Circular tube radial deviation degree recording device and application

Abstract

The invention relates to a circular tube radial deviation degree recording device and application. The circular tube radial deviation degree recording device comprises a detection vehicle, a detection box and a distance measuring head, a servo motor, a single-tooth gear, a rack, a recording pen, a first switch, a second switch and a first electromagnet are arranged in the detection box, the rack is meshed with the single-tooth gear and connected with the inner wall of the detection box through a tension spring, the first switch is connected with the walking motor in series, the second switch is connected with the distance measuring head in series, and the first electromagnet is connected with the recording pen; the single-tooth gear is driven by the servo motor and drives the rack to move; when the rack is in contact with the first switch and the second switch at the same time, the walking motor and the single-tooth gear stop working, the distance measuring head works to detect the inner diameter of the circular tube, and if the distance measuring head detects that the inner diameter is abnormal, the distance measuring head sends out a signal, the first electromagnet is powered on and off once, and the recording pen records once; the recording device can detect the deviation degree of the inner diameter of the circular pipe for multiple times, and the deviation degree of the inner diameter of the circular pipe can be accurately evaluated through multiple dotting records.

Description

Technical Field

[0001] The present invention relates to a device for recording the radial deviation degree of a circular pipe and its application, and particularly to using a robot to detect and record the radial deviation inside the circular pipe, belonging to the technical field of inspection and testing equipment. Background Art

[0002] The roundness of a circular pipe refers to the degree of difference in the distance between the pipe wall and the geometric center of the cross-section in different directions on the cross-section of the pipe. If the cross-sectional shape of the pipe is a perfect circle, then the roundness of the circular pipe is 100%. However, in the actual manufacturing process, the cross-sectional shape of the pipe may have certain deviations, resulting in the roundness not reaching 100% exactly. The roundness of a circular pipe can be evaluated by measuring the diameters in different directions of the pipe. By measuring the maximum and minimum values of the pipe diameter, its roundness can be calculated, usually expressed as a percentage. If the difference in the pipe diameter in different directions is small, the roundness of the pipe is high; conversely, the roundness is low. The roundness of a circular pipe is very important for some application fields with high precision requirements, such as mechanical manufacturing, aerospace, etc. Pipes with high roundness can ensure accurate matching with other components during the assembly process, thus ensuring the quality and stability of the overall product. Therefore, roundness is an important index that needs to be focused on during the production and selection of circular pipes.

[0003] Currently, detecting the roundness of a circular pipe usually involves measuring different parts of the cross-sectional diameter of the pipe, and special roundness measuring instruments, projectors, optical microscopes or coordinate measuring machines can be used. These methods can provide accurate diameter data to evaluate the roundness of the circular pipe, ensure that the product quality meets the standards and improve production efficiency. For example, Chinese patent document CN118640812A discloses an on-line continuous precise diameter measuring device for circular pipes, which is used for on-line precisely measuring the outer diameter size of the pipe. It is provided with adjacent first and second stable roller groups, and the pipe passes through the first and second stable roller groups and remains straight. A laser diameter measuring device is also provided between the first and second stable roller groups. The laser diameter measuring device is also provided with a laser rangefinder and a rotating device. The laser rangefinder can measure the positions of the two points with the largest distance between the maximum diameters of the pipe and is arranged on the rotating device. The rotating device can drive the laser rangefinder to rotate coaxially around the pipe to achieve the complete measurement of the circumferential size by the laser rangefinder. This technical solution realizes the rotation of the laser diameter measuring device around the pipe to be measured by setting a rotating device, and obtains the precise pipe size by rotating the laser diameter measuring device to measure the outer diameter of the entire pipe circumference. This technical solution is simple and convenient, with low cost and is conducive to practice.

[0004] However, in the prior art, most of the devices are for detecting the outer diameter of round tubes, and rarely involve the inner diameter of round tubes. Moreover, due to the small impact of the radial deviation of the inner diameter of round tubes on engineering factors, no special detection and recording devices for the radial deviation of the inner diameter of round tubes have been found on the market. Summary of the Invention

[0005] Aiming at the deficiencies of the prior art, the present invention provides a device for recording the radial deviation degree of round tubes. The device is scientifically and reasonably designed, has a high degree of automation, and is small and convenient in structure. It can enter the small-inner-diameter round tubes to detect and record the radial deviation, and has a high detection accuracy.

[0006] The present invention also provides a working method of the above device for recording the radial deviation degree of round tubes.

[0007] The technical solution of the present invention is as follows: A device for recording the radial deviation degree of round tubes includes a detection vehicle, a detection box and a distance measuring head arranged on the detection vehicle; The detection vehicle includes a vehicle frame, vehicle legs and wheels. The four corners of the vehicle frame are connected to the four vehicle legs, and the bottom ends of the vehicle legs are connected to the wheels. The wheels are electric drive wheels and are driven by a walking motor inside the wheels; The detection box is provided with a servo motor, a single-tooth gear, a rack, a recording pen, a first switch, a second switch and a first electromagnet. The rack meshes with the single-tooth gear and is connected to the inner wall of the detection box through a tension spring. The first switch is connected in series with the walking motor, the second switch is connected in series with the distance measuring head, and the first electromagnet is connected to the recording pen; When the walking motor and the single-tooth gear work, the single-tooth gear is driven by the servo motor and drives the rack to move; when the rack contacts the first switch and the second switch at the same time, the walking motor and the single-tooth gear stop working. At this time, the distance measuring head works to detect the inner diameter of the round tube. If the distance measuring head detects an abnormality in the inner diameter, the distance measuring head sends a signal, and the first electromagnet is powered on and off once, and the recording pen records once; then the rack resets, and the walking motor and the single-tooth gear work again, and so on, and the recording pen realizes multiple recordings.

[0008] Preferably, the vehicle legs are telescopic legs. The advantage of this design is that the length of the telescopic legs can be adjusted according to the inner diameter of the round tube. After adjustment, the recording device is placed into the tube.

[0009] Preferably, a plurality of distance measuring heads are arranged on the detection vehicle, and the plurality of distance measuring heads are circumferentially distributed.

[0010] Preferably, a compression spring, a push rod, an adjusting plate, a third spring, a third switch, a second electromagnet, a limiting plate, a clamping rod, a second spring and a spring cylinder are arranged inside the rack; the push rod is a T-shaped rod, one end of the push rod is connected to the compression spring, and the other end extends out of the rack; the bottom end of the adjusting plate is connected to the inner wall of the rack through the third spring, the third switch and the second electromagnet are located below the adjusting plate, and a plurality of limiting plates with increasing heights are arranged on the upper surface of the adjusting plate; a rectangular opening is provided on the rack, a plurality of clamping grooves are arranged on both sides of the rectangular opening, a sliding plate is arranged inside the rectangular opening, the bottom end of the sliding plate is in contact with the push rod, the top end of the sliding plate is arc-shaped, and the right side surface of the sliding plate is a slope; the second spring is placed inside the spring cylinder, the top end of the clamping rod extends into the spring cylinder and is connected to the second spring, the bottom end of the clamping rod is placed inside the clamping groove, and the left side surface of the clamping rod is a slope, corresponding to the right side surface of the sliding plate.

[0011] Preferably, the third switch is a normally open switch and is connected in series with the servo motor.

[0012] Preferably, a first spring pin, a second spring pin, a slot, a lifting rod, a rheostat and a first spring are arranged inside the detection box; the lower half of the lifting rod is provided with the slot, the top end of the lifting rod is connected to the rheostat, the first spring is sleeved on the recording pen, and the upper and lower ends of the first spring are respectively connected to the first electromagnet and the recording pen, one side of the recording pen is connected to the second spring pin, the first spring pin and the second spring pin are arranged oppositely, and the opposite ends of the first spring pin and the second spring pin are placed inside the slot; the rheostat is connected to the second electromagnet. The advantage of this design is that when the recording pen resets and rises, the second spring pin drives the lifting rod to rise a certain distance, so that the resistance of the rheostat decreases, the magnetic force of the second electromagnet increases, and the adjusting plate continues to descend.

[0013] Preferably, a winding wheel, a roll of paper and a printing table are arranged inside the detection box, the winding wheel is in transmission connection with the single-tooth gear, the printing table is located below the recording pen, the roll of paper is placed on one side of the printing table through a fixed shaft, and one end of the roll of paper passes through the printing table and is wound on the winding wheel after that. The advantage of this design is that the rotation of the single-tooth gear drives the winding wheel to rotate, the winding wheel pulls the roll of paper to move on the printing table, so that the recording pen makes marks at different positions on the roll of paper.

[0014] Preferably, the recording device includes an industrial control computer, and the traveling motor, the servo motor, the first switch, the second switch, the third switch, the first electromagnet and the second electromagnet are all connected and controlled by the industrial control computer.

[0015] Preferably, a counterweight block is arranged at the bottom of the detection vehicle.

[0016] A working method of a circular tube radial deviation recording device includes the following steps: 1) Adjust the length of the vehicle legs according to the inner diameter of the circular tube, and place the entire recording device into the circular tube; 2) The industrial control computer controls the operation of the traveling motor and the servo motor. The inspection vehicle travels inside the pipe. The servo motor drives the single-tooth gear to rotate, and the single-tooth gear drives the rack to move to the right. 3) During the process of the rack moving to the right, the tension spring is stretched and stores energy. When the rack moves to contact the first switch and the second switch, the first switch and the second switch are triggered. At this time, the first switch is disconnected, the second switch is closed, the traveling motor and the servo motor stop operating, the inspection vehicle and the rack stop moving, and the distance measuring head starts to measure the inner diameter of the circular pipe. During the process of the rack moving to the right, the clamping rod is inserted into the card slots on the rack in sequence. When the rack contacts the first switch and the second switch, the clamping rod is lifted by the slide plate and contacts the upper surface of the slide plate, releasing the restraint of the clamping rod on the rack. 4) If the distance measuring head detects that the inner diameter of the circular pipe is abnormal, the distance measuring head sends a signal to the industrial control computer, and the industrial control computer controls the first electromagnet to be powered on and off once, so that the recording pen records once on the paper tape. When the recording pen rises and resets, it drives the lifting rod to rise, reducing the resistance of the rheostat. The magnetic force of the second electromagnet increases, attracting the adjusting plate to descend, and making the ejector rod move to the right by a limit plate. 5) At the initial position where the rack moves to the left under the action of the restoring force of the tension spring, the first switch is closed again, the second switch is disconnected again, the traveling motor and the servo motor start operating, the inspection vehicle and the rack continue to move, and the distance measuring head stops operating. 6) Repeat steps 2)-5). When the adjusting plate descends to the bottommost end and triggers the third switch, the third switch is disconnected, the servo motor stops operating, then the single-tooth gear and the winding wheel stop rotating, and only the traveling motor remains powered on until it exits the circular pipe to complete the detection.

[0017] Technical features and beneficial effects of the present invention: 1. The present invention can effectively detect the deviation degree of the inner diameter of the circular pipe, record the deviation degree of the inner diameter multiple times, thereby providing an evaluation basis for whether the inner diameter of the circular pipe meets the requirements, filling the gap in the problem that the inner diameter of the circular pipe cannot be detected, especially for circular pipes with a small inner diameter.

[0018] 2. The recording device of the present invention is scientifically and reasonably designed, with a small and flexible structure. For circular pipes with different inner diameters, the inspection vehicle can run smoothly inside the circular pipe by adjusting the length of the vehicle legs, and has strong adaptability.

[0019] 3. The recording device of the present invention can detect the deviation degree of the inner diameter of the circular pipe multiple times. Through multiple dot recordings, the deviation degree of the inner diameter of the circular pipe can be accurately evaluated. Brief Description of the Drawings

[0020] Figure 1 It is a working state diagram of the present invention when detecting the pipe diameter; Figure 2 It is a schematic diagram of the positional relationship of the device of the present invention when detecting the pipe diameter; Figure 3 It is a three-dimensional structure diagram of the device of the present invention; Figure 4 It is a side view of the structure of the device of the present invention; Figure 5 It is a schematic diagram of the internal structure of the detection box in the device of the present invention; Figure 6 It is a schematic diagram of the structure of the rack part in the device of the present invention; Figure 7 It is a cross-sectional schematic diagram of the rack part in the device of the present invention (the ejector rod is not extended); Figure 8 It is a cross-sectional schematic diagram of the rack part in the device of the present invention (the ejector rod is extended); Figure 9 It is a schematic diagram of the circuit connection relationship of each switch in the present invention; In the figure: 1 - pipe body; 2 - detection vehicle; 3 - distance measuring head; 4 - detection box; 5 - counterweight; 6 - tension spring; 7 - rack; 8 - single-tooth gear; 9 - ejector rod; 10 - slide plate; 11 - card slot; 12 - spring cylinder; 13 - first switch; 14 - second switch; 15 - winding wheel; 16 - paper tape; 17 - first electromagnet; 18 - recording pen; 19 - first spring; 20 - first spring pin; 21 - second spring pin; 22 - slot; 23 - lifting rod; 24 - rheostat; 25 - second spring; 26 - clamping rod; 27 - compression spring; 28 - adjusting plate; 29 - third spring; 30 - third switch; 31 - second electromagnet; 32 - limiting plate. Detailed implementation manners

[0021] The present invention will be further described below by way of examples in conjunction with the accompanying drawings, but not limited thereto. Example 1

[0022] As Figures 1-9 shown, this example provides a circular pipe radial deviation recording device, including a detection vehicle 2 and a detection box 4 and a distance measuring head 3 arranged on the detection vehicle; The detection vehicle 2 includes a vehicle frame, vehicle legs and wheels. Four vehicle legs are connected to the four corners of the vehicle frame, and the bottom ends of the vehicle legs are connected to the wheels. The wheels are electric drive wheels and are driven by a traveling motor inside the wheels; The detection box 4 is provided with a servo motor, a single-tooth gear 8, a rack 7, a recording pen 18, a first switch 13, a second switch 14 and a first electromagnet 17. The rack 7 meshes with the single-tooth gear 8 and is connected to the inner wall of the detection box through a tension spring 6. The first switch 13 is connected in series with the traveling motor, the second switch 14 is connected in series with the distance measuring head, and the first electromagnet 17 is connected to the recording pen 18; When the traveling motor and the single-tooth gear are working, the single-tooth gear 8 is driven by the servo motor to drive the rack 7 to move; when the rack 7 contacts the first switch 13 and the second switch 14 at the same time, the traveling motor and the single-tooth gear stop working. At this time, the distance measuring head 3 works to detect the inner diameter of the round tube. If the distance measuring head detects an abnormality in the inner diameter, the distance measuring head sends a signal, and the first electromagnet 17 is powered on and off once, and the recording pen 18 records once; then the rack 7 resets, and the traveling motor and the single-tooth gear work again, and so on, and the recording pen realizes multiple recordings.

[0023] Specifically, the vehicle frame is an I-shaped steel structure, and four legs are welded at the four corner positions. The legs form a 45° angle with the vehicle frame. The legs are telescopic legs with a buckle structure, and the length of the telescopic legs can be adjusted according to the inner diameter of the round tube. After adjustment, the recording device is placed into the tube, which can ensure the stability of the inspection vehicle running in the tube. The wheels are rubber wheels with large friction, which can improve the running stability.

[0024] Six distance measuring heads 3 are arranged on the inspection vehicle. The six distance measuring heads 3 are circumferentially distributed. The six distance measuring heads 3 are installed at one end of the vehicle frame through a star-shaped bracket. Through the data measured by the six distance measuring heads (the measured data of each distance measuring head at different positions is compared with its own first measured data. If the measured data of each distance measuring head at different positions is the same, it means that the inner diameter of the round tube has no deviation), it can be known whether there is a deviation in the inner diameter of the round tube. If there is a deviation, the distance measuring head 3 sends a signal to the industrial control computer, and the industrial control computer controls the recording pen 18 to make a dot record. By the number of dots, the deviation degree of the inner diameter of the round tube can be evaluated. The more dots, the greater the deviation of the inner diameter of the round tube and the worse the quality control of the round tube.

[0025] The rack 7 is a cuboid with a hollow interior. A compression spring 27, a push rod 9, an adjusting plate 28, a third spring 29, a third switch 30, a second electromagnet 31, a limiting plate 32, a clamping rod 26, a second spring 25 and a spring cylinder 12 are arranged inside the rack 7; the push rod 9 is a T-shaped rod, one end of the push rod 9 is connected to the compression spring 27, and the other end extends out of the rack 7; the bottom end of the adjusting plate 28 is connected to the inner wall of the rack through the third spring 29. The third switch 30 and the second electromagnet 31 are located below the adjusting plate 28, and four limiting plates 32 with increasing heights are arranged on the upper surface of the adjusting plate 28; a rectangular opening is provided on the rack 7, and a plurality of card slots 11 are arranged on both sides of the rectangular opening. A sliding plate 10 is arranged in the rectangular opening. The bottom end of the sliding plate 10 contacts the push rod 9. The top end of the sliding plate 10 is arc-shaped, and the right side surface of the sliding plate 10 is an inclined surface; the second spring 25 is placed in the spring cylinder 12. The top end of the clamping rod 26 extends into the spring cylinder 12 and is connected to the second spring 25. The bottom end of the clamping rod 26 is placed in the card slot 11. The left side surface of the clamping rod 26 is an inclined surface, which corresponds to the right side surface of the sliding plate 10.

[0026] The first switch 13 is a normally open switch, the second switch 14 is a normally closed switch, and the third switch 30 is a normally open switch. The third switch 30 is connected in series with the servo motor, and the circuit connection relationship is as Figure 9 shown.

[0027] Inside the detection box 4, there are a first spring pin 20, a second spring pin 21, a slot 22, a lifting rod 23, a rheostat 24, and a first spring 19; the lower half of the lifting rod 23 is provided with the slot 22, the top of the lifting rod 23 is connected to the rheostat 24, the first spring 19 is sleeved on the recording pen 18, and the upper and lower ends of the first spring 19 are respectively connected to the first electromagnet 17 and the recording pen 18. One side of the recording pen 18 is connected to the second spring pin 21. The first spring pin 20 and the second spring pin 21 are arranged opposite to each other, and the opposite ends of the first spring pin 20 and the second spring pin 21 are placed inside the slot 22; the rheostat 24 is connected to the second electromagnet 31. When the recording pen 18 resets and rises, the second spring pin 21 drives the lifting rod 23 to rise a certain distance, so that the resistance of the rheostat 24 decreases, the magnetic force of the second electromagnet 31 increases, and the adjusting plate 28 continues to descend.

[0028] Inside the detection box, there are a take-up wheel 15, a roll of paper, and a printing table. The take-up wheel 15 is connected to the single-tooth gear 8 through a belt drive. While the servo motor drives the single-tooth gear 8 to rotate, it also drives the take-up wheel 15 to rotate. The printing table is located below the recording pen 18. The roll of paper is placed on one side of the printing table through a fixed shaft, and one end of the roll of paper passes through the printing table and is wound around the take-up wheel 15. The rotation of the single-tooth gear 8 drives the take-up wheel 15 to rotate, and the take-up wheel 15 pulls the roll of paper to move on the printing table, so that the recording pen 18 makes marks at different positions on the roll of paper.

[0029] The recording device includes an industrial computer (not shown in the figure). The traveling motor, the servo motor, the first switch 13, the second switch 14, the third switch 30, the first electromagnet 17, and the second electromagnet 31 are all connected and controlled by the industrial computer. Through the control of the industrial computer, without manual intervention, automatic walking, distance measurement, and recording can be achieved. Embodiment 2

[0030] A circular tube radial deviation recording device has the same structure as that in Embodiment 1, except that: a counterweight 5 is provided at the bottom of the detection vehicle. The counterweight can increase the weight of the entire vehicle frame and ensure the stable operation of the detection vehicle inside the circular tube body 1. Embodiment 3

[0031] A working method of a circular tube radial deviation recording device, based on the technical solution of Embodiment 1, the working process of the recording device includes the following steps: 1) According to the inner diameter size of the circular tube to be detected, adjust the length of the vehicle legs so that the entire recording device can be stably placed inside the circular tube, and the vehicle legs can stably support the entire recording device; 2) Turn on the power supply to put the recording device into working state. The industrial control computer controls the operation of the traveling motor and the servo motor. The inspection vehicle moves forward in the pipe. The servo motor drives the single-tooth gear 8 to rotate. The single-tooth gear 8 drives the rack 7 to move to the right. At the same time, the single-tooth gear 8 also drives the winding wheel 15 to rotate. While the winding wheel 15 rotates, it winds the paper tape 16. 3) During the process of the rack 7 moving to the right, the tension spring 6 is stretched and stores energy. When the rack 7 moves to contact the first switch 13 and the second switch 14, the first switch 13 and the second switch 14 are triggered. At this time, the first switch 13 is turned off, the second switch 14 is turned on, the traveling motor and the servo motor stop operating, the inspection vehicle and the rack 7 stop moving, and the winding wheel 15 also stops rotating. The distance measuring head 3 is started and measures the inner diameter of the circular pipe. During the process of the rack 7 moving to the right, the clamping rod 26 sequentially inserts into the card slots 11 on the rack. When the rack 7 contacts the first switch 13 and the second switch 14, the clamping rod 26 is lifted by the slide plate 10 and contacts the upper surface of the slide plate. The bottom end of the clamping rod 26 is located in the arc area on the upper surface of the slide plate, releasing the constraint of the clamping rod 26 on the rack 7. 4) If the distance measuring head 3 detects that the inner diameter of the circular pipe is abnormal, the distance measuring head 3 sends a signal to the industrial control computer. The industrial control computer controls the first electromagnet 17 to be powered on and off once, so that the recording pen 18 records once on the paper tape 16. When the recording pen 18 rises and resets under the action of the restoring force of the first spring, it drives the lifting rod 23 to rise, reducing the resistance of the rheostat 24. The magnetic force of the second electromagnet 31 increases, attracting the adjusting plate 28 to descend, causing the ejector rod 9 to move to the right by a limit plate 32. If the distance measuring head 3 detects that the inner diameter of the circular pipe is normal, step 4) is skipped and step 5) is directly carried out.

[0032] 5) Since the clamping rod 26 releases the constraint on the rack 7, the rack 7 moves to the left initial position under the action of the restoring force of the tension spring. The first switch 13 is closed again, the second switch 14 is opened again, the traveling motor and the servo motor are started to operate again, the inspection vehicle 2 and the rack 7 continue to move, the winding wheel 15 rotates again, and the distance measuring head 3 stops operating. 6) Repeat steps 2)-5). When the adjusting plate 28 descends to the bottom end and triggers the third switch 30 (at this time, the ejector rod 9 moves to the rightmost limit plate 32), the third switch 30 is turned off, the servo motor stops operating, then the single-tooth gear 8 and the winding wheel 15 stop rotating, and only the traveling motor remains powered on until it exits the circular pipe to complete the detection.

[0033] The above is only the specific implementation manner of the present invention. The protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by those skilled in the art within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention.

Claims

1. A circular tube radial deviation recording device, characterized in that It includes a detection vehicle, a detection box and a distance measuring head arranged on the detection vehicle; The inspection vehicle includes a frame, legs and wheels. The four corners of the frame are connected to the four legs, and the bottom ends of the legs are connected to the wheels. The wheels are electric drive wheels driven by the travel motors inside the wheels. A servo motor, a single-tooth gear, a rack, a recording pen, a first switch, a second switch and a first electromagnet are arranged in the detection box. The rack is meshed with the single-tooth gear and connected to the inner wall of the detection box through a tension spring. The first switch is connected in series with the travel motor, the second switch is connected in series with the distance measuring head, and the first electromagnet is connected to the recording pen. When the travel motor and the single-tooth gear are working, the single-tooth gear is driven by the servo motor and drives the rack to move; when the rack contacts the first switch and the second switch at the same time, the travel motor and the single-tooth gear stop working, and the distance measuring head works at this time to detect the inner diameter of the round tube. If the distance measuring head detects that the inner diameter is abnormal, the distance measuring head sends a signal, the first electromagnet is powered on and off once, and the recording pen records once; then the rack is reset, the travel motor and the single-tooth gear work again, and so on, and the recording pen can record multiple times.

2. The circular tube radial deviation recording device according to claim 1, wherein The vehicle legs are telescopic legs.

3. The circular tube radial deviation recording device according to claim 1, characterized in that, The detection vehicle is provided with a plurality of distance measuring heads, and the plurality of distance measuring heads are distributed in a circumferential direction.

4. The circular tube radial deviation recording device according to claim 1, characterized in that, A compression spring, a push rod, an adjustment plate, a third spring, a third switch, a second electromagnet, a limit plate, a clamping rod, a second spring and a spring barrel are arranged in the rack; the push rod is a T-shaped rod, one end of which is connected to the compression spring and the other end extends out of the rack; the bottom end of the adjustment plate is connected to the inner wall of the rack through the third spring, the third switch and the second electromagnet are located below the adjustment plate, and a plurality of limit plates with increasing heights are arranged on the upper surface of the adjustment plate; a rectangular opening is arranged on the rack, a plurality of clamping slots are arranged on both sides of the rectangular opening, a slide plate is arranged in the rectangular opening, the bottom end of the slide plate contacts the push rod, the top end of the slide plate is arc-shaped, and the right side surface of the slide plate is an inclined surface; the second spring is placed in the spring barrel, the top end of the clamping rod extends into the spring barrel and is connected to the second spring, the bottom end of the clamping rod is placed in the clamping slot, and the left side surface of the clamping rod is an inclined surface, corresponding to the right side surface of the slide plate.

5. The circular tube radial deviation recording device according to claim 4, characterized in that, The third switch is a normally open switch and is connected in series with the servo motor.

6. The circular tube radial deviation recording device according to claim 4, characterized in that, The detection box is provided with a first spring pin, a second spring pin, a slot, a lifting rod, a rheostat and a first spring; the slot is provided on the lower half of the lifting rod, the top of the lifting rod is connected to the rheostat, the first spring is sleeved on the recording pen, and the upper and lower ends of the first spring are respectively connected to the first electromagnet and the recording pen, one side of the recording pen is connected to the second spring pin, the first spring pin and the second spring pin are arranged opposite to each other, and the opposite ends of the first spring pin and the second spring pin are placed in the slot; the rheostat is connected to the second electromagnet.

7. The circular tube radial deviation recording device according to claim 1, characterized in that, The detection box is provided with a winding wheel, a paper roll and a printing table. The winding wheel is connected to the single-tooth gear transmission. The printing table is located below the recording pen. The paper roll is placed on one side of the printing table through a fixed shaft. One end of the paper roll is wound on the winding wheel after passing through the printing table.

8. The circular tube radial deviation recording device according to claim 4, characterized in that, The recording device comprises an industrial computer, and the travel motor, the servo motor, the first switch, the second switch, the third switch, the first electromagnet and the second electromagnet are all connected and controlled by the industrial computer.

9. The circular tube radial deviation recording device according to claim 1, characterized in that, A counterweight is arranged at the bottom of the detection vehicle.

10. A working method of a circular tube radial deviation degree recording device according to any one of claims 1-9, characterized in that, The following steps are involved: 1) Adjust the length of the vehicle legs according to the inner diameter of the circular pipe, and place the entire recording device into the circular pipe; 2) The industrial control computer controls the operation of the traveling motor and the servo motor. The inspection vehicle travels inside the pipe. The servo motor drives the single-tooth gear to rotate, and the single-tooth gear drives the rack to move to the right; 3) During the process of the rack moving to the right, the tension spring is stretched and stores energy. When the rack moves to contact the first switch and the second switch, the first switch and the second switch are triggered; at this time, the first switch is disconnected, the second switch is closed, the traveling motor and the servo motor stop operating, the inspection vehicle and the rack stop moving, and the measuring saw head starts to measure the inner diameter of the circular pipe; During the process of the rack moving to the right, the clamping rod is inserted into the card slots on the rack in sequence; when the rack contacts the first switch and the second switch, the clamping rod is lifted by the slide plate and contacts the upper surface of the slide plate, releasing the constraint of the clamping rod on the rack; 4) If the measuring saw head detects that the inner diameter of the circular pipe is abnormal, the distance measuring head sends a signal to the industrial control computer, and the industrial control computer controls the first electromagnet to be powered on and off once, so that the recording pen records once on the paper tape; When the recording pen rises and resets, it drives the lifting rod to rise, reducing the resistance of the rheostat. The magnetic force of the second electromagnet increases, attracting the adjusting plate to descend, and the ejector rod moves to the right by a limit plate; 5) At the initial position where the rack moves to the left under the action of the restoring force of the tension spring, the first switch is closed again, the second switch is disconnected again, the traveling motor and the servo motor start operating, the inspection vehicle and the rack continue to move, and the distance measuring head stops operating; 6) Repeat steps 2)-5). When the adjusting plate descends to the bottommost end and triggers the third switch, the third switch is disconnected, the servo motor stops operating, then the single-tooth gear and the take-up wheel stop rotating, and only the traveling motor remains powered on until it exits the circular pipe to complete the inspection.

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