Visual online measurement device for inner pipe section distortion in bending process of variable-diameter metal pipe

Abstract

The invention discloses a visual online measurement device for inner pipe section distortion in the bending process of a variable-diameter metal pipe. The in-pipe supporting device provided by the invention can adapt to the in-pipe size, so that the diameter of the in-pipe supporting device can be adjusted, and the in-pipe supporting device can be locked; when the straight handle is inserted into the mandrel rod of the pipe bending machine and the bidirectional limiting mechanism is opened, the rotary knob is rotated to drive the bevel gear in the gear box, so that the gears at the two ends of the hose rotate reversely, axial movement of the endoscopic device is achieved through gear and rack transmission, and the bidirectional limiting mechanism is locked in the bending process so as to fix the axial positions of the visual detection module and the in-pipe supporting device. And a 360-degree line laser and an endoscope are used for monitoring the shape change of the section of the inner wall of the pipe in the bending process. The device is simple in structure, convenient to adjust and capable of achieving real-time measurement of inner pipe section distortion in the bending forming process of pipe fittings with different diameters, an online solution is provided for pipe fitting bending detection, the bending test time is effectively shortened, and the production efficiency is improved.

Description

Technical Field

[0001] The invention belongs to the field of pipe bending and forming and is a device for measuring the inner pipe cross-section distortion of a metal pipe, in particular to a visual online measuring device for the inner pipe cross-section distortion of a variable-diameter metal pipe during bending. Background Art

[0002] Metal conduits have a hollow cross-section geometry. When they bend in a certain direction under the action of an applied bending moment and load, the original regular shape and size of the cross section will be destroyed, causing the diameter of the pipe to change non-uniformly along the circumferential direction of the cross section to form a flattened cross section, which not only weakens the rigidity of the cross section, but also causes pressure loss and flow pulsation of the transported fluid. Online measurement of cross-section flattening and distortion defects is of great significance for accurately intervening in the bending process of metal conduits and improving the forming quality.

[0003] Due to the limitation of detection methods, the bending production site cannot effectively implement the shape detection and accurate characterization of the pipe cross section during the forming process, resulting in the frequent preliminary tests and repeated trial and error bending for different pipes in the actual production process, which hinders the effective prediction and compensation of cross-sectional distortion. Moreover, compared with the outer wall, the cross-sectional distortion of the inner wall of the pipe has a direct impact on the accuracy of conveying precision fluids, and it is difficult to measure the inner wall distortion in the case of small diameter and narrow space.

[0004] In response to the above problems, some people have proposed a solution for pipeline endoscopy robots. However, the existing solutions are only for formed pipes and cannot be used in the bending process. The monocular camera alone cannot achieve the measurement purpose, and it is difficult to integrate multiple functions such as diameter change, feeding and measurement in the case of small pipe diameters. Summary of the invention

[0005] In order to solve the problems in the background technology, the present invention provides a visual online measurement device for the cross-sectional distortion of an inner tube during the bending process of a variable-diameter metal tube, which is used for the time-series measurement of the cross-sectional distortion of the inner wall of tubes with different diameters during bending, and is of great significance for the subsequent real-time optimization of the bending tube processing technology.

[0006] The technical solution adopted by the present invention is as follows:

[0007] A visual online measurement device for the cross-sectional distortion of an inner tube during the bending process of a variable-diameter metal tube comprises a visual inspection module, a hose, an inner tube support device and an axial feeding device. The hose is installed in the axial feeding device, one end of the hose extends out of the axial feeding device and the inner tube support device is installed at the end, and the visual inspection module is installed on the side of the inner tube support device away from the axial feeding device.

[0008] The visual inspection module comprises a laser and an endoscope, and both the laser and the endoscope are installed on a side of the in-pipe support device away from the axial feeding device.

[0009] The in-tube support device includes a variable diameter slide rod mechanism and a spring locking mechanism. The variable diameter slide rod mechanism is fixedly connected to the end of the hose extending out of the axial feeding device. A visual inspection module is fixedly installed on the end surface of the variable diameter slide rod mechanism away from the axial feeding device, and corresponding spring locking mechanisms are respectively installed on multiple locking slide rods of the variable diameter slide rod mechanism.

[0010] The variable diameter slide rod mechanism includes an inner ring shaft, a first slider disk, a second slider disk, a cam disk, a first bearing, a slide rod, a locking slide rod, a serpentine spring, a latch, a universal wheel connector and a universal wheel; a visual inspection module is installed at the end face of the inner ring shaft away from the axial feed device, and an end face of the inner ring shaft close to the axial feed device is connected to the end of the hose extending out of the axial feed device; the cam disk is coaxially sleeved outside the middle of the inner ring shaft through the first bearing, and the first slider disk and the second slider disk are coaxially fixedly connected to the inner ring shaft on both sides of the cam disk, and a plurality of slides arranged at intervals along the circumference are installed on the outer circumferential side face of the first slider disk. Rod, a plurality of locking slide bars arranged at intervals along the circumference are installed on the outer circumferential side surface of the second slider disk, and a corresponding spring locking mechanism is also installed on each locking slide bar; a plurality of arc-shaped through grooves are provided on the end surface of the cam disk, and a serpentine spring is installed in each arc-shaped through groove, and each latch pin passes through the middle part of the corresponding slide bar of the first slider disk, the corresponding arc-shaped through groove of the cam disk and the middle part of the corresponding locking slide bar of the second slider disk in sequence, so that the rotation of the cam disk simultaneously drives all the slide bars and the locking slide bars to move radially synchronously; the end of each slide bar / locking slide bar is installed with a corresponding universal wheel through a corresponding universal wheel connecting piece.

[0011] The spring locking mechanism includes a buckle; a locking slide bar shaped slot is provided on the side of each locking slide bar, one end of the buckle is rotatably mounted on the outer circumferential side of the second slider disk in a clearance fit manner, and the other end of the buckle is provided with a boss, which is inserted into the locking slide bar shaped slot and guided sliding along the locking slide bar shaped slot; when the buckle is located at the bottom of the locking slide bar shaped slot, the locking slide bar is in the maximum diameter change position, and when the buckle is located at the top of the locking slide bar shaped slot, the locking slide bar is in the minimum diameter change position.

[0012] The locking slide rod special-shaped slide groove is a special-shaped ring groove, and an inward protrusion is provided at the top of the outer edge of the special-shaped ring groove, and an inward protrusion is also provided at the top of the inner edge of the special-shaped ring groove. The protrusion at the top of the outer edge and the protrusion at the top of the inner edge are staggered in the circumferential direction, so that when the buckle is located at the top of the special-shaped ring groove, it is locked by the protrusion at the top of the inner edge, and moves in the special-shaped ring groove according to a preset direction when it is out of the locked state; an upwardly inclined guide edge is provided in the middle of the bottom of the inner edge of the special-shaped ring groove, so that the buckle moves upward along the guide edge, thereby moving in the special-shaped ring groove according to a preset direction.

[0013] The axial feeding device includes a two-way limit mechanism, a knob, an internal gear box and a straight handle; the internal gear box is installed in the straight handle, the knob is arranged at the straight handle end cover of the straight handle and the knob is coaxially fixedly connected to the driving shaft of the internal gear box, the internal gear box is connected to the hose, and the internal gear box is used to drive the hose; the two-way limit mechanism is installed on the end face of the straight handle and is used for an adjustable limit knob.

[0014] The internal gear box includes a driving synchronous wheel, a driven synchronous wheel, a synchronous belt, an intermediate transmission shaft, a driven shaft, a first driven bevel gear, a second driven bevel gear, a driving bevel gear, a first driving gear, a second driving gear, a driving shaft, a second bearing, a third bearing, and a fourth bearing; the driving shaft is installed in the straight handle end cover of the straight handle through the fourth bearing, one end of the driving shaft extends out of the straight handle end cover and is coaxially fixed with the knob, and the other end of the driving shaft is coaxially connected with the driving bevel gear; an intermediate transmission shaft and a driven shaft are installed in the straight handle, the intermediate transmission shaft and the driven shaft are parallel and spaced apart, a driven synchronous wheel and a second driving gear are coaxially sleeved outside the driven shaft, the axial direction of the intermediate transmission shaft is perpendicular to the axial direction of the driving shaft, and the intermediate transmission shafts on both sides of the driving bevel gear are coaxially connected. A first driven bevel gear and a second driven bevel gear are sleeved, and the first driven bevel gear and the second driven bevel gear are both meshed with the driving bevel gear to form a bevel gear pair, the first driven bevel gear is coaxially fixedly connected to the intermediate transmission shaft, and the second driven bevel gear is connected to the intermediate transmission shaft through a third bearing; the first drive gear is coaxially fixedly connected to the intermediate transmission shaft close to the first driven bevel gear; a hose is arranged between the first drive gear and the second drive gear, and an annular tooth is arranged outside the hose, and the hose is meshed with the first drive gear and the second drive gear in opposite directions to form a drive pair; a driving synchronous wheel is coaxially sleeved outside the rotating shaft of the second driven bevel gear, and the driving synchronous wheel is coaxially fixedly connected to the rotating shaft of the second driven bevel gear, and the driving synchronous wheel is connected to the driven synchronous wheel through a synchronous belt.

[0015] The internal gear box also includes a triangular support structure, a seventh bearing, a sixth bearing and a fifth bearing; a triangular support structure is also installed between the shaft side of the driving shaft and the shaft side of the first driven bevel gear, and the triangular support structure is also installed between the shaft side of the driving shaft and the shaft side of the second driven bevel gear. The circular ring structure of the triangular support structure close to the driving bevel gear is connected to the shaft side of the driving shaft through the fifth bearing, the circular ring structure of the triangular support structure close to the second driven bevel gear is connected to the shaft side of the second driven bevel gear through the seventh bearing, and the circular ring structure of the triangular support structure close to the first driven bevel gear is connected to the shaft side of the first driven bevel gear through the sixth bearing.

[0016] The bidirectional limit mechanism includes a limit gear, a limit handle, a limit connecting rod, a limit spring and a limit optical axis; the straight handle end cover is provided with an inner ring baffle plate of the straight handle end cover and an outer ring baffle plate of the straight handle end cover, the outer coaxial sleeve of the active shaft is provided with a limit gear, the limit gear is coaxially fixedly connected with the active shaft, the straight handle end cover is fixedly installed with the limit optical axis, one end of the limit handle and one end of the limit connecting rod are rotatably installed in the limit optical axis, the limit handle and the limit connecting rod are arranged at an angle, and the toothed end of the limit handle and the other end of the limit connecting rod are connected by a limit spring, the limit connecting rod is installed on the circumferential side of the inner ring baffle plate of the straight handle end cover, and the inner ring baffle plate of the handle end cover is used to limit the limit connecting rod; the limit handle is installed on the circumferential side of the limit gear, which is used to limit the limit gear.

[0017] Beneficial effects of the present invention:

[0018] (1) The present invention can measure the time series data of the inner wall distortion of the tube during the bending process by using an endoscope and a laser, thereby realizing online measurement of the cross-sectional distortion of the inner wall of a small-diameter tube.

[0019] (2) The present invention can adapt to changes in the diameter of the endoscopy device by adjusting the cam slider with a spring, and can be used for bending and forming pipes with different diameters.

[0020] (3) The present invention realizes the axial change of the endoscope device through a gear box, realizes the axial movement of the visual measurement mechanism in the tube, and obtains measurement information of different cross sections.

[0021] (4) The present invention has a simple structure and is easy to adjust. The axial position of the device in the pipe can be adjusted by rotating the gear box knob, and the adjustment process is simple. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the overall structure of the measuring device of the present invention;

[0023] Figure 2 It is a schematic structural diagram of the in-pipe support device of the present invention;

[0024] Figure 3 The schematic diagram of the structure of the in-tube support device of the present invention, wherein (a) is an axial side view of the in-tube support device Figure 1 , (b) is the axial side view of the support device in the tube Figure 2 ;

[0025] Figure 4 is a cross-sectional view of the in-tube support device of the present invention, wherein (a) is a cross-sectional view of the in-tube support device Figure 1 , (b) is the cross section of the support device inside the tube Figure 2 ;

[0026] Figure 5 It is a structural schematic diagram of a spring locking mechanism;

[0027] Figure 6 It is the overall structural diagram of the internal gear box;

[0028] Figure 7 Schematic diagram of the internal structure of the internal gearbox, where (a) is a partial structural section of the internal gearbox Figure 1 , (b) is a three-dimensional axonometric view of the triangular support structure;

[0029] Figure 8 Partial structural section of the internal gearbox Figure 2 ;

[0030] Fig. 9 It is a schematic diagram of the overall structure of the bidirectional limiting mechanism of the present invention;

[0031] Fig.10 It is a working schematic diagram of the visual detection module of the present invention;

[0032] Fig.11 Schematic diagrams of different diameter-changing positions of the diameter-changing slide rod mechanism, wherein (a) is a schematic diagram of the maximum diameter-changing position of the diameter-changing slide rod mechanism, and (b) is a schematic diagram of the minimum diameter-changing position of the diameter-changing slide rod mechanism;

[0033] Fig.12 Schematic diagram of the working state of the spring locking mechanism, wherein (a) is the locking state of the spring locking mechanism under the maximum diameter change, and (b) is the locking state of the spring locking mechanism under the minimum diameter change;

[0034] Fig.13 Schematic diagram of the working state of the double-line limit mechanism of the present invention, wherein (a) is a schematic diagram of the locking state of the double-line limit mechanism, and (b) is a schematic diagram of the opening state of the double-line limit mechanism;

[0035] Fig.14 It is a schematic diagram of the in-pipe supporting device of the present invention in a bent pipe;

[0036] In the figure: 1. visual inspection module, 2. in-pipe support device, 3. axial feeding device, 4. variable diameter slide rod mechanism, 5. spring locking mechanism, 6. bidirectional limit mechanism, 7. internal gear box, 8. straight handle, 9. straight handle positioning pin hole, 10. straight handle geometric center axis hole, 11. laser, 12. endoscope, 13. inner ring shaft, 14. first slider plate, 15. second slider plate, 16. cam plate, 17. first limit retaining ring, 18. stepped retaining ring, 19. end cover, 20. hose, 21. first bearing, 22. slide rod, 23. locking slide rod, 24. locking slide rod special-shaped slide groove, 25. serpentine spring, 26. latch, 27. universal wheel connector, 28. universal wheel, 29. buckle, 30. buckle shaft, 31. active synchronous wheel, 32. driven synchronous wheel, 33. synchronous belt, 3 4. Intermediate transmission shaft, 35. Driven shaft, 36. First driven bevel gear, 37. Second driven bevel gear, 38. Active bevel gear, 39. Triangular support structure, 40. First drive gear, 41. Second drive gear, 42. Straight shank end cover, 43. Active shaft, 44. Second bearing, 45. Third bearing, 46. Fourth bearing, 47. Fifth bearing, 48. Sixth bearing, 49. Seventh bearing, 50. Active shaft end retaining ring, 51. Second limit retaining ring, 52. Limit gear, 53. Knob, 54. Spring retaining ring, 55. Limit handle, 56. Limit connecting rod, 57. Limit spring, 58. Limit optical axis, 59. Third limit retaining ring, 60. Fourth limit retaining ring, 61. Guide tube, 62. Straight shank end cover outer ring baffle, 63. Straight shank end cover inner ring baffle, 64. Laser plane. DETAILED DESCRIPTION

[0037] The present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0038] like Figure 1 and Figure 2 As shown, the visual online measurement device for the cross-sectional distortion of an inner tube during the bending process of a variable-diameter metal tube proposed in the present invention comprises a visual inspection module 1, a hose 20, an inner tube support device 2 and an axial feeding device 3, the hose 20 is installed in the axial feeding device 3, one end of the hose 20 extends out of the axial feeding device 3 and the inner tube support device 2 is installed at the end, and the visual inspection module 1 is installed at the side of the inner tube support device 2 away from the axial feeding device 3.

[0039] The visual inspection module 1 includes a laser 11 and an endoscope 12, which are both installed on the side of the inner tube support device 2 away from the axial feeding device 3 (i.e., the end face of the inner ring shaft 13 away from the axial feeding device 3) by means of threads, and the data cables of the laser 11 and the endoscope 12 are led out to the external power interface through a hollow hose 20.

[0040] like Figure 3(a) Figure 3 (b) Figure 4 (a) and Figure 4 As shown in (b), the in-tube support device 2 includes a variable diameter slide rod mechanism 4 and a spring locking mechanism 5. The variable diameter slide rod mechanism 4 is fixedly connected to the end of the hose 20 extending out of the axial feeding device 3. The laser 11 and the endoscope 12 of the visual inspection module 1 are fixedly installed at the end surface of the inner ring shaft 13 of the variable diameter slide rod mechanism 4 away from the axial feeding device 3, and the corresponding spring locking mechanisms 5 are respectively installed at the multiple locking slide rods 23 of the variable diameter slide rod mechanism 4.

[0041] The variable diameter slide rod mechanism 4 includes an inner ring shaft 13, a first slider disc 14, a second slider disc 15, a cam disc 16, a first limit retaining ring 17, a stepped retaining ring 18, an end cover 19, a first bearing 21, a slide rod 22, a locking slide rod 23, a serpentine spring 25, a latch 26, a universal wheel connector 27 and a universal wheel 28; the laser 11 and the endoscope 12 of the visual inspection module 1 are installed at the end face of the inner ring shaft 13 away from the axial feeding device 3, and the end face of the inner ring shaft 13 close to the axial feeding device 3 is also installed with an end cover 19 for connecting the end of the hose 20 extending out of the axial feeding device 3; the cam disc 16 is coaxially sleeved outside the middle part of the inner ring shaft 13 through the first bearing 21, and the first slider disc 14 and the second slider disc 15 are coaxially fixedly connected to the inner ring shaft 13 on both sides of the cam disc 16, respectively, the first slider disc 14 is arranged close to the axial feeding device 3, and the second slider disc 15 is arranged away from the axial feeding device 3. A coaxially arranged stepped retaining ring 18 is also installed outside the inner ring shaft 13 between the first slider disc 14 and the first bearing 21, which is used to limit the first slider disc 14 and the cam disc 16. The boss end face of the second slider disc 15 close to the axial feed device 3 limits the inner ring of the first bearing 21, and a coaxially arranged first limit retaining ring 17 is installed at the end away from the axial feed device 3, which is used to limit the second slider disc 15. A plurality of sliding rods 22 arranged at intervals along the circumference are installed on the outer circumferential side of the first slider disc 14, and a plurality of locking sliding rods 23 arranged at intervals along the circumference are installed on the outer circumferential side of the second slider disc 15. A corresponding spring locking mechanism 5 is also installed on each locking sliding rod 23; a plurality of arc-shaped through grooves are provided on the end face of the cam disc 16, and a serpentine spring 25 is installed in each arc-shaped through groove, and each latch 26 passes through the middle part, the convex part, and the corresponding sliding rod 22 of the first slider disc 14 in a clearance fit manner. The corresponding arc-shaped through groove of the wheel plate 16 and the corresponding locking slide bar 23 of the second slider plate 15, the serpentine spring 25 is fixed between the cam plate 16 and the pin 26 by glue, so that the rotation of the cam plate 16 simultaneously drives all the slide bars 22 and the locking slide bars 23 to move radially synchronously, and the first slider plate 14 and the second slider plate 15 do not rotate relative to the inner ring shaft 13; the end of each slide bar 22 / locking slide bar 23 is installed with a corresponding universal wheel 28 through a corresponding universal wheel connector 27.

[0042] like Figure 5 As shown, the spring locking mechanism 5 includes a buckle 29 and a buckle shaft 30; a locking slide bar shaped slot 24 is provided on the side of each locking slide bar 23, one end of the buckle 29 is rotatably mounted on the outer circumferential side of the second slider plate 15 through the buckle shaft 30 in a clearance fit manner, and a boss is provided at the other end of the buckle 29, which is inserted into the locking slide bar shaped slot 24 and guided along the locking slide bar shaped slot 24; when the buckle 29 is located at the bottom of the locking slide bar shaped slot 24, the locking slide bar 23 is in the maximum diameter change position, and when the buckle 29 is located at the top of the locking slide bar shaped slot 24, the locking slide bar 23 is in the maximum diameter change position. The tightening slide bar 23 is in the minimum diameter change position; the locking slide bar special-shaped slide groove 24 is a special-shaped ring groove, the top of the outer edge of the special-shaped ring groove is provided with an inward protrusion, and the top of the inner edge of the special-shaped ring groove is also provided with an inward protrusion, and the protrusion at the top of the outer edge and the protrusion at the top of the inner edge are staggered in the circumferential direction, so that when the buckle 29 is located at the top of the special-shaped ring groove, it is locked by the protrusion at the top of the inner edge, and when it is out of the locked state, it moves in the special-shaped ring groove in a preset direction; an upwardly inclined guide edge is provided in the middle of the bottom of the inner edge of the special-shaped ring groove, so that the buckle 29 moves upward along the guide edge, thereby moving in the special-shaped ring groove in a preset direction.

[0043] The axial feeding device 3 includes a two-way limiting mechanism 6, a knob 53, an internal gear box 7 and a straight handle 8; a straight handle positioning pin hole 9 is provided on the outer circumferential side surface of the straight handle 8, and a straight handle geometric center axis hole 10 is also provided on the straight handle end cover 42 of the straight handle 8, a guide tube 61 is coaxial with the straight handle geometric center axis hole 10, and the internal boss of the straight handle 8 is threadedly connected with the guide tube 61. The internal gear box 7 is installed in the straight handle 8, the knob 53 is arranged at the straight handle end cover 42 of the straight handle 8 and the knob 53 is coaxially fixedly connected with the driving shaft 43 of the internal gear box 7, the first driving gear 40 and the second driving gear 41 of the internal gear box 7 are connected with the hose 20, and the first driving gear 40 and the second driving gear 41 of the internal gear box 7 are used to drive the hose 20, and the hose 20 is inserted in the straight handle end cover 42; the two-way limiting mechanism 6 is installed on the end surface of the straight handle 8, and is used for the adjustable limiting knob 53.

[0044] like Figure 6 , Figure 7 (a) and Figure 8As shown, the internal gear box 7 includes a driving shaft end retaining ring 50, a third limit retaining ring 59, a fourth limit retaining ring 60, a driving synchronous wheel 31, a driven synchronous wheel 32, a synchronous belt 33, an intermediate transmission shaft 34, a driven shaft 35, a first driven bevel gear 36, a second driven bevel gear 37, a driving bevel gear 38, a first driving gear 40, a second driving gear 41, a driving shaft 43, a second bearing 44, a third bearing 45, and a fourth bearing 46; the guide tube 61 and the straight shank geometric center axis hole 10 are coaxially arranged with the straight shank 8, the driving shaft 43 is parallel to the guide tube 61 and is spaced apart, the driving shaft 43 is installed in the straight shank end cover 42 of the straight shank 8 through the fourth bearing 46, and the straight shank end cover 42 at the fourth bearing 46 is also installed with a second limit retaining ring 51. One end of the driving shaft 43 extends out of the straight handle end cover 42 and is coaxially fixedly connected with the knob 53, and the other end of the driving shaft 43 is coaxially connected with the driving bevel gear 38, and a driving shaft end retaining ring 50 is installed at the end face of the driving bevel gear 38; an intermediate transmission shaft 34 and a driven shaft 35 are installed in the straight handle 8, and the two ends of the intermediate transmission shaft 34 and the driven shaft 35 are respectively connected to the side wall of the straight handle 8 through corresponding second bearings 44, and the intermediate transmission shaft 34 and the driven shaft 35 are parallel and spaced apart. A driven synchronous wheel 32 and a second driving gear 41 are coaxially sleeved on the outside of the driven shaft 35, and the axial direction of the intermediate transmission shaft 34 is perpendicular to the axial direction of the driving shaft 43. The intermediate transmission shaft 34 on both sides of the driving bevel gear 38 are coaxially sleeved with a first driven bevel gear 36 and a second driven bevel gear 37, which are both meshed with the driving bevel gear 38 to form a bevel gear pair. The driven bevel gear 36 is coaxially fixedly connected to the intermediate transmission shaft 34, the second driven bevel gear 37 is connected to the intermediate transmission shaft 34 through a third bearing 45, and a third limit ring 59 is also installed between the third bearing 45 and the second bearing 44; the first drive gear 40 is coaxially fixedly connected to the intermediate transmission shaft 34 close to the first driven bevel gear 36, and a fourth limit ring 60 is also installed between the first drive gear 40 and the second bearing 44; a hose 20 is arranged between the first drive gear 40 and the second drive gear 41, and an annular tooth is arranged outside the hose 20, and the hose 20 is meshed with the first drive gear 40 and the second drive gear 41 to form a drive pair; the second driven bevel gear 37 is coaxially sleeved with a driving synchronous wheel 31 outside its own rotating shaft, and the driving synchronous wheel 31 is coaxially fixedly connected to the second driven bevel gear 37's own rotating shaft, and the driving synchronous wheel 31 is connected to the driven synchronous wheel 32 through a synchronous belt 33. The knob 53 drives the driving shaft 43 to rotate, and then drives the driving synchronous wheel 31 and the intermediate transmission shaft 34 to rotate through the bevel gear pair. The intermediate transmission shaft 34 drives the first driving gear 40 to rotate. The driving synchronous wheel 31 drives the driven shaft 35 to rotate through the synchronous belt 33 and the driven synchronous wheel 32, thereby driving the second driving gear 41 to rotate, so that the first driving gear 40 and the second driving gear 41 jointly drive the hose 20.At this time, the first driving gear 40 and the second driving gear 41 rotate synchronously in opposite directions, so as to realize the rack and pinion feeding transmission of the hose 20 .

[0045] The internal gear box 7 further includes a triangular support structure 39, a second limit ring 51, a seventh bearing 49, a sixth bearing 48 and a fifth bearing 47; a triangular support structure 39 is also installed between the shaft side of the driving shaft 43 and the shaft side of the first driven bevel gear 36, such as Figure 7 As shown in (b), the triangular support structure 39 is also installed between the shaft side of the driving shaft 43 and the shaft side of the second driven bevel gear 37, and the triangular support structure 39 is used to provide axial and radial support. The circular ring structure of the triangular support structure 39 near the driving bevel gear 38 is connected to the shaft side of the driving shaft 43 through the fifth bearing 47, the circular ring structure of the triangular support structure 39 near the second driven bevel gear 37 is connected to the shaft side of the second driven bevel gear 37 through the seventh bearing 49, the circular ring structure of the triangular support structure 39 near the first driven bevel gear 36 is connected to the shaft side of the first driven bevel gear 36 through the sixth bearing 48, and a second limit ring 51 is also installed between the sixth bearing 48 and the gear ring of the first driven bevel gear 36, and a second limit ring 51 is also installed between the seventh bearing 49 and the gear ring of the second driven bevel gear 37. One side of the shoulder of the intermediate transmission shaft 34 provides axial positioning for the first driven bevel gear 36, and a second limit ring 51 is sleeved on the boss of the first driven bevel gear 36. The second limit ring 51 contacts and supports the inner ring of the sixth bearing 48, and the outer ring of the sixth bearing 48 is axially and radially supported by the triangular support structure 39; one end of the first drive gear 40 provides axial support for the boss end of the first driven bevel gear 36, and the boss end of the first drive gear 40 provides axial support for the inner ring of the second bearing 44 through the fourth limit ring 60, and the outer ring of the second bearing 44 is radially and axially supported by the straight handle 8; the other side of the shoulder of the intermediate transmission shaft 34 provides the inner ring of the third bearing 45 embedded in the end of the second driven bevel gear 37 The outer ring of the third bearing 45 is radially and axially supported by the second driven bevel gear 37. The inner ring of the third bearing 45 embedded in the boss end of the second driven bevel gear 37 is axially supported by the third limit ring 59. The outer ring of the third bearing 45 is radially and axially supported by the second driven bevel gear 37; the other end of the third limit ring 59 provides axial support for the second bearing 44, and the outer ring of the second bearing 44 is radially and axially supported by the straight handle 8; the second limit ring 51 is sleeved on the boss of the second driven bevel gear 37, the second limit ring 51 contacts with the inner ring of the seventh bearing 49 and provides support, and the outer ring of the seventh bearing 49 is axially and radially supported by the triangular support structure 39.

[0046] like Fig. 9As shown, the two-way limiting mechanism 6 includes a limiting gear 52, a spring retaining ring 54, a limiting handle 55, a limiting connecting rod 56, a limiting spring 57 and a limiting optical axis 58; the straight shank end cover 42 is provided with a straight shank end cover inner ring baffle 63 and a straight shank end cover outer ring baffle 62, the straight shank end cover outer ring baffle 62, the straight shank end cover inner ring baffle 63 and the driving shaft 43 are coaxially arranged, the driving shaft 43 is coaxially sleeved with a limiting gear 52, the limiting gear 52 is coaxially fixedly connected to the driving shaft 43, and the straight shank end cover outer ring baffle 62 and the straight shank end cover inner ring baffle 63 of the straight shank end cover 42 are arranged between A limit optical axis 58 is fixedly installed, one end of the limit handle 55 and one end of the limit connecting rod 56 are rotatably installed in the limit optical axis 58, the limit handle 55 and the limit connecting rod 56 are arranged at an angle, and the toothed end of the limit handle 55 and the other end of the limit connecting rod 56 are connected by a limit spring 57, the limit connecting rod 56 is installed on the circumferential side of the inner ring baffle 63 of the straight handle end cover, and the inner ring baffle 63 of the handle end cover is used to limit the limit connecting rod 56; the limit handle 55 is installed on the circumferential side of the limit gear 52, and is used to limit the limit gear 52. The two ends of the limit spring 57 are respectively hooked in the grooves of the bosses of the limit connecting rod 56 and the limit handle 55, and always provide an inward pulling force, so that the limit handle 55 firmly buckles the limit gear 52 when limiting, and prevents it from rotating in both directions; the knob 53 is fixed to the shaft end of the active shaft 43 through a spring retaining ring 54.

[0047] The following is a method for using a visual online measurement device for measuring the cross-sectional distortion of an inner tube during a metal tube bending process with a variable diameter, which specifically includes the following steps:

[0048] 1) Extend the inner pipe support device 2 into the pipe opening on the side to be bent of the pipe material, and avoid deep insertion so that the subsequent spring locking mechanism 5 can release the locking state;

[0049] 2) Rotate the cam plate 16 toward the inner side of the slide groove by hand, so that the cam plate 16 and the second slider plate 15 rotate relative to each other, so that the buckle 29 disengages from the top of the locking slide bar's special-shaped slide groove 24 and moves along the right slide groove, and the variable diameter slide bar mechanism 4 is converted into a free telescopic state; at this time, the serpentine spring 25 provides thrust to push the latch 26 to move along the outer side of the slide groove, thereby driving the slide bar 22 and the locking slide bar 23 that are in clearance with the two ends of the latch 26 to move away from the axis until the universal wheels 28 at the top of each slide bar contact the inner wall of the tube. The double-sided slide bar setting ensures that the in-tube support device 2 does not flip over in the tube; the variable diameter slide bar mechanism 4 completes the adaptive inner diameter process.

[0050] 3) Adjust the axial position of the in-pipe support device 2 in the pipe:

[0051] In the initial state, the limit connecting rod 56 abuts against the inner ring baffle 63 of the straight shank end cover, and the tooth shape of the limit handle 55 meshes with the limit gear 52. The limit handle 55 of the two-way limit mechanism 6 is manually pushed outward, and when the boss of the limit handle 55 passes the plane where the axis of the limit optical axis 58 and the boss of the limit connecting rod 56 are coplanar, the limit spring 57 pulls the limit handle 55 and the limit connecting rod 56 outward by tension until the limit connecting rod 56 is limited by the outer ring baffle 62 of the straight shank end cover, and the spring returns to a free state. At this time, the axial feed device 3 is turned into a free state, as shown in FIG. Fig.13 as shown in (b);

[0052] When the knob 53 is rotated clockwise, the driving shaft 43 drives the driving bevel gear 38 to rotate clockwise, thereby driving the first driven bevel gear 36 and the second driven bevel gear 37 on both sides thereof to rotate in the opposite direction, forming a coaxial reverse motion; the first driving gear 40 rotates under the drive of the intermediate transmission shaft 34, and the direction is consistent with the first driven bevel gear 36; the second driven bevel gear 37 drives the coaxial driving synchronous wheel 31 to rotate in the same direction, and the driving synchronous wheel 31 drives the driven synchronous wheel 32 to move in the same direction through the belt transmission, thereby driving the coaxial second driving gear 41 to rotate. At this time, the rotation direction of the second driving gear 41 is the same as that of the second driven bevel gear 37, and is opposite to the rotation direction of the first driving gear 40; the first driving gear 40 and the second driving gear 41 are meshed with the hose 20 teeth and rotate in the opposite direction, pushing the hose 20 forward, thereby driving the in-tube support device 2 to feed forward; similarly, when the knob 53 is rotated counterclockwise, the in-tube support device 2 will feed backward.

[0053] 4) After the axial position adjustment of the inner tube support device 2 is completed, the limit handle 55 of the two-way limit mechanism 6 is manually pushed inward so that the tooth shape of the limit handle 55 and the tooth shape of the limit gear 52 are meshed, as shown in FIG. Fig.13 As shown in (a); when the boss of the limit handle 55 passes over the plane which is coplanar with the axis of the limit optical axis 58 and the boss of the limit link 56, the limit spring 57 pulls the limit handle 55 and the limit link 56 inward by pulling force until the limit link 56 is limited by the inner ring baffle 63 of the straight handle end cover, and the spring returns to the stretched locking state, at which time the axial feed device 3 is turned into a locked state.

[0054] 5) Insert the mandrel shaft into the geometric center axis hole 10 of the straight handle, and pass it through the straight handle end cover 42, the guide tube 61 and the straight handle 8 in sequence. The straight handle locating pin hole 9 cooperates with the locating pin shaft to limit axial rotation, and then clamp the pipe to the pipe bending machine to fix the position of the visual online measurement device for the inner pipe cross-section distortion in the pipe.

[0055] 6) If Fig.10As shown, the laser 11 and the endoscope 12 are powered on, the laser 11 emits a 360-degree laser plane 64 vertically axially, and the cross-sectional laser line is obtained by vertical incidence on the inner wall of the tube. At this time, the cross-sectional laser line can be photographed in the field of view of the endoscope 12, and the space coordinates corresponding to the cross-sectional laser line can be calculated by using the laser triangulation method; when the tube is bent and deformed, the inner tube support device 2 rotates with the bending of the tube, and the visual detection module 1 detects the cross-sectional information of the laser plane 64 in real time; the schematic diagram of the inner tube support device in the bent tube is shown in Fig.14 shown.

[0056] 7) After the tube is bent, turn off the power of the laser 11 and the endoscope 12; unload the tube from the tube bender, manually push the limit handle 55 of the two-way limit mechanism 6 outward, so that the axial feeding device 3 is turned to a free state, and the knob 53 is rotated counterclockwise to make the inner tube support device 2 withdraw from the tube by feeding backward. At this time, the variable diameter slide rod mechanism 4 reaches the maximum diameter under the thrust of the serpentine spring 25, as shown in FIG. Fig.11 (a) and Fig.12 As shown in (a), the buckle 29 is located at the bottom of the locking slide bar special-shaped slide groove 24;

[0057] 8) Pull the straight handle 8 out of the mandrel rod, and manually rotate the cam plate 16 toward the inside of the slide groove, so that the cam plate 16 and the second slider plate 15 rotate relative to each other, so that the buckle 29 is separated from the bottom of the locking slide bar special-shaped slide groove 24 and is stuck to the top of the locking slide bar special-shaped slide groove 24 along the left slide groove direction. At this time, the variable diameter slide bar mechanism 4 is turned into a locking state, reaching the minimum diameter, such as Fig.11 (b) and Fig.12 As shown in (b); re-lock the bidirectional limit mechanism 6 according to step 4 to complete the measurement process of the inner tube cross-section distortion during a bending process.

[0058] Finally, it should be noted that the above embodiments and explanations are only used to illustrate the technical solution of the present invention rather than to limit it. Those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the spirit and scope disclosed in the technical solution of the present invention, which should be included in the scope of protection of the claims of the present invention.

Claims

1. A visual online measurement device for the cross-sectional distortion of a variable diameter metal tube during bending, characterized in that: The invention comprises a visual inspection module (1), a hose (20), an in-tube support device (2) and an axial feeding device (3); the hose (20) is installed in the axial feeding device (3); one end of the hose (20) extends out of the axial feeding device (3) and the in-tube support device (2) is installed at the end; and the visual inspection module (1) is installed at a side of the in-tube support device (2) away from the axial feeding device (3).

2. According to claim 1, a visual online measurement device for the inner tube cross-section distortion during the bending process of a variable diameter metal tube, characterized in that: The visual inspection module (1) comprises a laser (11) and an endoscope (12), and the laser (11) and the endoscope (12) are both installed on a side of the in-pipe support device (2) away from the axial feeding device (3).

3. According to claim 1, a visual online measurement device for the inner tube cross-section distortion during the bending process of a variable diameter metal tube, characterized in that: The in-tube support device (2) comprises a variable diameter slide rod mechanism (4) and a spring locking mechanism (5); the variable diameter slide rod mechanism (4) is fixedly connected to the end of the hose (20) extending out of the axial feeding device (3); a visual inspection module (1) is fixedly installed at the end surface of the variable diameter slide rod mechanism (4) away from the axial feeding device (3); and corresponding spring locking mechanisms (5) are respectively installed at multiple locking slide rods (23) of the variable diameter slide rod mechanism (4).

4. According to claim 3, a visual online measurement device for the inner tube cross-section distortion during the bending process of a variable diameter metal tube is characterized in that: The variable diameter slide rod mechanism (4) comprises an inner ring shaft (13), a first slider disc (14), a second slider disc (15), a cam disc (16), a first bearing (21), a slide rod (22), a locking slide rod (23), a serpentine spring (25), a latch (26), a universal wheel connector (27) and a universal wheel (28); a visual inspection module (1) is installed at the end face of the inner ring shaft (13) away from the axial feeding device (3); the end face of the inner ring shaft (13) close to the axial feeding device (3) is connected to the end of the hose (20) extending out of the axial feeding device (3); the cam disc (16) is coaxially sleeved outside the middle part of the inner ring shaft (13) through the first bearing (21); the first slider disc (14) and the second slider disc (15) are coaxially fixedly connected to the inner ring shaft (13) on both sides of the cam disc (16); and a first slider disc (14) and a second slider disc (15) are installed at the outer circumferential side face of the first slider disc (14). A plurality of slide bars (22) are arranged at intervals along the circumference, and a plurality of locking slide bars (23) are arranged at intervals along the circumference on the outer circumferential side surface of the second slide plate (15), and a corresponding spring locking mechanism (5) is also installed on each locking slide bar (23); a plurality of arc-shaped through grooves are provided on the end surface of the cam plate (16), and a serpentine spring (25) is installed in each arc-shaped through groove; each latch (26) passes through the middle of the corresponding slide bar (22) of the first slide plate (14), the corresponding arc-shaped through groove of the cam plate (16) and the middle of the corresponding locking slide bar (23) of the second slide plate (15) in sequence, so that the rotation of the cam plate (16) simultaneously drives all the slide bars (22) and the locking slide bars (23) to move radially synchronously; and a corresponding universal wheel (28) is installed at the end of each slide bar (22) / locking slide bar (23) through a corresponding universal wheel connecting member (27).

5. According to claim 3, a visual online measurement device for the inner tube cross-section distortion during the bending process of a variable diameter metal tube is characterized in that: The spring locking mechanism (5) comprises a buckle (29); a locking slide bar shaped slot (24) is provided on the side of each locking slide bar (23); one end of the buckle (29) is rotatably mounted on the outer circumferential side of the second slider plate (15) in a clearance fit manner; a boss is provided on the other end of the buckle (29); the boss is inserted into the locking slide bar shaped slot (24) and guides and slides along the locking slide bar shaped slot (24); when the buckle (29) is located at the bottom of the locking slide bar shaped slot (24), the locking slide bar (23) is in the maximum diameter change position; when the buckle (29) is located at the top of the locking slide bar shaped slot (24), the locking slide bar (23) is in the minimum diameter change position.

6. The visual online measurement device for the inner tube cross-section distortion during the bending process of a variable diameter metal tube according to claim 5 is characterized in that: The locking slide bar special-shaped slide groove (24) is a special-shaped ring groove, and the top of the outer edge of the special-shaped ring groove is provided with an inward protrusion, and the top of the inner edge of the special-shaped ring groove is also provided with an inward protrusion. The protrusion at the top of the outer edge and the protrusion at the top of the inner edge are staggered in the circumferential direction, so that when the buckle (29) is located at the top of the special-shaped ring groove, it is locked by the protrusion at the top of the inner edge, and when it is out of the locking state, it moves in the special-shaped ring groove in a preset direction; an upwardly inclined guide edge is provided in the middle of the bottom of the inner edge of the special-shaped ring groove, so that the buckle (29) moves upward along the guide edge, thereby moving in the special-shaped ring groove in a preset direction.

7. The visual online measurement device for the inner tube cross-section distortion during the bending process of a variable diameter metal tube according to claim 1 is characterized in that: The axial feeding device (3) comprises a bidirectional limiting mechanism (6), a knob (53), an internal gear box (7) and a straight handle (8); the straight handle (8) is equipped with an internal gear box (7); the knob (53) is arranged at the straight handle end cover (42) of the straight handle (8) and the knob (53) is coaxially fixedly connected to the driving shaft (43) of the internal gear box (7); the internal gear box (7) is connected to the hose (20), and the internal gear box (7) is used to drive the hose (20); the bidirectional limiting mechanism (6) is installed on the end surface of the straight handle (8) and is used for an adjustable limiting knob (53).

8. The visual online measurement device for the inner tube cross-section distortion during the bending process of a variable diameter metal tube according to claim 7 is characterized in that: The internal gear box (7) comprises a driving synchronous wheel (31), a driven synchronous wheel (32), a synchronous belt (33), an intermediate transmission shaft (34), a driven shaft (35), a first driven bevel gear (36), a second driven bevel gear (37), a driving bevel gear (38), a first driving gear (40), a second driving gear (41), a driving shaft (43), a second bearing (44), a third bearing (45), and a fourth bearing (46); the driving shaft (43) is installed in a straight shank end cover (42) of the straight shank (8) through the fourth bearing (46). One end of the driving shaft (43) extends out of the straight handle end cover (42) and is coaxially fixedly connected to the knob (53), and the other end of the driving shaft (43) is coaxially connected to the driving bevel gear (38); an intermediate transmission shaft (34) and a driven shaft (35) are installed in the straight handle (8), the intermediate transmission shaft (34) and the driven shaft (35) are parallel and spaced apart, and a driven synchronous wheel (32) and a second driving gear (41) are coaxially sleeved outside the driven shaft (35), the axial direction of the intermediate transmission shaft (34) is perpendicular to the axial direction of the driving shaft (43), and the driving bevel gear (38) A first driven bevel gear (36) and a second driven bevel gear (37) are coaxially sleeved on the intermediate transmission shafts (34) on both sides, the first driven bevel gear (36) and the second driven bevel gear (37) are meshed with the driving bevel gear (38) to form a bevel gear pair, the first driven bevel gear (36) is coaxially fixedly connected to the intermediate transmission shaft (34), and the second driven bevel gear (37) is connected to the intermediate transmission shaft (34) via a third bearing (45); the first driving gear (40) is coaxially fixedly connected to the intermediate transmission shaft (34) near the first driven bevel gear (36). The first drive gear (40) and the second drive gear (41) are fixedly connected; a hose (20) is arranged between the first drive gear (40) and the second drive gear (41); an annular tooth is arranged outside the hose (20); the hose (20) is meshed with the first drive gear (40) and the second drive gear (41) in opposite directions to form a drive pair; a driving synchronous wheel (31) is coaxially sleeved outside the rotation axis of the second driven bevel gear (37); the driving synchronous wheel (31) is coaxially fixedly connected with the rotation axis of the second driven bevel gear (37); and the driving synchronous wheel (31) is connected with the driven synchronous wheel (32) through a synchronous belt (33).

9. The visual online measurement device for the inner tube cross-section distortion during the bending process of a variable diameter metal tube according to claim 8, characterized in that: The internal gear box (7) further comprises a triangular support structure (39), a seventh bearing (49), a sixth bearing (48) and a fifth bearing (47); a triangular support structure (39) is further installed between the shaft side of the driving shaft (43) and the shaft side of the first driven bevel gear (36); the triangular support structure (39) is further installed between the shaft side of the driving shaft (43) and the shaft side of the second driven bevel gear (37); a circular ring structure of the triangular support structure (39) close to the driving bevel gear (38) is connected to the shaft side of the driving shaft (43) through the fifth bearing (47); a circular ring structure of the triangular support structure (39) close to the second driven bevel gear (37) is connected to the shaft side of the second driven bevel gear (37) through the seventh bearing (49); and a circular ring structure of the triangular support structure (39) close to the first driven bevel gear (36) is connected to the shaft side of the first driven bevel gear (36) through the sixth bearing (48).

10. The visual online measurement device for the inner tube cross-section distortion during the bending process of a variable diameter metal tube according to claim 7, characterized in that: The bidirectional limiting mechanism (6) comprises a limiting gear (52), a limiting handle (55), a limiting connecting rod (56), a limiting spring (57) and a limiting optical axis (58); a straight handle end cover inner ring baffle (63) and a straight handle end cover outer ring baffle (62) are installed on the straight handle end cover (42); a limiting gear (52) is coaxially sleeved outside the driving shaft (43); the limiting gear (52) is coaxially fixedly connected to the driving shaft (43); the limiting optical axis (58) is fixedly installed on the straight handle end cover (42); one end of the limiting handle (55) and the limiting connecting rod (56) are connected to the straight handle end cover (42); ) is rotatably mounted in a limiting optical axis (58), a limiting handle (55) and a limiting connecting rod (56) are arranged at an angle, and a toothed end of the limiting handle (55) and the other end of the limiting connecting rod (56) are connected via a limiting spring (57), the limiting connecting rod (56) is mounted on a circumferential side surface of an inner ring baffle plate (63) of a straight handle end cover, and the inner ring baffle plate (63) of the handle end cover is used to limit the limiting connecting rod (56); the limiting handle (55) is mounted on a circumferential side surface of a limiting gear (52) and is used to limit the limiting gear (52).

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