Steel pipe detection mechanism based on 3D camera

Abstract

The invention relates to the field of steel pipe detection, in particular to a steel pipe detection mechanism based on a 3D camera, which comprises a frame body and a motor in the frame body, the bottom of the motor is in driving connection with a linear guide rail, one side of the linear guide rail is in sliding connection with a detection camera, and a first elastic piece is arranged at the sliding joint of the linear guide rail and the detection camera. Second elastic pieces are fixed to the bottoms of the detection cameras, and anti-collision plates are connected to the bottoms of the second elastic pieces. When the steel pipe deviates upwards and collides with the anti-collision plate, the spring damper is compressed, kinetic energy of the steel pipe is converted into elastic potential energy for buffering, meanwhile, the detection camera achieves an upward moving mode of buffering first and then following through a differential buffering mechanism of the first elastic piece and the second elastic piece, impact force borne by the camera is effectively reduced, and the detection accuracy is improved. Meanwhile, the two baffles are automatically closed, the steel pipe is prevented from directly impacting the detection camera, dual protection is achieved, and when the compression amount of the first elastic piece reaches the limit, the detection camera is driven by the linear guide rail to move upwards, and protection on the detection camera is enhanced.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of steel pipe detection, in particular to a steel pipe detection mechanism based on a 3D camera. BACKGROUND

[0002] The welded pipe production process belongs to a continuous production process. After the strip steel is unwound, flattened, formed and welded, the surface image of the steel pipe is collected by a 3D camera and other detection equipment. The image is uploaded to a database to record the surface features, time, abnormal position and other information of the steel pipe, which is used for problem tracking and tracing in the later stage. However, before the steel pipe is cut off, the steel pipe is still in the unit, and the steel pipe is easily offset (upward and downward warping, etc.) during the advancing process due to reasons such as rolling and forming of the strip steel. Although an anti-offset component is provided, due to the length of the steel pipe and the large driving force of the unit, the existing component may not be able to completely suppress the vibration and displacement of the steel pipe in the radial direction, resulting in the steel pipe colliding with the detection camera, and further causing damage to the equipment or false detection. Especially when a 3D detection camera (3D vision sensor) is used for surface imaging, its vulnerability and high precision requirements are more prominent. Compared with ordinary two-dimensional cameras, 3D detection cameras need to perform accurate depth measurement under complex structures, usually including lasers, structured light projection modules, optical lens arrays and other high-value components, which are highly sensitive to external force impact and slight vibration.

[0003] Some existing technologies can solve the problem of steel pipe offset to a certain extent, and can reset the steel pipe offset during conveying. However, the existing technology has certain defects, lacks a protection device for the detection camera, and the steel pipe is easy to collide with the detection camera when the offset exceeds a certain limit, resulting in damage to the detection camera. And because there is a lack of buffer component between the detection camera and the anti-collision plate, the large kinetic energy generated when the steel pipe is offset is directly applied to the camera. The existing technology sets a combination of linear guide rails and motors on one side of the detection camera to adjust the position of the camera. When the steel pipe is offset, the combination of linear guide rails and motors can avoid the camera from being hit to a certain extent when the position is less or the offset speed is slow. However, it cannot guarantee that the steel pipe offset is always small and slow. When the steel pipe offset is large and fast, there will be a certain time difference from when the motor receives the start signal to when the linear guide rail starts to move, which may cause the camera to be hit and damaged, thereby affecting the safety of the equipment operation and the accuracy of the detection data.

[0004] Therefore, the present application provides a steel pipe detection mechanism based on a 3D camera with multi-stage buffering and capable of effectively reducing the impact force of the steel pipe offset on the detection camera. SUMMARY

[0005] Aiming at the problem that the impact force of the steel pipe offset on the detection camera cannot be effectively reduced in the prior art, a steel pipe detection mechanism based on a 3D camera is designed.

[0006] The technical scheme adopted by the present application to solve its technical problems is: a steel pipe detection mechanism based on a 3D camera, comprising a frame and a motor arranged inside the frame, a linear guide rail is drivingly connected to the bottom of the motor, a detection camera is slidingly connected to one side of the linear guide rail, a first elastic member is arranged at the sliding connection position of the linear guide rail and the detection camera, a pressure sensor is arranged at the top of the first elastic member, a second elastic member is fixed to the bottom of the detection camera, a bumper plate is connected to the bottom of the second elastic member, the elastic coefficient of the first elastic member is greater than that of the second elastic member, when the bumper plate is pressed and moved, the compression amount of the second elastic member is greater than that of the first elastic member, the detection camera and the bumper plate move at the same speed but at different speeds, and the speed of the bumper plate is greater than that of the detection camera, so as to buffer the impact force received by the detection camera, and when the compression amount of the second elastic member reaches the limit, the signal is transmitted to the controller through the pressure sensor, the motor is started by the controller, and the detection camera is driven upward by the linear guide rail.

[0007] Further, the inner wall of the frame is slidingly connected with a buffer reset assembly, the buffer reset assembly comprises a moving plate slidingly connected with the frame, a spring damper is fixedly connected to the lower surface of the moving plate, the moving plate is slidingly connected with the bumper plate through the spring damper, and the lower end of the spring damper is fixedly connected to the upper surface of the bumper plate to limit and correct the offset steel pipe.

[0008] Further, the lower surface of the moving plate is fixedly connected with a support plate, a second elastic member is fixedly connected between the lower surface of the detection camera and the upper surface of the bumper plate, the motor is arranged on the upper surface of the moving plate, the output end of the motor is connected with the linear guide rail, a sliding groove is formed in one side of the linear guide rail, the detection camera is slidingly connected in the sliding groove through a connecting block, and the sliding groove at the sliding connection position of the linear guide rail and the detection camera is provided with a first elastic member.

[0009] Further, the two side surfaces of the support plate are provided with second camera protection assemblies, the second camera protection assembly comprises an L-shaped plate fixedly connected between the two support plates, a baffle is slidingly connected to the lower surface of the L-shaped plate, a second sliding block is slidingly connected to the inner wall of the L-shaped plate, a first sliding block is connected to the second sliding block through a connecting rod, and the first sliding block is slidingly connected to the inner wall of the L-shaped plate.

[0010] Further, the second sliding block is fixedly connected to the side surface of the detection camera, and the first sliding block is fixedly connected to the upper surface of the baffle.

[0011] Further, the side surface of the frame body is provided with an adjusting assembly, the adjusting assembly comprises a rotating ring rotatably connected to the side surface of the frame body, the rotating ring is connected with a moving block through a connecting rod, the moving block is fixedly connected with a moving plate, and the moving block is slidingly connected to the inner wall of the frame body.

[0012] Further, the lower surface of the frame body is fixedly connected with a base, the upper surface of the base is fixedly connected with two groups of clamping assemblies, the side surface of the frame body is fixedly connected with an air knife, and the inside of the air knife is provided with an air groove.

[0013] Further, the clamping assembly comprises a support frame, the inner wall of the support frame is fixedly connected with a guide rail, the inner wall of the support frame is fixedly connected with a motor, the output end of the motor is fixedly connected with a double-head screw rod, and the support frame is slidingly connected with two clamping plates through the guide rail and the double-head screw rod.

[0014] Further, the detection camera is slidingly connected between the two support plates.

[0015] Further, the anti-collision plate is slidingly connected to the inner wall of the frame body.

[0016] The beneficial effects of the present application are as follows:

[0017] 1. The steel pipe detection mechanism based on the 3D camera, when the steel pipe deviates, the anti-collision plate is first impacted, the spring damper is compressed, the kinetic energy of the steel pipe is converted into elastic potential energy for buffering, at the same time, the detection camera is upwardly moved at the same direction but different speed through the differential buffering mechanism of the first elastic member and the second elastic member with different elastic strengths, the impact force received by the detection camera is effectively reduced, the detection camera can more stably respond to the impact, the precision equipment is protected from vibration damage, at the same time, the detection camera drives the baffle to close during the upward movement, a physical barrier is formed, the steel pipe is prevented from directly impacting the detection camera, multiple protections are realized, equipment damage is avoided, the safety of equipment operation and the accuracy of detection data are ensured, the vibration and damage risk of the detection camera is greatly reduced, and the service life of the equipment is prolonged.

[0018] 2. The steel pipe detection mechanism based on the 3D camera, when the steel pipe deviates a small amount, the kinetic energy is converted into elastic potential energy through the compression of the spring damper, and the stable reset of the steel pipe is realized during the release process, the vibration and secondary deviation caused by inertia are effectively prevented, and the conveying stability is improved.

[0019] 3. The steel pipe detection mechanism based on a 3D camera according to the present application, when the compression amount of the second elastic member reaches the limit, the signal is transmitted to the controller through the pressure sensor, the controller starts the motor, and the detection camera is driven to move upward through the linear guide rail, the protection of the detection camera is strengthened, the compression of the first elastic member provides the reaction time of the linear guide rail, so as to drive the detection camera to move upward in time. BRIEF DESCRIPTION OF DRAWINGS

[0020] The present application is further illustrated below in conjunction with the drawings and examples.

[0021] Figure 1 It is the overall schematic diagram of the present application;

[0022] Figure 2 It is the cross-sectional view of the air knife of the present application;

[0023] Figure 3 It is the position schematic diagram of the detection assembly and the adjusting assembly of the present application;

[0024] Figure 4 It is the internal structure schematic diagram of the detection assembly of the present application;

[0025] Figure 5 It is the connection diagram of the detection assembly and the adjusting assembly of the present application;

[0026] Figure 6 It is the three-dimensional structure schematic diagram of the camera protection assembly of the present application;

[0027] Figure 7 It is the protection state diagram of the camera protection assembly of the present application;

[0028] Figure 8 It is the protection state multi-angle diagram of the camera protection assembly of the present application;

[0029] Figure 9 It is the structure schematic diagram of the buffer assembly of the present application;

[0030] Figure 10 It is the structure diagram of the linear guide rail of the present application;

[0031] Figure 11 It is the cross-sectional view of the clamping assembly of the present application.

[0032] In the diagram: 1. Base; 2. Clamping assembly; 21. Support frame; 22. Guide rail; 23. Double-ended lead screw; 24. Motor; 25. Clamping plate; 26. Roller; 31. Frame; 32. Buffer reset assembly; 321. Moving plate; 322. Spring damper; 323. Anti-collision plate; 331. Support plate; 332. First elastic element; 333. Second elastic element; 34. Second camera protection assembly; 341. L-shaped plate; 342. Baffle; 343. First slider; 344. Second slider; 4. Air knife; 5. Air duct; 6. Adjustment assembly; 61. Rotating ring; 62. Moving block; 63. Cylinder; 7. Detection camera. Detailed Implementation

[0033] To make the technical means, technical features, objectives and effects of this invention easier to understand, the invention will be further described below in conjunction with specific embodiments.

[0034] Example: Figures 1-11 As shown, the steel pipe inspection mechanism based on a 3D camera of the present invention includes a frame 31 and a motor installed inside it. A multi-stage buffered linear guide rail is driven and connected to the bottom of the motor. A detection camera is slidably connected to one side of the linear guide rail. A first elastic element 332 is provided at the sliding connection between the linear guide rail and the detection camera, and a pressure sensor is provided at the top of the first elastic element 332. A second elastic element 333 is fixed to the bottom of the detection camera, and a crash plate 323 is connected to the bottom of the second elastic element 333. The elastic coefficient of the first elastic element 332 is much greater than that of the first elastic element 332. The length of the first elastic element 332 is much smaller than that of the second elastic element 333. When the anti-collision plate 323 is compressed and moves, the compression of the second elastic element 333 is much greater than that of the first elastic element 332. The detection camera 7 and the anti-collision plate 323 move in the same direction at a different speed, and the speed of the anti-collision plate 323 is much greater than that of the detection camera 7, thus buffering the impact force on the detection camera 7. When the compression of the second elastic element 333 reaches its limit, the pressure sensor transmits a signal to the controller, which starts the motor and drives the detection camera 7 to move upward through the linear guide rail.

[0035] In this embodiment, the first elastic element 332 is provided to better determine when the motor and linear guide are started, preventing the second elastic element 333 from failing to effectively find the start-up timing of the motor and linear guide during compression. Therefore, a set of first elastic elements 332 that can buffer the start-up time of the linear guide is provided. The pressure sensor controls the start-up threshold of the motor and linear guide to be the pressure value provided by the first elastic element 332 to the pressure sensor when the compression of the second elastic element 333 reaches its limit. This pressure value is the start-up threshold, and at this time, the first elastic element 332 can continue to be compressed to make up for the time difference between the start-up of the motor and linear guide and prevent the deviated steel pipe from hitting the detection camera 7.

[0036] Specifically, the inner wall of the frame body 31 is slidingly connected with the buffer reset assembly 32, the buffer reset assembly 32 comprises a moving plate 321 slidingly connected with the frame body 31, the lower surface of the moving plate 321 is fixedly connected with a spring damper 322, the moving plate 321 is slidingly connected with a collision plate 323 through the spring damper 322, the lower end of the spring damper 322 is fixedly connected to the upper surface of the collision plate 323 to limit and correct the deviation of the steel pipe, n sets of buffer reset assemblies 32 are arranged on the periphery except directly above the steel pipe, and n is an integer greater than 2.

[0037] In the embodiment, the buffer reset assembly 32 limits and corrects the deviation of the steel pipe, when the steel pipe deviates upward, the second elastic member 333 cooperates with the buffer reset assembly 32 to drive the detection camera 7 to move upward, thereby buffering the impact force acting on the detection camera 7 when the steel pipe collides, and further protecting the detection camera 7 from being damaged by collision, when the steel pipe deviates, the collision plate 323 is deviated by collision, at this time the spring damper 322 is compressed and shrunk, the kinetic energy of the steel pipe is converted into elastic potential energy and stored, and then when the potential energy is released, a reverse thrust is generated to push the steel pipe back to the center axis, the spring damper 322 consumes residual kinetic energy during the release process, avoids oscillation of the steel pipe after resetting due to inertia, and thereby ensures stable conveying of the steel pipe.

[0038] Specifically, the lower surface of the moving plate 321 is fixedly connected with a support plate 331, the second elastic member 333 is fixedly connected between the lower surface of the detection camera 7 and the upper surface of the collision plate 323, the motor is arranged on the upper surface of the moving plate 321, the output end of the motor is connected with the linear guide rail, the linear guide rail is provided with a sliding groove on one side, the detection camera is slidingly connected in the sliding groove through a connecting block, and the sliding groove at the sliding connection position of the linear guide rail and the detection camera is provided with the first elastic member 332; the linear guide rail is a known prior art, and thus will not be described in detail.

[0039] In the embodiment, after the steel pipe is offset upward to collide with the anti-collision plate 323, the spring damper 322 is compressed and shrunk, and the first elastic member 332 and the second elastic member 333 are shrunk. Since the elastic coefficient of the second elastic member 333 is smaller than that of the first elastic member 332 when being compressed, the shrinkage range of the second elastic member 333 is larger than that of the first elastic member 332. When the steel pipe is offset upward, the detection camera 7 is first moved upward at a speed smaller than that of the anti-collision plate 323 in the process of moving upward on the anti-collision plate 323, and then moves upward at the same speed as the anti-collision plate 323, so as to effectively reduce the impact force on the detection camera 7 when the steel pipe collides with the anti-collision plate 323, buffer the impact force on the detection camera 7, and avoid damage of the detection camera 7 due to vibration; when the compression amount of the second elastic member 333 reaches the limit, the signal is transmitted to the controller through the pressure sensor, the controller starts the motor, and the detection camera 7 is moved upward through the linear guide rail. When the compression amount of the second elastic member 333 reaches the limit, the first elastic member 332 can still be compressed, and the time for the first elastic member 332 to be compressed is the reaction time from the motor receiving the start signal to the linear guide rail starting to move, so as to timely adjust the position of the detection camera 7 and avoid damage of the detection camera 7 due to impact.

[0040] The materials of the first elastic member 332 and the second elastic member 333 are spring steel (SiMn), which has high yield strength ≥ MPa and toughness, can withstand severe impact, and avoid damage.

[0041] Specifically, the two side surfaces of the support plate 331 are provided with the second camera protection assembly 34. The second camera protection assembly 34 includes an L-shaped plate 341 fixedly connected between the two support plates 331. The lower surface of the L-shaped plate 341 is slidably connected with a baffle 342. The inner wall of the L-shaped plate 341 is slidably connected with a second sliding block 344. The second sliding block 344 is connected with a first sliding block 343 through a connecting rod. The first sliding block 343 is slidably connected to the inner wall of the L-shaped plate 341. The second sliding block 344 is fixedly connected to the side surface of the detection camera 7. The first sliding block 343 is fixedly connected to the upper surface of the baffle 342.

[0042] In the embodiment, when the detection camera 7 moves upward, the detection camera 7 drives the two second sliding blocks 344 to move upward, drives the two first sliding blocks 343 to relatively move under the action of the connecting rod, drives the two baffles 342 to relatively move, and makes the two baffles 342 close, so as to shield and protect the detection camera 7 from being collided by the steel pipe.

[0043] Specifically, the adjusting assembly 6 comprises a rotating ring 61 rotationally connected with the frame body 31, the rotating ring 61 is connected with a moving block 62 through a connecting rod, and the moving block 62 is fixedly connected with the moving plate 321 and slidingly connected with the inner wall of the frame body 31, and the side surface of one of the moving blocks 62 is fixedly connected with an air cylinder 63.

[0044] In the embodiment, the air cylinder 63 drives one of the moving blocks 62 to move, and drives the rotating ring 61 to rotate under the action of the connecting rod, and drives the other moving blocks 62 to move under the action of the connecting rod, so that the plurality of moving blocks 62 simultaneously drive the plurality of moving plates 321 to move, so that the anti-collision plate 323 can be in contact with the outer surface of the steel pipe when conveying steel pipes of different diameters, and the spring damper 322 is not compressed, thereby facilitating the positioning and deviation correction of steel pipes of different diameters, avoiding the problem of too large or too small gap caused by the change of pipe diameter, and ensuring that the deviation correction function is always effective.

[0045] Specifically, the lower surface of the frame body 31 is fixedly connected with a base 1, the upper surface of the base 1 is fixedly connected with two groups of clamping assemblies 2, the side surface of the frame body 31 is fixedly connected with an air knife 4, and the inside of the air knife 4 is provided with an air groove 5. The cross section of the air outlet path of the air groove 5 is arranged at an angle of 30° with the advancing direction of the steel pipe, and the outer surface of the air knife 4 is connected with an external high-pressure air pump through a hose.

[0046] In the embodiment, the high-pressure air pump delivers gas to the air knife 4 through the hose, and then blows out through the air groove 5, so as to remove the iron filings on the steel pipe. The air outlet path of the air groove 5 is arranged at an angle of 30° with the advancing direction of the steel pipe, so that the dust removal efficiency is improved by about 25% compared with the vertical angle, and the iron filings and other impurities on the surface of the steel pipe are more effectively removed, avoiding interference with the detection imaging quality.

[0047] Specifically, the clamping assembly 2 comprises a support frame 21, the inner wall of the support frame 21 is fixedly connected with a guide rail 22, the inner wall of the support frame 21 is fixedly connected with a motor 24, the output end of the motor 24 is fixedly connected with a double-head screw rod 23, and the support frame 21 is slidingly connected with two clamping plates 25 through the guide rail 22 and the double-head screw rod 23. The inner wall of the clamping plate 25 is rotationally connected with a roller 26.

[0048] In the embodiment, the motor 24 drives the double-head screw rod 23 to rotate, and drives the two clamping plates 25 to move relative to each other under the limiting action of the guide rail 22, so that the outer surface of the roller 26 is in contact with the outer surface of the steel pipe, thereby limiting the steel pipe of different diameters and ensuring the accuracy of the steel pipe conveying.

[0049] Working principle: through the relative movement of the two clamps 25, the outer surface of the roller 26 is in contact with the outer surface of the steel pipe, so as to limit the steel pipe of different pipe diameters, and ensure the accuracy of the steel pipe conveying, at the same time, under the action of the air cylinder 63, a plurality of moving blocks 62 drive a plurality of moving plates 321 to move, so that the anti-collision plate 323 can be in contact with the outer surface of the steel pipe when conveying steel pipes of different pipe diameters, and the steel pipes of different pipe diameters are limited and corrected; before the steel pipe is detected, the high-pressure gas blown out by the air knife 4 is used to clean the iron filings on the surface of the steel pipe, and then the steel pipe passes under the detection camera 7, and then the detection camera 7 is used to take a photo of it; when the steel pipe deviates, the anti-collision plate 323 is deviated by collision, at this time, the spring damper 322 is compressed and shrunk, at the same time, the first elastic member 332 and the second elastic member 333 are shrunk, the detection camera 7 and the anti-collision plate 323 move in the same direction at different speeds, and the speed of the anti-collision plate 323 is greater than that of the detection camera 7, the impact force suffered by the detection camera 7 is buffered through the first elastic member 332 with small compression amount and the second elastic member 333 with large compression amount, the detection camera 7 is prevented from being damaged by vibration, and at the same time that the detection camera 7 moves up, the two baffles 342 move relatively and close, shielding and protecting the detection camera 7, preventing the steel pipe from colliding with the detection camera 7, when the compression amount of the second elastic member 333 reaches the limit, the signal is transmitted to the controller through the pressure sensor, the controller starts the motor, drives the detection camera 7 to move up through the linear guide rail, avoids the detection camera 7 from being collided, then the spring damper 322 converts the kinetic energy of the steel pipe into elastic potential energy, and then releases the potential energy to generate a reverse thrust to push the steel pipe back to the center axis, ensuring the stable conveying of the steel pipe.

[0050] The basic principles, main features and advantages of the present application are shown and described above. Those skilled in the art should understand that the present application is not limited to the above-mentioned embodiments, and the above-mentioned embodiments and descriptions in the specification are only to illustrate the principles of the present application, and various changes and improvements can be made without departing from the spirit and scope of the present application, and these changes and improvements all fall within the scope of the present application. The scope of protection of the present application is defined by the appended claims and their equivalents.

Claims

1. A steel pipe inspection mechanism based on a 3D camera, comprising a frame and a motor disposed inside it, characterized in that: The motor is driven by a linear guide rail at its bottom. A detection camera is slidably connected to one side of the linear guide rail. A first elastic element is provided at the slidable connection between the linear guide rail and the detection camera, and a pressure sensor is provided on the top of the first elastic element. A second elastic element is fixed to the bottom of the detection camera, and a crash plate is connected to the bottom of the second elastic element. The elastic coefficient of the first elastic element is greater than that of the second elastic element. When the crash plate is compressed and moves, the compression of the second elastic element is greater than that of the first elastic element. The detection camera and the crash plate move in the same direction at a differential speed, and the speed of the crash plate is greater than that of the detection camera, thus buffering the impact force on the detection camera. When the compression of the second elastic element reaches its limit, the pressure sensor transmits a signal to the controller, which starts the motor and drives the detection camera upward through the linear guide rail.

2. The steel pipe inspection mechanism based on a 3D camera according to claim 1, characterized in that: The inner wall of the frame is slidably connected to a buffer reset assembly. The buffer reset assembly includes a movable plate slidably connected to the frame. A spring damper is fixedly connected to the lower surface of the movable plate. A crash plate is slidably connected to the movable plate through the spring damper. The lower end of the spring damper is fixedly connected to the upper surface of the crash plate to limit and correct the deviation of the steel pipe. In addition to the area directly above the steel pipe, n sets of buffer reset assemblies are also provided in other circumferential directions, where n is set to an integer greater than 2.

3. The steel pipe inspection mechanism based on a 3D camera according to claim 2, characterized in that: A support plate is fixedly connected to the lower surface of the moving plate. A second elastic element is fixedly connected between the lower surface of the detection camera and the upper surface of the anti-collision plate. A motor is set on the upper surface of the moving plate. The output end of the motor is connected to a linear guide rail. A groove is opened on one side of the linear guide rail. The detection camera is slidably connected to the groove through a connecting block. A first elastic element is set in the groove at the sliding connection between the linear guide rail and the detection camera.

4. The steel pipe inspection mechanism based on a 3D camera according to claim 3, characterized in that: The support plate has a second camera protection assembly on both sides. The second camera protection assembly includes an L-shaped plate fixedly connected between the two support plates. A baffle is slidably connected to the lower surface of the L-shaped plate. A second slider is slidably connected to the inner wall of the L-shaped plate. The second slider is connected to a first slider through a connecting rod, and the first slider is slidably connected to the inner wall of the L-shaped plate.

5. The steel pipe inspection mechanism based on a 3D camera according to claim 4, characterized in that: The second slider is fixedly connected to the side surface of the detection camera, and the first slider is fixedly connected to the upper surface of the baffle.

6. The steel pipe inspection mechanism based on a 3D camera according to claim 1, characterized in that: An adjustment assembly is provided on the side surface of the frame. The adjustment assembly includes a rotating ring rotatably connected to the side surface of the frame. The rotating ring is connected to a moving block via a connecting rod, and the moving block is fixedly connected to a moving plate. The moving block is slidably connected to the inner wall of the frame. A cylinder is fixedly connected to the side surface of one of the moving blocks.

7. The steel pipe inspection mechanism based on a 3D camera according to claim 1, characterized in that: A base is fixedly connected to the lower surface of the frame, and two sets of clamping components are fixedly connected to the upper surface of the base. An air knife is fixedly connected to the side surface of the frame. An air groove is opened inside the air knife, and the air outlet path cross section of the air groove is set to form a 30° angle with the forward direction of the steel pipe.

8. A steel pipe inspection mechanism based on a 3D camera according to claim 7, characterized in that: The clamping assembly includes a support frame, a guide rail fixedly connected to the inner wall of the support frame, a motor fixedly connected to the inner wall of the support frame, a double-ended lead screw fixedly connected to the output end of the motor, two clamping plates slidably connected to the support frame through the guide rail and the double-ended lead screw, and rollers rotatably connected to the inner wall of the clamping plates.

9. A steel pipe inspection mechanism based on a 3D camera according to claim 8, characterized in that: The detection camera is slidably connected between two support plates.

10. A steel pipe inspection mechanism based on a 3D camera according to claim 1, characterized in that: The anti-collision plate is slidably connected to the inner wall of the frame.

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