180° clockwise. The straight line connecting the two laser displacement sensors passes through the center of the annular detector, and the path of the rotational motion forms a circle 1 with a diameter of D. The two laser displacement sensors detect the distance s from the laser emission source to the surface of the bent pipe, and sample every 0.1°. Each sensor detects 1800 data, and a total of 3600 data are collected. Add the 1800 pairs of data respectively to obtain 1800 data. Take out the largest data p and the smallest data q, and you can calculate the maximum outer diameter d of the bent section of the bent pipe at a certain measurement angle. max =Dq, minimum outer diameter d min =Dp. Section ellipticity φ = (d max -d min ) / D 0， D0 is the original outer diameter of the pipe.

[0018] Then the rotating platform rotates 10°. Servo motor three runs, driving the incomplete teeth to rotate. Every time the incomplete teeth rotate 360°, the 10 teeth on the incomplete teeth will drive the outer gear two to rotate, and then drive the outer gear one to rotate, and finally drive the upper shell to rotate 10 teeth. Since there are 360 ​​teeth inside the upper shell, the upper shell will rotate 10° when the incomplete teeth rotate 360°. The upper shell drives the top cover to rotate, and the top cover drives the XZ motion platform and the annular detector on it to rotate. During the rotation process, the annular detector moves intermittently along the curved track of the bent pipe to ensure that the annular detector fully scans and measures the bent pipe every time.

[0019] Then the inner ring rotates 180° counterclockwise, and then the rotating platform rotates 10° (here we take the example of measuring the ovality of a section every 10°. If there are other measurement requirements, adjust the rotation angle of the rotating platform to adjust the measurement position of the ring detector.); the inner ring rotates 180° clockwise, and the cycle continues. The rotating platform stops after rotating 90°. After the measurement is completed, remove the elbow and reset the device.

[0020] Thereby achieving the effects of accurate tracking of the bending path of the bent pipe, precise positioning of the center of the bending section and the center of the cross section of the bent pipe, high measurement accuracy and small error. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a schematic structural diagram of a device for detecting the ovality of a metal bent pipe according to the present invention; Figure 2 This is a schematic diagram of the internal structure of a device for detecting the ovality of a metal pipe bend according to the present invention; Figure 3 A top view of the internal structure of a device for detecting the ovality of a metal pipe bend according to the present invention; Figure 4 This is a schematic diagram of the XY motion platform structure of a metal pipe bending ovality detection device of the present invention; Figure 5 It is a structural schematic diagram of a linear motion module of a metal pipe bending ovality detection device of the present invention; Figure 6 This is a structural schematic diagram of a second linear motion module of a metal pipe bending ovality detection device according to the present invention; Figure 7 This is a schematic diagram of the structure of a rotating platform of a metal pipe bending ovality detection device of the present invention; Figure 8 This is a schematic diagram of the internal structure of a rotating platform of a metal pipe bending ovality detection device of the present invention; Fig. 9 This is a schematic diagram of the base structure of a device for detecting the ovality of a metal bent pipe according to the present invention; Fig.10 This is a schematic diagram of the top cover structure of a metal pipe bending ovality detection device of the present invention; Fig.11 This is a schematic diagram of the structure of a fixing rod of a metal pipe bending ovality detection device according to the present invention; Fig.12 It is a schematic diagram of the thrust bearing structure of a metal pipe bending ovality detection device of the present invention; Fig.13 It is a schematic diagram of an incomplete tooth structure of a metal pipe bending ovality detection device of the present invention; Fig.14 This is a schematic diagram of the structure of an XZ motion platform and an annular detector of a metal pipe bending ovality detection device of the present invention; Fig.15 This is a schematic diagram of the structure of an XZ motion platform of a metal pipe bending ovality detection device of the present invention; Fig.16 It is a schematic diagram of the three structures of the linear motion module of a metal pipe bending ovality detection device of the present invention; Fig.17 It is a structural schematic diagram of a linear motion module 4 of a metal pipe bending ovality detection device of the present invention; Fig.18 This is a schematic diagram of the functional rod structure of a metal pipe bending ovality detection device of the present invention; Fig.19 It is a schematic diagram of the structure of a ring detector of a metal pipe bending ovality detection device of the present invention; Fig. 20 This is a schematic diagram of the outer ring structure of a metal pipe bending ovality detection device of the present invention; Fig.21 This is a schematic diagram of the inner ring structure of a metal pipe bending ovality detection device of the present invention; Fig. 22 This is a schematic diagram of the structure of a camera and a motion platform of a device for detecting ovality of a metal bent pipe according to the present invention; Fig.23 This is a schematic diagram of the structure of the second motion platform of the camera of a device for detecting the ovality of a metal bent pipe according to the present invention; Fig.24 This is a schematic diagram of a fixture structure of a metal pipe bending ovality detection device of the present invention; Fig.25 The present invention is a schematic diagram of the framework structure of a device for detecting the ovality of a metal bent pipe.

[0022] In the figure: 1, XY motion platform; 11, linear motion module 1; 1101, base 1; 11011, motor mounting seat 1; 110111, first threaded hole 1; 11012, first threaded hole 2; 1102, servo motor 1; 1103, coupling 1; 1104, front bearing seat 1; 11041, first threaded hole 3; 1105, linear guide rail 1; 11051, first threaded hole 4; 1106, ball screw 1; 1107, rear bearing seat 1; 11071, first threaded hole 5; 1108, slider 1; 11081, first threaded hole 6; 1109, screw nut 1; 11091, first threaded hole 7; 12. Linear motion module 2; 1201. Workbench; 12011. First threaded hole 8; 12012. First threaded hole 9; 1202. Linear guide rail 2; 12021. First threaded hole 10; 1203. Servo motor 2; 1204. Coupling 2; 1205. Base 2; 12051. Motor mounting seat 2; 120511. First threaded hole 11; 1206. Front bearing seat 2; 12061. First threaded hole 12; 1207. Ball screw 2; 1208. Rear bearing seat 2; 12081. First threaded hole 13; 1209. Slider 2; 1210. Screw nut 2; 12101. First threaded hole 14; 2. Rotating platform; 201. Top cover; 2011. Second threaded hole 1; 202. Upper housing; 203. Base; 2031. Fixing rod; 20311. Second threaded hole 2; 20312. Second threaded hole 3; 2032. Rotating axis 1; 2033. Rotating axis 2; 2034. Motor mounting seat 3; 204. External gear 1; 205. External gear 2; 206. Incomplete teeth; 207. Servo motor 3; 208. Thrust bearing; 3. XZ motion platform; 31. Linear motion module three; 3101. Base three; 31011. Motor mounting seat four; 31012. Third threaded hole one; 3102. Servo motor four; 3103. Coupling three; 3104. Front bearing seat three; 31041. Third threaded hole two; 3105. Linear guide rail three; 31051. Third threaded hole three; 3106. Ball screw three; 3107. Rear bearing seat three; 31071. Third threaded hole four; 3108. Slider three; 31081. Third threaded hole five; 3109. Screw nut three; 31091. Third threaded hole six; 32. Linear motion module four; 3201. Base four; 32011, motor mounting seat five; 3202, servo motor five; 3203, coupling four; 3204, front bearing seat four; 32041, fourth threaded hole one; 3205, function rod; 32051, fourth threaded hole two; 32052, slot; 3206, rear bearing seat four; 32061, fourth threaded hole three; 3207, linear guide one; 3208, ball screw four; 3209, slider four; 32091, fourth threaded hole four; 3210, motor mounting seat six; 32101, fourth threaded hole five; 32102, mounting hole one; 32103, fourth threaded hole six; 3211, screw nut four; 4. Ring detector; 401. Servo motor six; 402. Bevel gear; 403. Inner ring; 4031. Convex raceway; 4032. Mounting hole two; 404. Outer ring; 4041. Mounting plate; 4042. Concave raceway; 405. Laser displacement sensor; 5. Camera 1 motion platform; 51. Industrial camera 1; 511. Fifth threaded hole 1; 6. Camera 2 motion platform; 601. Servo motor 7; 602. Coupling 5; 603. Front bearing seat 5; 6031. Sixth threaded hole 1; 604. Linear guide rail 2; 605. Ball screw 5; 606. Screw nut 5; 607. Slider 5; 608. Industrial camera 2; 6081. Sixth threaded hole 2; 609. Rear bearing seat 5; 6091. Sixth threaded hole 3; 7. Fixture; 701. Linear guide rail 4; 7011. Seventh threaded hole 1; 702. Gas-liquid rapid cylinder; 7021. Seventh threaded hole 2; 7022. Seventh threaded hole 3; 703. V-shaped slider; 704. Fixed V-shaped block; 8. Frame; 801. Top frame; 802. Support column; 803. Bottom plate; 804. Mounting column one; 805. Mounting column two; 806. Top mounting seat. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0024] See also Figure 1-25 A device for detecting the ovality of a metal bent pipe includes a frame 8, which provides stable support. A clamp 7 is arranged on the top of the frame 8, and the number of the clamps 7 is two, which are respectively used to clamp the two ends of the bent pipe. A camera-1 motion platform 5 is also arranged on the top of the frame 8, and the camera-1 motion platform 5 is used to take a top-view angle image of the bent section of the bent pipe. A camera-2 motion platform 6 is also arranged on the frame 8, and the camera-2 motion platform 6 is used to take a side-view angle cross-section of the straight section of the bent pipe after positioning. An XY motion platform 1 is installed at the bottom of the frame 8, and a rotating platform 2 is arranged on the XY motion platform 1. The XY motion platform 1 controls the rotating platform 2 to move in the XY plane so that the center of the rotating platform 2 coincides with the center of the bending section of the elbow. An XZ motion platform 3 is arranged on the rotating platform 2, and an annular detector 4 is arranged on the XZ motion platform 3. The XZ motion platform 3 drives the annular detector 4 to coincide with the center of the cross-section of the elbow. The rotating platform 2 drives the annular detector 4 on the XZ motion platform 3 to intermittently rotate around the bending section of the elbow. The annular detector 4 is used to surround the elbow and intermittently advance with the bending section of the elbow to perform ellipticity detection.

[0025] The frame 8 includes a top frame 801, which is used to carry the mounting column 1 804, the mounting column 2 805 and the top mounting seat 806. Four vertically downward supporting columns 802 are arranged at the four corners of the top frame 801, and the supporting columns 802 are used to form the overall frame 8 structure. A bottom plate 803 is arranged between the lower parts of the four supporting columns 802, and the bottom plate 803 is used to carry the XY motion platform 1 and other components thereon. A top mounting seat 806 is arranged on the top frame 801, and the top mounting seat 806 is used to install the camera 1 motion platform 5. The top frame 801 is also provided with mounting column 1 804 and mounting column 2 805 extending into the interior of the frame 8, and the number of mounting column 2 805 is two. Mounting column 1 804 and mounting column 2 805 are used to install the camera 2 motion platform 6 and the fixture 7, respectively.

[0026] The XY motion platform 1 includes a linear motion module 11, which includes a base 1101, a first threaded hole 11012 is provided on the base 1101, the base 1101 is fixedly mounted on the bottom plate 803 through the first threaded hole 11012, a motor mounting seat 11011 and a first threaded hole 110111 are provided on the base 1101, a servo motor 1102 is installed on the motor mounting seat 11011 and the first threaded hole 110111, a coupling 1103 is provided on the servo motor 1102, and the servo motor 1102 is connected to a ball screw 1106 through the coupling 1103, and the ball screw A screw nut 1109 is installed on the ball screw 1106, and a front bearing seat 1104 and a rear bearing seat 1107 are installed at both ends of the ball screw 1106 respectively. The front bearing seat 1104 and the rear bearing seat 1107 are fixedly installed on the base 1101 through the first threaded hole 3 11041 and the first threaded hole 5 11071 respectively. Linear guide rails 1105 are also provided on both sides of the base 1101. The linear guide rails 1105 are provided with first threaded holes 4 11051. The linear guide rails 1105 are fixedly installed on the base 1101 through the first threaded holes 4 11051. Two sliders 1108 are installed on each linear guide rail 1105. The above is the prior art and will not be repeated here.

[0027] A linear motion module 2 12 perpendicular to the linear motion module 1 1 is installed on the linear motion module 1 1, and the linear motion module 2 12 includes a base 2 1205, a first threaded hole 7 11091 is provided on the screw nut 1 1109, and a first threaded hole 6 11081 is provided on the slider 1 1108. The base 2 1205 is fixedly installed on the screw nut 1 1109 and the slider 1 1108, and a motor mounting seat 2 12051 and a first threaded hole 12021 are provided on the base 2 1205. A servo motor 2 1203 is installed on the motor mounting seat 2 12051 and the first threaded hole 12021, and a coupling 2 1204 is provided on the servo motor 2 1203. The servo motor 2 1203 is connected to the coupling 2 1204. 04 is connected with a ball screw 1207, a screw nut 1210 is installed on the ball screw 1207, a front bearing seat 1206 and a rear bearing seat 1208 are installed at both ends of the ball screw 1207, the front bearing seat 1206 and the rear bearing seat 1208 are fixedly installed on the base 1205 through the first threaded hole 120212 and the first threaded hole 120213 respectively, and linear guide rails 1202 are also arranged on both sides of the base 1205, the linear guide rails 1202 are arranged with the first threaded hole 12021, the linear guide rails 1202 are fixedly installed on the base 1205 through the first threaded hole 12021, and each linear guide rail 1202 is installed with two sliders 1209. The above is the prior art and will not be repeated here.

[0028] A workbench 1201 is also installed on the linear motion module 2 12, and a first threaded hole 8 12011 and a first threaded hole 9 12012 are provided on the workbench 1201, and a first threaded hole 10 120214 is provided on the screw nut 2 1210. The workbench 1201 is fixedly installed on the screw nut 2 1210 and the slider 2 1209 through the first threaded hole 8 12011, the first threaded hole 9 12012 and the first threaded hole 10 120214. The above is the prior art and will not be repeated here.

[0029] The rotating platform 2 includes a base 203, which is fixedly mounted on the workbench 1201. A motor mounting seat 2034 is provided inside the base 203. A servo motor 207 is mounted on the motor mounting seat 2034. The servo motor 207 is used to drive the incomplete gear wheel 206 to rotate.

[0030] A thrust bearing 208 is also installed on the base 203. The thrust bearing 208 not only fixes the base 203 and the upper shell 202 together, but also ensures that when the base 203 is fixed, the upper shell 202 can rotate intermittently under the drive of the internal incomplete teeth 206, the outer gear 1 204 and the outer gear 2 205, thereby driving the annular detector 4 to intermittently scan the curved path of the curved pipe.

[0031] An upper housing 202 is fixedly mounted above the base 203 via a thrust bearing 208 . The inner ring surface of the upper housing 202 is provided with teeth. The teeth provided on the inner side surface of the upper housing 202 mesh with the outer gear 1 204 to achieve force transmission.

[0032] A fixing rod 2031 is also installed in the base 203 and the upper shell 202. The fixing rod 2031 is used to fix the outer gear 1 204 and the outer gear 2 205. Since the upper shell 202 can rotate, the fixing rod 2031 is L-shaped, and the fixing rod 2031 is fixedly installed on the stationary base 203 through the second threaded hole 3 20312 set on the fixing rod 2031. The two second threaded holes 20311 provided on the fixed rod 2031 are respectively provided with a rotating shaft 1 2032 and a rotating shaft 2 2033, and the rotating shaft 1 2032 and the rotating shaft 2 2033 are respectively provided with an external gear 1 204 and an external gear 2 205, and the external gear 1 204 and the external gear 2 205 are meshed with each other, and the external gear 1 204 is meshed with the internal teeth of the upper housing 202, and the servo motor 3 207 is provided with an incomplete tooth 206, and the incomplete tooth 206 is meshed with the external gear 2 205 to achieve the final transmission. The upper housing 202 is covered with a top cover 201, and the upper housing 202 and the top cover 201 are fixedly connected. During the rotation of the upper housing 202, the top cover 201 needs to be driven to rotate, so the two are fixedly connected together. The XZ motion platform 3 is also fixedly connected with the top cover 201, so as to achieve the intermittent rotation of the XZ platform.

[0033] The number of teeth arranged on the inner annular surface of the upper housing 202 is 360. The number of teeth on the incomplete teeth 206 is 10. The angle of intermittent rotation is controlled by the number of teeth on the incomplete teeth 206. The incomplete teeth 206, the outer gear 1 204, the outer gear 2 205 and the teeth inside the upper housing 202 are meshed with each other. The incomplete teeth 206 rotates 360° and drives the outer gear 1 204 to rotate by several teeth through a section of teeth thereon. Finally, the outer gear 2 205 will also drive the upper housing 202 to rotate by several teeth. In the process of intermittent rotation, the number of 10 teeth on the incomplete teeth 206 corresponds to a rotation angle of 10°. And when the intermittent rotation angle is controlled by gear transmission, the rotation degree is accurate and the rotation is stable.

[0034] The XZ motion platform 3 includes a linear motion module 3 31 and a linear motion module 4 32. The linear motion module 3 31 includes a base 3 3101. The base 3 3101 is provided with a third threaded hole 1 31012. The base 3 3101 is installed on the top cover 201 of the rotating platform 2 through the third threaded hole 1 31012. The base 3 3101 is provided with a motor mounting seat 4 31011. The motor mounting seat 4 31011 is installed with a servo motor 4 3102. The servo motor 4 3102 is provided with a coupling 3 3103. The servo motor 4 3102 is connected to a ball screw 3 3106 through the coupling 3 3103. The front and rear ends of the ball screw 3106 are respectively installed on the front bearing seat 3 3104 and the rear bearing seat 3 On the base 3107, the front bearing seat 3104 and the rear bearing seat 3107 are fixedly mounted on the base 3101 through the third threaded hole 21041 and the third threaded hole 41071 respectively, the ball screw 3106 is provided with a screw nut 3109, the base 3101 is provided with linear guide rails 3105 on both sides, the linear guide rails 3105 are provided with third threaded holes 31051, the linear guide rails 3105 are fixedly mounted on both sides of the base 3101 through the third threaded holes 31051, each linear guide rail 3105 is installed with a slider 3108, the slider 3108 is provided with a third threaded hole 51081, and the screw nut 3109 is provided with a third threaded hole 61091. The above is the prior art and will not be repeated here.

[0035] The linear motion module 432 includes a base 43201, which is fixedly mounted on a slider 3108 and a screw nut 3109 through a third threaded hole 531081 and a third threaded hole 631091. A motor mounting seat 532011 is provided on the base 43201, a servo motor 53202 is installed on the motor mounting seat 532011, a coupling 43203 is provided on the servo motor 53202, the servo motor 53202 is connected to a ball screw 43208 through a coupling 43203, a screw nut 43211 is installed on the ball screw 43208, a slider 43209 is provided on the screw nut 43211, and the front and rear ends of the ball screw 43208 are respectively mounted on a front bearing seat 43204 and a rear bearing seat 43206, and the front bearing seat 43204 and the rear The bearing seat 4 3206 is fixedly mounted on the base 4 3201 through the fourth threaded hole 1 32041 and the fourth threaded hole 3 32061 respectively. Two linear guide rails 1 3207 are arranged between the front bearing seat 4 3204 and the rear bearing seat 4 3206. The slider 4 3209 is provided with a fourth threaded hole 4 32091. The slider 4 3209 is fixedly mounted with a functional rod 3205 through the fourth threaded hole 4 32091. The end of the functional rod 3205 away from the slider 4 3209 is provided with a motor mounting seat 6 3210. The motor mounting seat 6 3210 is provided with a fourth threaded hole 6 32103. The motor mounting seat 6 3210 is fixedly mounted on the functional rod 3205 through the fourth threaded hole 6 32103. The motor mounting seat 6 3210 is also provided with a fourth threaded hole 5 32101 and a mounting hole 1 32102. The above is the prior art and will not be repeated here.

[0036] The function rod 3205 is provided with a slot 32052, and fourth threaded holes 32051 are provided on both sides of the slot 32052. The slot 32052 on the function rod 3205 is used to install the mounting plate 4041 of the outer ring 404, so that the outer ring 404 can be fixedly connected with the function rod 3205.

[0037] The annular detector 4 includes a servo motor 6 401 and an outer ring 404. The servo motor 6 401 is installed on the motor mounting seat 6 3210 through the fourth threaded hole 5 32101 and the mounting hole 1 32102. A mounting plate 4041 is provided on the outer ring 404. The outer ring 404 is fixedly installed in the slot 32052 through the mounting plate 4041 and the fourth threaded hole 2 32051.

[0038] The outer ring 404 is provided with a concave raceway 4042 inside, the inner ring 403 is installed inside the concave raceway 4042, the inner ring 403 is provided with a convex raceway 4031, and the concave raceway 4042 and the convex raceway 4031 are connected with each other. Since the outer ring 404 is fixedly installed on the functional rod 3205, the inner ring 403 can rotate around the center inside the outer ring 404 through the concave raceway 4042 and the convex raceway 4031 of the outer ring 404 and the inner ring 403, so that the laser displacement sensor 405 can rotate around the center, thereby collecting data of the curved pipe located in the middle of the inner ring 403.

[0039] One side of the inner ring 403 is provided with teeth, and a bevel gear 402 is provided on the servo motor 6 401, and the bevel gear 402 meshes with the teeth provided on one side of the inner ring 403. The bevel gear 402 is driven to rotate by the servo motor 6 401, and the bevel gear 402 meshes with the teeth on the inner ring 403, thereby driving the inner ring 403 to rotate inside the outer ring 404. Secondly, the rotation direction of the inner ring 403 can be controlled by controlling the rotation direction of the servo motor 6 401.

[0040] Two second mounting holes 4032 are arranged on the inner side of the inner ring 403 at a distance of 180°, and a laser displacement sensor 405 is installed on the second mounting hole 4032. Since the maximum rotation angle of the inner ring 403 is 180° during the rotation detection of the inner ring 403, and the bend needs to be detected at 360° when detecting the ovality of the bend, two laser displacement sensors 405 are arranged at a distance of 180° inside the inner ring 403. When the inner ring 403 rotates 180°, each laser displacement sensor 405 rotates 180°, and the two collect data on half of the circumference of the bend respectively. After the data are summarized, the accurate data of the circumference of the bend can be obtained.

[0041] The curvatures of the outer ring 404 and the inner ring 403 are equal and both are greater than 180°. In this patent, the angle of 240° is selected. Since the curved pipe will enter the center of the circular detector 4 from the outside of the circular detector 4 during the movement of the XZ motion platform 3, there should be a gap on the circular detector 4 for the curved pipe to enter and exit, so the curvatures of the outer ring 404 and the inner ring 403 are set to 240°, so that when the two are in the initial state, the inner ring 403 and the outer ring 404 completely overlap, and there is a 120° gap on the circular detector 4 to facilitate the curved pipe to enter and exit. Secondly, since the inner ring 403 needs to rotate within a range of 180°, once the curvatures of the two are less than 180°, when the inner ring 403 rotates to 180°, the inner ring 403 will fall out of the outer ring 404, so the curvatures of the two are set to be greater than 180°. Finally, in this patent, the curvature of the inner ring 403 and the outer ring 404 is set to 240°, which not only ensures the smooth entry and exit of the bent pipe, but also ensures that the inner ring 403 will not easily fall out of the outer ring 404.

[0042] The camera-motion platform 5 is fixedly installed upside down below the top mounting seat 806. The camera-motion platform 5 includes an industrial camera-51. The structure of the camera-motion platform 5 is the same as that of the XY motion platform 1. The industrial camera-51 is moved above the middle part of the bending section of the bent pipe to ensure that the bent pipe is photographed from directly above, which is a guarantee for improving the accuracy of the bending center coordinates in the subsequent process.

[0043] The camera 2 motion platform 6 includes a front bearing seat 5 603 and a rear bearing seat 5 609. The front bearing seat 5 603 is provided with a sixth threaded hole 1 6031, and the rear bearing seat 5 609 is provided with a sixth threaded hole 3 6091. The front bearing seat 5 603 and the rear bearing seat 5 609 are fixedly mounted on the mounting column 1 804 through the sixth threaded hole 1 6031 and the sixth threaded hole 3 6091 respectively. A ball screw 5 605 is provided between the front bearing seat 5 603 and the rear bearing seat 5 609. A screw nut 5 606 is installed, a ball screw 5 605 is connected to a servo motor 7 601 through a coupling 5 602, a linear guide 2 604 is also arranged between the front bearing seat 5 603 and the rear bearing seat 5 609, a slider 5 607 is arranged on the screw nut 5 606, an industrial camera 2 608 is arranged on the slider 5 607, a sixth threaded hole 2 6081 is arranged on the industrial camera 2 608, and the industrial camera 2 608 is fixedly installed on the slider 5 607 through the sixth threaded hole 2 6081. The above is the prior art and will not be repeated here.

[0044] The fixture 7 includes a linear guide rail 4 701, a seventh threaded hole 1 7011 is provided on the linear guide rail 4 701, and the linear guide rail 4 701 is fixedly mounted on the top frame 801 through the seventh threaded hole 1 7011. A fixed V-shaped block 704 is provided at one end of the linear guide rail 4 701 away from the top frame 801. A gas-liquid rapid cylinder 702 is also provided between the linear guide rails 4 701, and a seventh threaded hole 2 7021 and a seventh threaded hole 3 7022 are provided on the gas-liquid rapid cylinder 702. The gas-liquid rapid cylinder 702 is fixedly mounted on the mounting column 2 805 through the seventh threaded hole 2 7021. The gas-liquid rapid cylinder 702 is fixedly connected to a V-shaped slider 703 through the seventh threaded hole 3 7022, and the V-shaped slider 703 can slide on the linear guide rail 4 701. The above is the prior art and will not be described in detail here. Clamp the bent pipe to keep it horizontal and fixed. The V-shaped slide block 703 and the fixed V-shaped block 704 facilitate tightening of pipes of different sizes and diameters, and can position the centers of the cross-sectional circles of pipes of different sizes and diameters on the same vertical line.

[0045] Working principle: Set the lower linear motion module 11 of the XY motion platform 1 to the X-axis direction of the device mechanical coordinate system, the direction close to the servo motor 1102 is the positive direction of the X-axis, and the farthest end from the servo motor 1102 within the stroke is the X-axis origin of the device mechanical coordinate system; set the upper linear motion module 2 12 of the XY motion platform 1 to the Y-axis direction of the device mechanical coordinate system, the direction away from the servo motor 2 1203 is the positive direction of the Y-axis, and the closest end to the servo motor 2 1203 within the stroke is the Y-axis origin of the device mechanical coordinate system; set the direction of the linear motion module 3 31 in the XZ motion platform 3 to the Z-axis direction of the device mechanical coordinate system, the direction close to the servo motor 4 3102 is the positive direction of the Z-axis, and the farthest end from the servo motor 4 3102 within the stroke is the Z-axis origin of the device mechanical coordinate system. In order to avoid interference between the device and the bent pipe and facilitate displacement after positioning, the X-axis origin, Y-axis origin, Z-axis origin and XZ motion platform 3X axis are parallel and the position of slider 3 3108 on it closest to servo motor 4 3102 within the travel range is set as the coordinate origin of the device, which is also the initial position of the device. The X-axis, Y-axis and Z-axis are the mechanical coordinate system of the device. When the device is in the initial position, the center of the rotating platform 2 has a position coordinate in the mechanical coordinate system of the device, which is the initial position of the center of the rotating platform 2; the center of the annular detector 4 has a position coordinate in the mechanical coordinate system of the device, which is the initial position of the center of the annular detector 4.

[0046] The direction of the linear slide rail of the upper layer of the camera 1 motion platform 5, which is closer to the industrial camera 1 51, is set to the X-axis direction of the industrial camera 1 51 coordinate system, the direction away from the motor is the positive direction of the X-axis, and the end closest to the motor within the stroke is the X-axis origin of the device mechanical coordinate system; the direction of the linear slide rail of the lower layer of the camera 1 motion platform 5 is set to the Y-axis direction of the industrial camera 1 51 coordinate system, the direction close to the motor is the positive direction of the Y-axis, and the farthest end from the motor within the stroke is the Y-axis origin of the industrial camera 1 51 coordinate system. The X-axis origin and the Y-axis origin are set as the origin of the industrial camera 1 51 coordinate system, which is also the initial position of the industrial camera 1 51. The direction of the linear guide rail 2 604 of the camera 2 motion platform 6 is set to the Z-axis direction of the industrial camera 2 608 coordinate system, the direction close to the servo motor 7 601 is the positive direction of the Z-axis, and the farthest end from the servo motor 7 601 within the stroke is the Z-axis origin of the device mechanical coordinate system. The Z-axis origin is set to the origin of the industrial camera 2 608 coordinate system, which is also the initial position of the industrial camera 2 608.

[0047] First, the bent pipe is clamped by the clamp 7, and the bent pipe is manually placed on the fixed V-block 704 at the lower end of the two clamps 7, and then the upper V-slider 703 is driven by the manually controlled gas-liquid steady speed cylinder to clamp the bent pipe to keep it horizontal and fixed. By replacing the fixed V-block 704 and the V-slider 703, the device can measure bent pipes with different outer diameters. The device can detect the following types of bent pipes: outer diameter 20~90mm, bending angle 90°, bending radius 320~420mm.

[0048] This step is only performed in the XY coordinate plane. After the bend is clamped, the industrial camera 51 is manually controlled to move to the top of the middle part of the bending section of the bend to ensure that the bend is photographed from directly above, so as to ensure the accuracy of the coordinates of the bending center in the future. Then the industrial camera 51 takes the positioned bend to generate an image of the bend. The computer calculates the bending center of the bend. You can take several more pictures, calculate the average value, improve the accuracy, and determine the coordinates of the bending center in the industrial camera 51 coordinate system. The absolute position and relative position of the industrial camera 51 coordinate system and the mechanical coordinate system of the device are fixed, so the coordinates of the bending center in the mechanical coordinate system of the device can be calculated. The computer calculates the displacement required to move the center of the rotating platform 2 to the bending center of the bend, and the XY motion platform 1 control system controls the center of the rotating platform 2 to move in the XY coordinate plane. Finally, the center of the rotating platform 2 coincides with the bending center of the bend.

[0049] This step is only performed in the XZ coordinate plane. After the center of the rotating platform 2 coincides with the bending center of the curved pipe, the camera 2 motion platform 6 is first manually controlled to move the industrial camera 2 608 to a position roughly opposite the straight section of the curved pipe. The industrial camera 2 608 takes the positioned straight section of the curved pipe to generate a straight section image of the curved pipe. The computer calculates the center position of the straight section of the curved pipe. You can take more pictures, calculate the average value, improve the accuracy, and then determine the coordinates of the center of the section in the industrial camera 2 608 coordinate system. The absolute position and relative position of the industrial camera 2 608 coordinate system and the device mechanical coordinate system are fixed, so the coordinates of the center of the curved pipe section in the device mechanical coordinate system can be calculated. Subsequently, the center of the annular detector 4 has a new position coordinate in the device mechanical coordinate system. The computer calculates the displacement required to move the center of the annular detector 4 to the center of the curved pipe section, and the XZ motion platform 3 control system controls the annular detection center to move in the XZ coordinate plane. Finally, the center of the annular detector 4 coincides with the center of the curved pipe section.

[0050] When the center of the annular detector 4 coincides with the center of the cross section of the curved pipe. The inner ring 403 with two laser displacement sensors 405 rotates 180° clockwise, and the straight line connecting the two laser displacement sensors 405 passes through the center of the annular detector 4, and the path of the rotational motion forms a circle 1 with a diameter of D. The two laser displacement sensors 405 detect the distance s from the laser emission source to the surface of the curved pipe, and sample every 0.1°. Each sensor detects 1800 data, and a total of 3600 data are collected. Add the 1800 pairs of data respectively to obtain 1800 data. Take out the largest data p and the smallest data q, and you can calculate the maximum outer diameter d of the curved section of the curved pipe at a certain measurement angle. max =Dq, minimum outer diameter d min =Dp. Section ellipticity φ = (d max -d min ) / D0. D0 is the original outer diameter of the pipe.

[0051] Then the rotating platform 2 rotates 10°. The servo motor 3 207 runs, driving the incomplete tooth 206 to rotate. Whenever the incomplete tooth 206 rotates 360°, the 10 teeth on the incomplete tooth 206 will drive the outer gear 2 205 to rotate, and then drive the outer gear 1 204 to rotate, and finally drive the upper shell 202 to rotate 10 teeth. Since 360 ​​teeth are arranged inside the upper shell 202, the upper shell 202 will rotate 10° when the incomplete tooth 206 rotates 360°. The upper shell 202 drives the top cover 201 to rotate, and the top cover 201 drives the XZ motion platform 3 and the annular detector 4 thereon to rotate. During the rotation process, the annular detector 4 intermittently moves along the curved track of the curved pipe, ensuring that the annular detector 4 fully scans and measures the curved pipe every time.

[0052] Then the inner ring 403 rotates 180° counterclockwise, and then the rotating platform 2 rotates 10° (here, the ellipticity of a cross section is measured every 10°. If there are other measurement requirements, the rotation angle of the rotating platform 2 is adjusted to adjust the measurement position of the annular detector 4.); the inner ring 403 rotates 180° clockwise, and the cycle is repeated. The rotating platform 2 stops after rotating 90°. After the measurement is completed, the elbow is removed and the device is reset.

[0053] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0054] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A device for detecting the ovality of a metal pipe bend, characterized in that: The invention comprises a frame (8), wherein a clamp (7) is arranged on the top of the frame (8), wherein a bent pipe is clamped between the clamps (7), wherein a camera first motion platform (5) is also arranged on the top of the frame (8), wherein the camera first motion platform (5) is used to take a top-view image of a bent section of the bent pipe, wherein a camera second motion platform (6) is also arranged on the frame (8), wherein the camera second motion platform (6) is used to take a side-view cross-section of a straight section of the bent pipe after positioning, and wherein an XY motion platform (1) is installed at the bottom of the frame (8), wherein a rotating platform (2) is arranged on the XY motion platform (1), wherein the XY motion platform (2) is used to move the XY The platform (1) controls the rotating platform (2) to move in an XY plane so that the center of the rotating platform (2) coincides with the center of the bending section of the bent pipe. An XZ motion platform (3) is provided on the rotating platform (2). An annular detector (4) is provided on the XZ motion platform (3). The XZ motion platform (3) drives the center of the annular detector (4) to coincide with the center of the cross section of the bent pipe. The rotating platform (2) drives the annular detector (4) on the XZ motion platform (3) to intermittently rotate around the bending section of the bent pipe. The annular detector (4) is used to surround the bent pipe and intermittently advance along with the bending section of the bent pipe to perform cross-sectional ovality detection.

2. The device for detecting ovality of a metal pipe bend according to claim 1, characterized in that: The XY motion platform (1) comprises a linear motion module (11), the linear motion module (11) comprises a base (1101), the base (1101) is provided with a first threaded hole (11012), the base (1101) is fixedly mounted on a bottom plate (803) via the first threaded hole (11012), the base (1101) is provided with a motor mounting seat (11011) and a first threaded hole (110111), a servo motor (1102) is mounted on the motor mounting seat (11011) and the first threaded hole (110111), the servo motor (1102) is provided with a coupling (1103), the servo motor (1102) is connected to a ball screw (1106) via the coupling (1103), A screw nut 1 (1109) is installed on the ball screw 1 (1106), and a front bearing seat 1 (1104) and a rear bearing seat 1 (1107) are installed at both ends of the ball screw 1 (1106), and the front bearing seat 1 (1104) and the rear bearing seat 1 (1107) are respectively fixedly installed on the base 1 (1101) through a first threaded hole 3 (11041) and a first threaded hole 5 (11071), and linear guide rails 1 (1105) are also provided on both sides of the base 1 (1101), and a first threaded hole 4 (11051) is provided on the linear guide rail 1 (1105), and the linear guide rail 1 (1105) is fixedly installed on the base 1 (1101) through the first threaded hole 4 (11051), and each linear guide rail 1 (1105) is installed with two sliders 1 (1108); The linear motion module 1 (11) is mounted with a linear motion module 2 (12) perpendicular to the linear motion module 1 (11), the linear motion module 2 (12) includes a base 2 (1205), the screw nut 1 (1109) is provided with a first threaded hole 7 (11091), the slider 1 (1108) is provided with a first threaded hole 6 (11081), the base 2 (1205) is fixedly mounted on the screw nut 1 (1109) and the slider 1 (1108), the base 2 (1205) is provided with a motor mounting seat 2 (12051) and a first threaded hole 10 (12021), the motor mounting seat 2 (12051) and the first threaded hole 10 (12021) are mounted with a servo motor 2 (1203), the servo motor 2 (1203) is provided with a coupling 2 (1204), the servo motor 2 (1203) is connected to the servo motor 2 (1203) by a coupling The second (1204) is connected to a ball screw second (1207), and a screw nut second (1210) is installed on the ball screw second (1207). The two ends of the ball screw second (1207) are respectively installed with a front bearing seat second (1206) and a rear bearing seat second (1208). The front bearing seat second (1206) and the rear bearing seat second (1208) are respectively connected through the first threaded hole ten (12021) and the first threaded hole ten (12021). The third is fixedly mounted on the base 2 (1205), and the two sides of the base 2 (1205) are also provided with linear slide rails 2 (1202), and the linear slide rails 2 (1202) are provided with first threaded holes 10 (12021). The linear slide rails 2 (1202) are fixedly mounted on the base 2 (1205) through the first threaded holes 10 (12021), and each linear slide rail 2 (1202) is installed with two sliders 2 (1209); A workbench (1201) is also installed on the linear motion module 2 (12), and a first threaded hole 8 (12011) and a first threaded hole 9 (12012) are provided on the workbench (1201), and a first threaded hole 10 (12021) 4 is provided on the screw nut 2 (1210), and the workbench (1201) is fixedly installed on the screw nut 2 (1210) and the slider 2 (1209) through the first threaded hole 8 (12011), the first threaded hole 9 (12012) and the first threaded hole 10 (12021) 4.

3. The device for detecting ovality of a metal pipe bend according to claim 1, characterized in that: The rotating platform (2) comprises a base (203), the base (203) being fixedly mounted on the workbench (1201), a motor mounting seat 3 (2034) being arranged inside the base (203), a servo motor 3 (207) being mounted on the motor mounting seat 3 (2034), a thrust bearing (208) being also mounted on the base (203), an upper shell (202) being fixedly mounted above the base (203) via the thrust bearing (208), teeth being arranged on the inner annular surface of the upper shell (202), a fixing rod (2031) being arranged inside the base (203) and the upper shell (202), the fixing rod (2031) being L-shaped, and a second threaded hole 2 (20311) and a second threaded hole 3 (20312) being arranged on the fixing rod (2031). The fixing rod (2031) is fixedly connected to the base (203) through the second threaded hole (20312); the second threaded hole (20311) is respectively mounted with a rotating shaft (1) and a rotating shaft (2033); the rotating shaft (1) and the rotating shaft (2033) are respectively mounted with an external gear (204) and an external gear (205); the external gear (204) and the external gear (205) are meshed with each other; the external gear (204) and the internal gear of the upper housing (202) are meshed with each other; the servo motor (207) is mounted with an incomplete tooth (206); the incomplete tooth (206) and the external gear (205) are meshed with each other; the upper housing (202) is covered with a top cover (201); the upper housing (202) and the top cover (201) are fixedly connected; The number of teeth on the incomplete teeth (206) is 10; The number of teeth arranged on the inner annular surface of the upper shell (202) is 360.

4. The device for detecting ovality of a metal pipe bend according to claim 1, characterized in that: The XZ motion platform (3) comprises a linear motion module three (31) and a linear motion module four (32), wherein the linear motion module three (31) comprises a base three (3101), wherein the base three (3101) is provided with a third threaded hole one (31012), wherein the base three (3101) is mounted on the rotating platform (2) via the third threaded hole one (31012), wherein the base three (3101) is provided with a motor mounting seat four (31011), wherein a servo motor four (3102) is mounted on the motor mounting seat four (31011), wherein a coupling three (3103) is provided on the servo motor four (3102), wherein the servo motor four (3102) is connected to a ball screw three (3106) via the coupling three (3103), wherein the front and rear ends of the ball screw three (3106) are respectively mounted on a front bearing seat three (3104) and a rear bearing seat three (3105). 3107), the front bearing seat 3 (3104) and the rear bearing seat 3 (3107) are fixedly mounted on the base 3 (3101) through the third threaded hole 2 (31041) and the third threaded hole 4 (31071), respectively, the ball screw 3 (3106) is provided with a screw nut 3 (3109), and the base 3 (3101) is provided with linear guide rails 3 (3105) on both sides, and the linear guide rails 3 (3105) are provided with screw nut 3 (3109) on the ball screw 3 (3106). A third threaded hole three (31051) is provided, the linear guide rail three (3105) is fixedly mounted on both sides of the base three (3101) through the third threaded hole three (31051), a slider three (3108) is mounted on each linear guide rail three (3105), the slider three (3108) is provided with a third threaded hole five (31081), and the screw nut three (3109) is provided with a third threaded hole six (31091); The linear motion module four (32) includes a base four (3201), and the base four (3201) is fixedly mounted on a slider three (3108) and a screw nut three (3109) through a third threaded hole five (31081) and a third threaded hole six (31091). A motor mounting seat five (32011) is provided on the base four (3201), and a servo motor five (3202) is mounted on the motor mounting seat five (32011). The servo motor five (3202) is A coupling four (3203) is provided, the servo motor five (3202) is connected to a ball screw four (3208) via the coupling four (3203), a screw nut four (3211) is installed on the ball screw four (3208), a slider four (3209) is provided on the screw nut four (3211), the front and rear ends of the ball screw four (3208) are respectively installed on the front bearing seat four (3204) and the rear bearing seat four (3206), the front bearing seat four (320 4) and the rear bearing seat four (3206) are fixedly mounted on the base four (3201) through the fourth threaded hole one (32041) and the fourth threaded hole three (32061) respectively, two linear guide rails one (3207) are arranged between the front bearing seat four (3204) and the rear bearing seat four (3206), and the slider four (3209) is provided with a fourth threaded hole four (32091), and the slider four (3209) is fixedly mounted with a functional rod ( 3205), a motor mounting seat 6 (3210) is provided at one end of the functional rod (3205) away from the slider 4 (3209), a fourth threaded hole 6 (32103) is provided on the motor mounting seat 6 (3210), the motor mounting seat 6 (3210) is fixedly mounted on the functional rod (3205) through the fourth threaded hole 6 (32103), and a fourth threaded hole 5 (32101) and a mounting hole 1 (32102) are also provided on the motor mounting seat 6 (3210); The functional rod (3205) is provided with a slot (32052), and fourth threaded holes (32051) are provided on both sides of the slot (32052).

5. The device for detecting ovality of a metal pipe bend according to claim 1, characterized in that: The annular detector (4) comprises a servo motor six (401) and an outer ring (404); the servo motor six (401) is mounted on a motor mounting seat six (3210) via a fourth threaded hole five (32101) and a mounting hole one (32102); a mounting plate (4041) is provided on the outer ring (404); the outer ring (404) is fixedly mounted in a slot (32052) via the mounting plate (4041) and a fourth threaded hole two (32051); a bevel gear (402) is provided on the servo motor six (401); the inner ring (404) of the outer ring (404) is provided with a bevel gear (402); A concave raceway (4042) is provided on the inner part of the inner ring (403), an inner ring (403) is installed in the concave raceway (4042), a convex raceway (4031) is provided on the inner ring (403), the concave raceway (4042) and the convex raceway (4031) are connected to each other, one side of the inner ring (403) is provided with teeth, the bevel gear (402) and the teeth provided on one side of the inner ring (403) are meshed with each other, and two second mounting holes (4032) are provided on the inner side of the inner ring (403) at a distance of 180 degrees, and a laser displacement sensor (405) is installed on the second mounting hole (4032); The arcs of the outer ring (404) and the inner ring (403) are equal and both are greater than 180°.

6. The device for detecting ovality of a metal pipe bend according to claim 1, characterized in that: The camera motion platform (5) is inverted and fixedly mounted below the top mounting seat (806); the camera motion platform (5) comprises an industrial camera (51); and the camera motion platform (5) has the same structure as the XY motion platform (1).

7. The device for detecting ovality of a metal pipe bend according to claim 1, characterized in that: The camera 2 motion platform (6) includes a front bearing seat 5 (603) and a rear bearing seat 5 (609), the front bearing seat 5 (603) is provided with a sixth threaded hole 1 (6031), the rear bearing seat 5 (609) is provided with a sixth threaded hole 3 (6091), the front bearing seat 5 (603) and the rear bearing seat 5 (609) are respectively fixedly mounted on the mounting column 1 (804) through the sixth threaded hole 1 (6031) and the sixth threaded hole 3 (6091), a ball screw 5 (605) is provided between the front bearing seat 5 (603) and the rear bearing seat 5 (609), and the ball screw 5 (605) is provided with a sixth threaded hole 1 (6031) and a sixth threaded hole 3 (6091). A screw nut five (606) is installed, the ball screw five (605) is connected to the servo motor seven (601) through a coupling five (602), and a linear guide rail two (604) is also arranged between the front bearing seat five (603) and the rear bearing seat five (609). A slider five (607) is arranged on the screw nut five (606), an industrial camera two (608) is arranged on the slider five (607), and a sixth threaded hole two (6081) is arranged on the industrial camera two (608), and the industrial camera two (608) is fixedly installed on the slider five (607) through the sixth threaded hole two (6081).

8. The device for detecting ovality of a metal pipe bend according to claim 1, characterized in that: The clamp (7) includes a linear slide rail (701), a seventh threaded hole (7011) is provided on the linear slide rail (701), the linear slide rail (701) is fixedly mounted on the top frame (801) through the seventh threaded hole (7011), a fixed V-shaped block (704) is provided at one end of the linear slide rail (701) away from the top frame (801), and a gas-liquid rapid cylinder (704) is also provided between the linear slide rails (701). 2), the gas-liquid rapid cylinder (702) is provided with a seventh threaded hole two (7021) and a seventh threaded hole three (7022), the gas-liquid rapid cylinder (702) is fixedly mounted on the mounting column two (805) via the seventh threaded hole two (7021), the gas-liquid rapid cylinder (702) is fixedly connected to a V-shaped slider (703) via the seventh threaded hole three (7022), and the V-shaped slider (703) can slide on the linear slide rail four (701).

9. The device for detecting ovality of a metal pipe bend according to claim 1, characterized in that: The frame (8) comprises a top frame (801), four support columns (802) extending vertically downward are arranged at four corners of the top frame (801), a bottom plate (803) is arranged between the lower parts of the four support columns (802), a top mounting seat (806) is arranged on the top frame (801), and a mounting column 1 (804) and a mounting column 2 (805) extending into the interior of the frame (8) are also arranged on the top frame (801), and the number of the mounting columns 2 (805) is two.

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