Visual online measurement device for inner tube cross-section distortion during variable diameter metal tube bending process

Abstract

The present invention discloses a visual online measurement device for the cross-sectional distortion of an inner tube during the bending process of a variable-diameter metal tube. The inner tube support device proposed by the present invention can adapt to the inner tube size, thereby completing the adjustment of the diameter of the inner tube support device, and can be locked; the straight handle is inserted into the core rod of the tube bending machine, and when the two-way limit mechanism is opened, the rotating knob drives the bevel gear in the gear box, so that the gears at both ends of the hose rotate in the opposite direction, and the axial movement of the endoscope device is achieved through the gear rack transmission. During the bending process, the two-way limit mechanism is locked to fix the axial position of the visual inspection module and the inner tube support device. A 360-degree line laser and an endoscope are then used to monitor the shape change of the inner wall cross section of the pipe during the bending process. The present invention has a simple structure and is easy to adjust. It can realize real-time measurement of the inner tube cross-sectional distortion during the bending process of pipes of different diameters, providing an online solution for pipe bending detection, effectively shortening the trial bending time and improving production efficiency.

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 during the bending process of a variable-diameter metal pipe. Background Art

[0002] Due to their hollow cross-section geometry, metal conduits, when bent in a certain direction under applied bending moment and load, inevitably lose their original regular cross-sectional shape and dimensions, causing the pipe diameter to vary non-uniformly along the circumference of the cross section, resulting in cross-sectional flattening. This not only weakens the cross-sectional rigidity but also causes pressure loss and flow pulsation in the conveyed fluid. Online measurement of cross-sectional flattening is crucial for precisely intervening in the metal conduit bending process and improving forming quality.

[0003] Due to limitations in testing methods, bending production sites cannot effectively detect and accurately characterize the cross-sectional shape of pipe fittings during the forming process. This often leads to preliminary testing and repeated trial-and-error bending of different pipe fittings during actual production, hindering the effective prediction and compensation of cross-sectional distortion. Furthermore, compared to the outer wall, the cross-sectional distortion of the inner wall of the pipe fitting has a direct impact on the accuracy of precision fluid transportation. This makes measuring inner wall distortion difficult in small pipe diameters and confined spaces.

[0004] To address the above issues, some people have proposed a pipeline endoscopy robot solution. However, the existing solution is only for formed pipes and cannot be used during 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 the 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 in the present invention is as follows:

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

[0008] The visual inspection module includes 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 face of the variable diameter slide rod mechanism away from the axial feeding device, and corresponding spring locking mechanisms are respectively installed on the 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 the 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 inner ring shaft on both sides of the cam disk is coaxially fixed with the first slider disk and the second slider 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 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 drives all the slide bars and the locking slide bars to move radially and synchronously at the same time; the end of each slide bar / locking slide bar is installed with a corresponding universal wheel through a corresponding universal wheel connector.

[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 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 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 locking 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 feed device includes a bidirectional 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 fixed 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 bidirectional 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, and the intermediate transmission shaft and the driven shaft are parallel and spaced apart, and a driven synchronous wheel and a second driving gear are coaxially sleeved on the outside of the driven shaft, and 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 coaxial 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 provided between the first drive gear and the second drive gear, and an annular tooth is provided 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 gearbox 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 two-way limit mechanism includes a limit gear, a limit handle, a limit connecting rod, a limit spring and a limit optical axis; the straight shank end cover is equipped with an inner ring baffle of the straight shank end cover and an outer ring baffle of the straight shank end cover, the outer coaxial sleeve of the active shaft is provided with a limit gear, the limit gear is coaxially fixedly connected to the active shaft, the straight shank 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 of the straight shank end cover, and the inner ring baffle of the shank end cover is used to limit the limit connecting rod; the limit handle is installed on the circumferential side of the limit gear 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 adapts to changes in the diameter of the endoscope device by adjusting the cam slider with a spring, and can be used for bending and forming pipes of different diameters.

[0020] (3) The present invention realizes the axial change of the endoscope device through the 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 Schematic diagram of the overall structure of the measuring device of the present invention;

[0023] Figure 2 Schematic diagram of the structure of the in-pipe support device of the present invention;

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

[0025] Figure 4 The cross-sectional view of the in-tube support device of the present invention, wherein (a) is the 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 diagram of the spring locking mechanism;

[0027] Figure 6 Schematic diagram of the overall structure 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] Figure 9 Schematic diagram of the overall structure of the bidirectional limit mechanism of the present invention;

[0031] Figure 10 This is a working diagram of the visual detection module of the present invention;

[0032] Figure 11 Schematic diagrams of different diameter-changing positions of the diameter-changing slide rod mechanism, where (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] Figure 12 Schematic diagram of the working state of the spring locking mechanism, wherein (a) is the locking state of the spring locking mechanism at the maximum diameter change, and (b) is the locking state of the spring locking mechanism at the minimum diameter change;

[0034] Figure 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 double-line limit mechanism in the locked state, and (b) is a schematic diagram of the double-line limit mechanism in the open state;

[0035] Figure 14 Schematic diagram of the in-pipe support device of the present invention in a bent pipe;

[0036] In the figure: 1. visual inspection module, 2. in-pipe support device, 3. axial feed device, 4. variable diameter slide rod mechanism, 5. spring locking mechanism, 6. bidirectional limit mechanism, 7. internal gear box, 8. straight shank, 9. straight shank positioning pin hole, 10. straight shank geometric center axis hole, 11. laser, 12. endoscope, 13. inner ring shaft, 14. first slider disk, 15. second slider disk, 16. cam disk, 17. first limit ring, 18. stepped 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 will be 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 inner tube cross-section distortion of a variable-diameter metal tube during the bending process proposed by the present invention includes 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 on 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. The laser 11 and the endoscope 12 are both installed on the side of the inner tube support device 2 away from the axial feeding device 3 (that is, the end face of the inner ring shaft 13 away from the axial feeding device 3) through a threaded manner. 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 detection module 1 are fixedly installed at the end face 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 pin 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 on the outside of 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. 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 on the outer side of 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 limiting retaining ring 17 is installed on the end away from the axial feed device 3 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 face 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 face of the second slider disc 15. Each locking sliding rod 23 is also installed with a corresponding spring locking mechanism 5; a plurality of arcuate through grooves are provided on the end face of the cam disc 16, and a serpentine spring 25 is installed in each arcuate through groove, and each latch 26 passes through the middle part, 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 middle of 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 bar 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 special-shaped slot 24 is opened 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. The boss is inserted into the locking slide bar special-shaped slot 24 and guides and slides along the locking slide bar special-shaped slot 24; when the buckle 29 is located at the bottom of the locking slide bar special-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 special-shaped slot 24, the lock The tightening slide bar 23 is in the minimum diameter-changing position; 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 moves in the special-shaped ring groove in 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 29 moves upward along the guide edge, thereby moving in the special-shaped ring groove in a preset direction.

[0043] The axial feed device 3 includes a bidirectional limiting mechanism 6, a knob 53, an internal gearbox 7, and a shank 8. A shank positioning pin hole 9 is provided on the outer circumferential side surface of the shank 8. The shank end cap 42 of the shank 8 also has a shank geometric center axis hole 10. A guide tube 61 is coaxial with the shank geometric center axis hole 10. The internal boss of the shank 8 is threadedly connected to the guide tube 61. The internal gearbox 7 is installed in the shank 8. The knob 53 is provided on the shank end cap 42 of the shank 8 and is coaxially fixedly connected to the driving shaft 43 of the internal gearbox 7. The first and second drive gears 40, 41 of the internal gearbox 7 are connected to the hose 20. The first and second drive gears 40, 41 of the internal gearbox 7 are used to drive the hose 20. The hose 20 is inserted into the shank end cap 42. The bidirectional limiting mechanism 6 is installed on the end surface of the shank 8 and is used for adjusting the limiting knob 53.

[0044] like Figure 6 、 Figure 7 (a) and Figure 8As shown, the internal gearbox 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 drive gear 40, a second drive 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, and 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 fixed with the knob 53. The other end of the driving shaft 43 is coaxially connected to the driving bevel gear 38. 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. 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. 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. The axial direction of the intermediate transmission shaft 34 is perpendicular to the axial direction of the driving shaft 43. A first driven bevel gear 36 and a second driven bevel gear 37 are coaxially sleeved on the intermediate transmission shaft 34 on both sides of the driving bevel gear 38. The first driven bevel gear 36 and the second driven bevel gear 37 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, and the second driven bevel gear 37 is connected to the intermediate transmission shaft 34 through a third bearing 45. 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 provided between the first drive gear 40 and the second drive gear 41, and an annular tooth is provided on the outside of the hose 20. 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 axis, and the driving synchronous wheel 31 is coaxially fixedly connected to the second driven bevel gear 37's own rotating axis, 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, realizing 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, as shown in FIG. 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. 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 via 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 via 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 via the sixth bearing 48. A second limit ring 51 is also installed between the sixth bearing 48 and the ring gear of the first driven bevel gear 36. A second limit ring 51 is also installed between the seventh bearing 49 and the ring gear 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 mounted 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 support for the inner ring of the third bearing 45 embedded in the end of the second driven bevel gear 37 Provide axial support, 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 and provides support to the inner ring of the seventh bearing 49, and the outer ring of the seventh bearing 49 is axially and radially supported by the triangular support structure 39.

[0046] like Figure 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 equipped 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, and the outer coaxial sleeve of the driving shaft 43 is provided with a limiting gear 52, the limiting gear 52 is coaxially fixed 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 are coaxially connected to the driving shaft 43. A limit optical axis 58 is fixedly mounted, and one end of a limit handle 55 and one end of a limit link 56 are rotatably mounted within the limit optical axis 58. The limit handle 55 and the limit link 56 are arranged at an angle, and a limit spring 57 connects the toothed end of the limit handle 55 to the other end of the limit link 56. The limit link 56 is mounted on the circumferential side of the inner ring baffle 63 of the straight handle end cap, which is used to limit the limit link 56. The limit handle 55 is mounted on the circumferential side of the limit gear 52 to limit the limit gear 52. The ends of the limit spring 57 are respectively hooked into the grooves of the bosses of the limit link 56 and the limit handle 55, providing a constant inward pulling force, ensuring that the limit handle 55 firmly grips the limit gear 52 when in a limited position, preventing it from rotating in both directions. The knob 53 is fixed to the shaft end of the driving shaft 43 via a spring retaining ring 54.

[0047] The following method for using a visual online measurement device for measuring the cross-sectional distortion of a variable-diameter metal tube during bending comprises the following steps:

[0048] 1) Insert the inner pipe support device 2 into the pipe opening on the side to be bent, avoiding deep insertion so that the spring locking mechanism 5 can be released from the locking state;

[0049] 2) Manually rotate the cam plate 16 toward the inner side 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 disengages from the top of the locking slide bar special-shaped slide groove 24 and moves along the right slide groove, and the diameter-changing slide bar mechanism 4 turns to a free telescopic state; at this time, the serpentine spring 25 provides thrust to push the pin 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 pin 26 to move in the direction 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 diameter-changing 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 link 56 abuts against the inner baffle 63 of the straight shank end cap, and the teeth of the limit handle 55 are engaged with the limit gear 52. The limit handle 55 of the two-way limit mechanism 6 is manually pushed outward. 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 link 56 are coplanar, the limit spring 57 pulls the limit handle 55 and the limit link 56 toward the outside through tension until the limit link 56 is limited by the outer baffle 62 of the straight shank end cap. The spring returns to the free state. At this time, the axial feed device 3 is in the free state. Figure 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 in the same direction as 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 the rotation direction is opposite to that of the first driving gear 40; the first driving gear 40 and the second driving gear 41 are tooth-engaged with the hose 20 and rotate in opposite directions, 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 moved inward so that the teeth of the limit handle 55 and the teeth of the limit gear 52 are engaged, as shown in FIG. Figure 13 As shown in (a); when the boss of the limit handle 55 passes over the plane that is coplanar with the axis of the limit optical axis 58 and the axis of the boss of the limit link 56, the limit spring 57 pulls the limit handle 55 and the limit link 56 inward through tension 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 this time, the axial feed device 3 is turned to the locking state.

[0054] 5) Insert the mandrel shaft into the geometric center axis hole 10 of the straight shank, and pass it through the straight shank end cover 42, the guide tube 61 and the straight shank 8 in sequence. The straight shank 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 achieve the fixation of the inner pipe cross-section distortion visual online measurement device in the pipe.

[0055] 6) If Figure 10As shown, turn on the power of the laser 11 and the endoscope 12, the laser 11 emits a 360-degree laser plane 64 vertically to the inner wall of the tube, and obtains a cross-sectional laser line vertically incident 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 spatial coordinates corresponding to the cross-sectional laser line can be calculated using the laser triangulation method; when the tube is bent and deformed, the 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 tube support device in the bent tube is shown in FIG. Figure 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 feed device 3 is in a free state, and rotate the knob 53 counterclockwise to allow the tube support device 2 to withdraw from the tube. At this time, the diameter-changing slide rod mechanism 4 reaches its maximum diameter under the thrust of the serpentine spring 25, as shown in FIG. Figure 11 (a) and Figure 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 disengages 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 diameter-reducing slide bar mechanism 4 is turned to the locked state and reaches the minimum diameter, such as Figure 11 (b) and Figure 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 intended only to illustrate the technical solutions of the present invention and are not intended to limit the present invention. It should be understood by those skilled in the art that modifications or equivalent substitutions to the technical solutions of the present invention may be made without departing from the spirit and scope of the technical solutions disclosed herein, and all such modifications or equivalent substitutions shall be encompassed within 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 feed device (3), wherein the hose (20) is installed in the axial feed device (3), one end of the hose (20) extends out of the axial feed 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 feed device (3); 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); a visual inspection module (1) is fixedly installed on 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 on the multiple locking slide rods (23) of the variable diameter slide rod mechanism (4); The spring locking mechanism (5) includes a buckle (29); a locking slide bar special-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; the other end of the buckle (29) is provided with a boss, which is inserted into the locking slide bar special-shaped slot (24) and guides and slides along the locking slide bar special-shaped slot (24); when the buckle (29) is located at the bottom of the locking slide bar special-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 special-shaped slot (24), the locking slide bar (23) is in the minimum diameter change position.

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

3. The device for visually measuring the internal cross-section distortion of a variable diameter metal tube during bending according to claim 1 is characterized in that: The variable diameter slide 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 bar (22), a locking slide bar (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 feed device (3); the end face of the inner ring shaft (13) close to the axial feed device (3) is connected to the end of the hose (20) extending out of the axial feed 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 inner ring shaft (13) on both sides of the cam disc (16) is coaxially fixed with the first slider disc (14) and the second slider disc (15), and the outer circumferential side face of the first slider disc (14) is installed There are a plurality of slide bars (22) arranged at intervals along the circumference, and a plurality of locking slide bars (23) arranged at intervals along the circumference are installed on the outer circumferential side surface of the second slider disc (15), and each locking slide bar (23) is also installed with a corresponding spring locking mechanism (5); a plurality of arcuate through grooves are opened at the end surface of the cam disc (16), and a serpentine spring (25) is installed in each arcuate through groove. Each latch (26) passes through the middle of the corresponding slide bar (22) of the first slider disc (14), the corresponding arcuate through groove of the cam disc (16) and the middle of the corresponding locking slide bar (23) of the second slider disc (15) in sequence, so that the rotation of the cam disc (16) simultaneously drives all the slide bars (22) and the locking slide bars (23) to move radially synchronously; 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).

4. The device for visually measuring the internal cross-section distortion of a variable diameter metal tube during bending according to claim 1 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 the buckle (29) is locked by the protrusion at the top of the inner edge when it is located at the top of the special-shaped ring groove, and moves in the special-shaped ring groove in 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 (29) moves upward along the guide edge, thereby moving in the special-shaped ring groove in a preset direction.

5. The visual online measurement device for the cross-sectional distortion of a variable diameter metal tube during bending 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 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 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 adjusting the limiting knob (53).

6. The device for visually measuring the internal cross-section distortion of a variable diameter metal tube during bending according to claim 5, characterized in that: The internal gear box (7) includes 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 mounted in the 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 fixed with the knob (53), and the other end of the driving shaft (43) is coaxially connected with the driving bevel gear (38); an intermediate transmission shaft (34) and a driven shaft (35) are installed in the straight handle (8), 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 outside 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 driving bevel gear (38) The intermediate transmission shafts (34) on both sides are respectively provided with a first driven bevel gear (36) and a second driven bevel gear (37) coaxially sleeved, 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) through 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 provided between the first drive gear (40) and the second drive gear (41); an annular tooth is provided on the outside of 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 to the rotation axis of the second driven bevel gear (37); and the driving synchronous wheel (31) is connected to the driven synchronous wheel (32) through a synchronous belt (33).

7. The device for visually measuring the internal cross-section distortion of a variable diameter metal tube during bending according to claim 6, characterized in that: The internal gearbox (7) further includes 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); 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); and 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).

8. The device for visually measuring the internal cross-section distortion of a variable diameter metal tube during bending according to claim 5, characterized in that: The two-way limiting mechanism (6) includes 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 provided on the outer coaxial sleeve of 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 fixedly installed on the straight handle end cover (42); ) is rotatably mounted in the limiting optical axis (58), the limiting handle (55) and the limiting link (56) are arranged at an angle, and the toothed end of the limiting handle (55) and the other end of the limiting link (56) are connected via a limiting spring (57), the limiting link (56) is mounted 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 limiting link (56); the limiting handle (55) is mounted on the circumferential side of the limiting gear (52) and is used to limit the limiting gear (52).

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