A kind of hydraulic seamless steel pipe after bending profiling detection device

Abstract

The present application belongs to the technical field of bend detection device, and specifically relates to a profile detection device for hydraulic seamless steel pipe after bending, wherein the servo telescopic unit comprises a moving seat, a supporting spring, a displacement sensor, a limiting block, a sliding block, a linear guide rail, a rotating seat, a lead screw, a nut and a servo motor; the present application utilizes the principle that the two ends of the contact swing rod in the inclination detection assembly simultaneously contact the steel pipe to bear force and drive the first telescopic rod to move when the contact swing rod contacts the steel pipe, and accurately judges whether the contact swing rod is completely attached to the surface of the steel pipe through displacement change, so as to further ensure the accuracy and reliability of the detection angle, and further accurately reflect the actual inclination angle of the bending part of the steel pipe through the mode, and realize high-precision detection in cooperation with the first angle sensor; the whole detection process has high automation degree, is simple to operate, and can meet the profile detection requirements of the hydraulic seamless steel pipe after bending in terms of detection efficiency and precision.

Description

Technical Field

[0001] This invention belongs to the technical field of pipe bending detection devices, specifically a contour detection device for hydraulic seamless steel pipes after bending. Background Technology

[0002] Hydraulic seamless steel pipes, as a key structural component, are widely used in numerous fields such as petrochemicals, engineering machinery, and aerospace. The shape accuracy after bending directly affects the quality of subsequent assembly and the overall performance of the equipment. Traditional methods for inspecting steel pipe bending often rely on manual measurement using templates, calipers, and other tools. This is not only labor-intensive and inefficient, but the results are also easily influenced by the operator's experience and subjective factors, making it difficult to guarantee the consistency and reliability of inspection accuracy. Especially for hydraulic seamless steel pipes with complex bending angles or multiple curvatures, manual inspection often fails to fully and accurately capture the actual geometric parameters at the bend, easily leading to defective products entering subsequent processes, creating safety hazards, or causing assembly failures.

[0003] With the continuous improvement of automated production levels, higher requirements are placed on the inspection of hydraulic seamless steel pipes after bending, necessitating a device capable of automated, high-precision conformal inspection. While some existing automated inspection equipment has improved inspection efficiency to some extent, it still has shortcomings in its inspection principles and structural design. For example, some inspection devices use contact-based single-point measurement, requiring multiple movements of the measuring head to complete the inspection of the entire bending area, making the process cumbersome and difficult to guarantee the continuity and representativeness of the measurement points. Other machine vision-based inspection methods are easily affected by factors such as the surface finish of the steel pipe and ambient lighting, leading to reduced image recognition accuracy, especially for internal wall bends or complex curved surfaces. Furthermore, existing inspection devices often suffer from inaccurate positioning and uneven clamping force in the positioning and clamping of the steel pipe under test, causing deformation or slippage, further affecting the accuracy of the inspection results. Contact-based tilt and angle inspections, due to the contact-based extrusion force, cause steel pipe deformation, leading to uncontrollable measurement errors. Therefore, developing a device that can accurately position and clamp the hydraulic seamless steel pipe under test, and efficiently and accurately perform contour detection of key parameters such as bending angle and curvature, has become an urgent technical problem to be solved in this field. Summary of the Invention

[0004] To overcome the shortcomings of existing technologies, this invention proposes a contour detection device for hydraulically bent seamless steel pipes. This invention primarily addresses the issues of insufficient automation and detection accuracy in existing steel pipe bending detection devices.

[0005] The technical solution adopted by this invention to solve its technical problem is as follows: This invention provides a conformal detection device for hydraulic seamless steel pipe after bending, including a support plate, a pad, a longitudinal positioning clamping assembly, a transverse positioning clamping assembly, and an inclination angle detection assembly; the pad is fixedly connected to the support plate at the position corresponding to the steel pipe positioning, clamping, and detection; the lower surface of the steel pipe is in contact with the upper surface of the pad; the longitudinal positioning clamping assembly is used to position and clamp the steel pipe longitudinally; the transverse positioning clamping assembly is used to position and clamp the steel pipe laterally; the inclination angle detection assembly includes an abutting swing rod, a first angle sensor, a first telescopic rod, and a servo telescopic unit; the middle of the abutting swing rod is hinged to one end of the first telescopic rod, and the first angle sensor is connected between the abutting swing rod and the first telescopic rod; the first angle sensor is used to detect the relative angle between the abutting swing rod and the first telescopic rod; the servo telescopic unit includes a moving seat, a support spring, and a displacement... The system comprises a sensor, a limit block, a slider, a linear guide rail, a rotating seat, a lead screw, a nut, and a servo motor. A square guide hole is provided along the length of the moving seat. The other end of the first telescopic rod is slidably connected within the square guide hole. The end face of the other end of the first telescopic rod abuts against one end of a support spring. The other end of the support spring abuts against the limit block. The limit block is fixedly connected to the end of the moving seat. A displacement sensor is disposed between the first telescopic rod and the limit block to detect displacement changes between them. The bottom of the moving seat is slidably connected to a support plate via the slider and the linear guide rail. The nut is fixedly connected to the bottom of the moving seat. The nut and the lead screw are connected via a threaded connection. Both ends of the lead screw are rotatably connected to the support plate via rotating seats. One end of the lead screw is fixedly connected to the shaft of the servo motor. The servo motor is fixedly connected to the support plate via a motor mounting bracket.

[0006] Preferably, the conformal detection device for the bent hydraulic seamless steel pipe further includes an angle detection component; the angle detection component includes two opposing swing rods, a second angle sensor, a third angle sensor, a second telescopic rod, and a servo telescopic unit; the second telescopic rod has a symmetrical bifurcated structure, with each of the two bifurcated ends hinged to an opposing swing rod, and the two opposing swing rods are respectively connected to the second angle sensor and the third angle sensor between the bifurcated ends; the non-bifurcated end of the second telescopic rod is connected to the servo telescopic unit, and the connection method is the same as in the tilt detection component; the telescopic direction of the servo telescopic unit in the angle detection component is set on the angle bisector of the angle to be measured.

[0007] Preferably, a rigid roller is hinged to each end of the abutting swing rod.

[0008] Preferably, the conformal testing device for the bent hydraulic seamless steel pipe further includes a support assembly; the support assembly includes a mounting frame, a needle collection box, a limiting needle, and an electromagnet; the needle collection box is positioned above the test position of the steel pipe and is fixedly connected to the support plate via the mounting frame; through holes are evenly spaced on the bottom surface of the needle collection box; the limiting needle is slidably connected within the through holes; and the electromagnet is fixedly connected to the top of the needle collection box.

[0009] Preferably, the needle receiving box is filled with lubricating oil.

[0010] Preferably, the lower end of the limiting pin is spherical.

[0011] Preferably, the longitudinal positioning clamping assembly and the transverse positioning clamping assembly have the same structure, with the longitudinal positioning clamping assembly placed longitudinally and the transverse positioning clamping assembly placed transversely. The longitudinal positioning clamping assembly includes a positioning block, an electric telescopic unit, a rubber pressure equalizing block, a micro control valve, and a pressure sensor. The positioning block is fixedly connected to a pad on the support plate. An arc-shaped positioning surface is provided on one side of the positioning block. The electric telescopic unit is provided on one side corresponding to the arc-shaped positioning surface. The electric telescopic unit is fixedly connected to the support plate, and the telescopic end of the electric telescopic unit is fixedly connected to the rubber pressure equalizing block. At least two cavities are evenly spaced along the length of the interior of the rubber pressure equalizing block, and a micro control valve is provided between adjacent cavities to control the on / off state. A pressure sensor is provided in each cavity.

[0012] Preferably, the cavity of the rubber equalizing block is filled with a non-Newtonian fluid.

[0013] Preferably, the electric telescopic units in both the longitudinal positioning clamping assembly and the transverse positioning clamping assembly are servo controlled, and the electric telescopic units in the longitudinal positioning clamping assembly and the transverse positioning clamping assembly operate in an alternating manner by receiving control codes.

[0014] Preferably, the non-Newtonian fluid is a magnetorheological fluid.

[0015] The beneficial effects of this invention are as follows:

[0016] 1. This invention utilizes the principle that the opposing swing rod in the tilt angle detection component, when in contact with the steel pipe, requires simultaneous contact at both ends to withstand force and drive the first telescopic rod to move. By accurately determining whether the opposing swing rod is fully in contact with the steel pipe surface through displacement changes, it further ensures the accuracy and reliability of the detection angle. This method can accurately reflect the actual tilt angle at the bend of the steel pipe and, in conjunction with the first angle sensor, achieve high-precision detection. Simultaneously, the support spring and displacement sensor also act as a buffer, preventing excessive impact force from damaging the steel pipe surface or the detection components when the opposing swing rod contacts the steel pipe. The entire detection process is highly automated, easy to operate, and its detection efficiency and accuracy meet the requirements for contour detection of hydraulically seamless steel pipes after bending.

[0017] 2. In this invention, the limiting pin provides auxiliary support to the steel pipe during the testing process, preventing minor deformation at the bend of the steel pipe when the contact swing rod comes into contact with it, thus ensuring the stability of the test data. After the longitudinal and transverse positioning clamping components have clamped and fixed the steel pipe, the controller de-energizes the electromagnet, causing the magnetism to disappear. The limiting pin then falls freely along the through hole on the bottom of the needle receiving box under its own weight until the needle tip contacts the upper surface of the steel pipe. Since the through holes are evenly spaced on the bottom surface of the needle receiving box, the falling limiting pin can support the side of the steel pipe at the test position from multiple points, forming a multi-point support structure. When the contact swing rod of the tilt detection component or the included angle detection component contacts the surface of the steel pipe and applies a contact force, the slight upward deformation tendency that may occur at the bend of the steel pipe will be blocked by the limiting pin. The limiting pin transmits this force to the needle receiving box and the mounting frame through contact with the upper surface of the steel pipe, and is ultimately borne by the support plate, thereby effectively suppressing the deformation of the steel pipe. Meanwhile, the limiting pin and the through hole are slidably connected, and its falling height can be automatically adjusted according to the actual diameter and placement height of the steel pipe, ensuring that the limiting pin can make close contact with the side surface of the steel pipe and provide stable support regardless of the steel pipe specifications. The support component further eliminates deformation errors caused by insufficient rigidity of the steel pipe itself or the action of the detection force, allowing the data detected by the angle sensor to more accurately reflect the geometric parameters at the bend of the steel pipe, thereby further improving the detection accuracy and reliability of the entire detection device.

[0018] 3. In this invention, the steel pipe is placed between the arc-shaped positioning surface of the positioning block and the rubber equalizing block. As the rubber equalizing block advances, it first contacts the outer surface of the steel pipe. Due to the elasticity of the rubber equalizing block, it undergoes adaptive deformation in the initial contact phase to conform to the outer contour of the steel pipe. At this time, the cavities inside the rubber equalizing block are connected through a micro-control valve. When the rubber equalizing block contacts the steel pipe and gradually applies clamping force, the pressure in each cavity tends to be uniform. Then, when the pressure sensor monitors in real time that the pressure in each cavity is uniform and reaches the preset clamping pressure range, the controller controls the micro-control valve to switch to the disconnected state, and simultaneously notifies the electric telescopic unit to stop extending. This design ensures that the clamping force of the rubber equalizing block on the steel pipe is evenly distributed across the entire contact surface, avoiding local stress concentration that may be caused by traditional rigid clamping and damage to the steel pipe surface. At the same time, it ensures that the steel pipe is stably and centrally clamped and positioned in the longitudinal direction, preventing axial or radial displacement of the steel pipe during the detection process. The working process of the lateral positioning clamping assembly is exactly the same as that of the longitudinal positioning clamping assembly. By applying a uniform clamping force in the lateral direction, it works in conjunction with the longitudinal positioning clamping assembly to achieve accurate and stable positioning of the steel pipe in the plane, providing a reliable position reference for subsequent tilt angle detection and included angle detection. Attached Figure Description

[0019] The invention will now be further described with reference to the accompanying drawings.

[0020] Figure 1 This is a schematic diagram of the overall structure of the steel pipe conformal detection device of the present invention in the clamping state;

[0021] Figure 2 This is a schematic diagram of the overall structure of the steel pipe conformal detection device of the present invention in the clamping state;

[0022] Figure 3 This is a schematic diagram of the tilt angle detection component in this invention;

[0023] Figure 4 This is a schematic diagram of the installation of the displacement sensor in this invention;

[0024] Figure 5 This is a schematic diagram of the supporting component in this invention;

[0025] Figure 6 This is a schematic diagram of the longitudinal positioning and clamping assembly in this invention;

[0026] Figure 7 This is a schematic diagram of the overall layout of the steel pipe contour detection device of the present invention;

[0027] Figure 8 yes Figure 7 Internal sectional view at point AA;

[0028] Figure 9 This is a schematic diagram of the internal structure of the needle receiving box in this invention;

[0029] Figure 10 This is a schematic diagram illustrating the working principle of the needle collection box in this invention;

[0030] Figure 11 This is a schematic diagram of the internal structure of the rubber equalizing block in this invention;

[0031] In the diagram: 1. Support plate; 2. Pad; 3. Longitudinal positioning clamping assembly; 3. Positioning block; 31. Electric telescopic unit; 32. Rubber pressure equalizing block; 33. Micro control valve; 34. Pressure sensor; 35. Lateral positioning clamping assembly; 4. Inclination detection assembly; 5. Anti-swinging rod; 51. Rigid roller; 511. First telescopic rod; 52. Servo telescopic unit; 53. Moving seat; 531. Support spring; 532. Displacement sensor; 533. Limiting block; 534. Slider; 535. Linear guide rail; 536. Rotating seat; 537. Lead screw; 538. Nut; 539. Servo motor; 530. Angle detection assembly; 6. Second telescopic rod; 61. Support assembly; 7. Mounting bracket; 71. Needle retractor box; 72. Limiting pin; 73. Electromagnet; 74. Detailed Implementation

[0032] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below in conjunction with specific embodiments.

[0033] like Figures 1 to 4 as well as Figure 7 , Figure 8As shown, a contour detection device for hydraulically bent seamless steel pipe includes a support plate 1, a pad 2, a longitudinal positioning and clamping assembly 3, a transverse positioning and clamping assembly 4, and an inclination angle detection assembly 5. The pad 2 is fixedly connected to the support plate 1 at the positions corresponding to the positioning, clamping, and detection of the steel pipe. The lower surface of the steel pipe is in contact with the upper surface of the pad 2. The longitudinal positioning and clamping assembly 3 is used for longitudinal positioning and clamping of the steel pipe. The transverse positioning and clamping assembly 4 is used for transverse positioning and clamping of the steel pipe. The inclination angle detection assembly 5 includes an abutting swing rod 51 and a first angle sensor. The system includes a sensor, a first telescopic rod 52, and a servo telescopic unit 53; the middle of the abutting swing rod 51 is hinged to one end of the first telescopic rod 52, and the first angle sensor is connected between the abutting swing rod 51 and the first telescopic rod 52; the first angle sensor is used to detect the relative angle between the abutting swing rod 51 and the first telescopic rod 52; the servo telescopic unit 53 includes a moving seat 531, a support spring 532, a displacement sensor 533, a limiting block 534, a slider 535, a linear guide rail 536, a rotating seat 537, a lead screw 538, and a screw... The moving base 531 has a square guide hole along its length; the other end of the first telescopic rod 52 is slidably connected in the square guide hole; the end face of the other end of the first telescopic rod 52 abuts against one end of the support spring 532; the other end of the support spring 532 abuts against the limiting block 534; the limiting block 534 is fixedly connected to the end of the moving base 531; the displacement sensor 533 is disposed between the first telescopic rod 52 and the limiting block 534, and is used to detect the displacement between the first telescopic rod 52 and the limiting block 534. The displacement changes between the limiting blocks 534; the bottom of the movable seat 531 is slidably connected to the support plate 1 via the slider 535 and the linear guide rail 536; the bottom of the movable seat 531 is fixedly connected to the nut 539; the nut 539 is connected to the lead screw 538 via a threaded pair; both ends of the lead screw 538 are rotatably connected to the support plate 1 via rotating seats 537; one end of the lead screw 538 is fixedly connected to the rotating shaft of the servo motor 530; the servo motor 530 is fixedly connected to the support plate 1 via a motor mounting seat.

[0034] During operation, the seamless hydraulic steel pipe to be tested is first placed on the pad 2 of the support plate 1, so that the lower surface of the steel pipe is in close contact with the upper surface of the pad 2. Then, the longitudinal positioning clamping assembly 3 and the transverse positioning clamping assembly 4 are activated to achieve precise positioning of the steel pipe in the longitudinal and transverse directions and apply clamping force to ensure that the overall position of the steel pipe remains stable during the testing process. Next, the servo motor 530 starts, and its shaft drives the lead screw 538 to rotate. Since the lead screw 538 is connected to the nut 539 at the bottom of the moving seat 531 through a threaded pair, and the moving seat 531 is slidably connected to the support plate 1 through the slider 535 and the linear guide rail 536, the rotation of the lead screw 538 is converted into the smooth movement of the moving seat 531 along the linear guide rail 536, which drives the first telescopic rod 52 and the abutting swing rod 51 to approach the steel pipe. When one end of the abutting swing rod 51 contacts the outer surface of the steel pipe, as the moving seat 531 continues to move, the steel pipe generates a resisting force on the abutting swing rod 51, causing the abutting swing rod 51 to swing around the hinge point between its middle part and the first telescopic rod 52. When both ends of the abutting swing rod 51 simultaneously contact the surface of the steel pipe, the steel pipe... The applied resistance force will drive the first telescopic rod 52 to slide within the square guide hole of the moving seat 531, thereby compressing the support spring 532. At the same time, the displacement sensor 533 begins to detect the displacement change of the first telescopic rod 52. The controller immediately controls the servo motor 530 to stop rotating and apply the electromagnetic brake as soon as it receives the displacement data sent by the displacement sensor 533. At this time, the first angle sensor detects the relative angle between the resisting swing rod 51 and the first telescopic rod 52. By controlling the servo motor 530 to stop in time through the displacement sensor 533, it can be ensured that the angle sensor does not apply the squeezing force to the steel pipe when detecting the inclination angle of the steel pipe, thereby preventing the angle sensor from deviating due to the application of squeezing force and improving the detection accuracy. This device utilizes the principle that the contact swing rod 51 in the tilt angle detection component 5, when in contact with the steel pipe, requires simultaneous contact at both ends to withstand force and drive the first telescopic rod 52 to move. By accurately determining whether the contact swing rod 51 is completely in contact with the steel pipe surface through displacement changes, it further ensures the accuracy and reliability of the detection angle. This method accurately reflects the actual tilt angle at the bend of the steel pipe and, in conjunction with the first angle sensor, achieves high-precision detection. Simultaneously, the support spring 532 and displacement sensor 533 also act as a buffer, preventing excessive impact force when the contact swing rod 51 contacts the steel pipe, thus avoiding damage to the steel pipe surface or the detection components. The entire detection process is highly automated, easy to operate, and its detection efficiency and accuracy meet the requirements for contour detection of hydraulically bent seamless steel pipes. After detection, the controller controls the servo motor 530 to rotate in the reverse direction, moving the moving seat 531 and the contact swing rod 51 away from the steel pipe for the next detection or removal of the steel pipe.

[0035] like Figures 1 to 2As shown, the conformal detection device for the bent hydraulic seamless steel pipe also includes an angle detection component 6; the angle detection component 6 includes two opposing swing rods 51, a second angle sensor, a third angle sensor, a second telescopic rod 61, and a servo telescopic unit 53; the second telescopic rod 61 has a symmetrical bifurcated structure, with each of the two bifurcated ends hinged to one of the opposing swing rods 51, and the two opposing swing rods 51 are respectively connected to the second angle sensor and the third angle sensor between the bifurcated ends; the non-bifurcated end of the second telescopic rod 61 is connected to the servo telescopic unit 53, and the connection method is the same as that in the tilt detection component 5; the telescopic direction of the servo telescopic unit 53 in the angle detection component 6 is set on the angle bisector of the angle to be measured.

[0036] During operation, the controller starts the servo motor 530 of the angle detection component 6, which drives the lead screw 538 to rotate, thereby driving the moving seat 531 to move along the linear guide rail 536, causing the second telescopic rod 61 and the two contacting swing rods 51 to move closer to the inside of the angle at the bend of the steel pipe. When the end of one of the contacting swing rods 51 contacts the surface of the steel pipe on one side of the angle, as the moving seat 531 continues to advance, the contacting swing rod 51 begins to swing around the hinge point at the bifurcation end of its connection with the second telescopic rod 61. The second angle sensor monitors the change in the relative angle between it and the second telescopic rod 61 in real time. The other contacting swing rod 51 moves synchronously with the first contacting swing rod 51, and the end of the other contacting swing rod 51 contacts the surface of the steel pipe on the other side of the angle, also swinging around the hinge point. The third angle sensor detects the angle change synchronously. When the two ends of the two opposing swing rods 51 are fully in contact with the surfaces of the steel pipes on both sides of the included angle, the opposing force of the steel pipes on the two opposing swing rods 51 acts together on the second telescopic rod 61, pushing the second telescopic rod 61 to slide within the square guide hole of the moving seat 531 and compress the support spring 532. At this time, the displacement sensor 533 detects the displacement change of the second telescopic rod 61, and the controller immediately controls the servo motor 530 to stop and brake after receiving the displacement signal. At this time, the detected angle values ​​of the second angle sensor and the third angle sensor reflect the relative tilt angle between the two opposing swing rods 51 and the bifurcation of the second telescopic rod 61. Since the extension and retraction direction of the second telescopic rod 61 is set on the angle bisector of the included angle to be measured, the actual included angle between the two opposing swing rods 51 can be calculated through geometric relationships, and the included angle at the bend of the steel pipe can be accurately obtained. For example, if the detected angle of the second angle sensor is α, the detected angle of the third angle sensor is β, and the interior angle of the bifurcation structure of the second telescopic rod 61 is γ (a preset fixed value), then the included angle of the steel pipe bend θ = γ + α + β. The included angle detection component 6, through its symmetrically bifurcated second telescopic rod 61 design, allows the two opposing swing rods 51 to simultaneously contact the steel pipe surfaces on both sides of the included angle. Combined with a dual-angle sensor, this enables direct measurement of the included angle, avoiding the cumbersome multiple positioning operations required in traditional single-rod measurements, thus further improving detection efficiency and the accuracy of angle calculation. Simultaneously, the servo telescopic unit 53 and buffer structure design, identical to those in the tilt angle detection component 5, ensures the smoothness of the included angle detection process and protects the steel pipe surface. This allows the device to not only detect a single tilt angle at a bend but also accurately measure the included angle of a bend, making its functions more comprehensive and meeting the contour detection requirements for multiple angle parameters after bending of hydraulic seamless steel pipes. After detection, the servo motor 530 rotates in the reverse direction, driving the included angle detection component 6 to reset.

[0037] like Figure 3 As shown, a rigid roller 511 is hinged to each end of the abutting swing rod 51.

[0038] During operation, when the abutting swing rod 51 approaches and contacts the surface of the steel pipe, the outer circumferential surface of the rigid roller 511 first contacts the surface of the steel pipe. As the moving seat 531 advances, the surface of the steel pipe generates friction on the rigid roller 511, driving the rigid roller 511 to rotate freely around its hinge axis with the end of the abutting swing rod 51. This rolling contact method transforms traditional sliding friction into rolling friction, significantly reducing the friction between the abutting swing rod 51 and the surface of the steel pipe. This avoids scratches, indentations, and other damage to the surface of the steel pipe caused by sliding friction during the inspection process, effectively protecting the surface quality of the steel pipe. It is especially suitable for hydraulic seamless steel pipe inspection scenarios where high surface finish is required. At the same time, the rigid roller 511 makes the contact between the abutting swing rod 51 and the surface of the steel pipe more flexible, adapting to changes in the curvature of the steel pipe surface. This ensures that when both ends of the abutting swing rod 51 contact the steel pipe simultaneously, the roller always maintains line contact with the surface of the steel pipe, reducing contact position deviations that may occur due to point contact, and further improving the stability and accuracy of angle detection. In addition, the rigid roller 511 is made of high-strength wear-resistant material, which can withstand repeated contact friction during long-term testing, thereby avoiding testing errors caused by wear and improving testing accuracy.

[0039] like Figure 3 , Figure 5 , Figure 9 and Figure 10 As shown, the conformal testing device for the bent hydraulic seamless steel pipe also includes a support assembly 7; the support assembly 7 includes a mounting frame 71, a needle collection box 72, a limiting needle 73, and an electromagnet 74; the needle collection box 72 is positioned above the test position of the steel pipe and is fixedly connected to the support plate 1 via the mounting frame 71; through holes are evenly spaced on the bottom surface of the needle collection box 72; the limiting needle 73 is slidably connected within the through holes; and the electromagnet 74 is fixedly connected to the top of the needle collection box 72.

[0040] During operation, the limiting pins 73 provide auxiliary support to the steel pipe during the testing process, preventing minor deformation at the bend of the steel pipe when the swing rod 51 contacts it, thus ensuring the stability of the test data. In the initial state, the electromagnet 74 is energized, generating magnetism that attracts all the limiting pins 73 within the receiving box 72 to the top of the receiving box 72, ensuring that the lower end of the pins is higher than the bottom surface of the receiving box 72. At this time, the limiting pins 73 do not contact the steel pipe below, avoiding interference with the placement and positioning process of the steel pipe. After the longitudinal positioning clamping assembly 3 and the transverse positioning clamping assembly 4 have clamped and fixed the steel pipe, the controller de-energizes the electromagnet 74, causing the magnetism to disappear. The limiting pins 73 then fall freely along the through holes on the bottom surface of the receiving box 72 under their own gravity until the pins contact the upper surface of the steel pipe. Because the through holes are evenly spaced on the bottom surface of the receiving box 72, the falling limiting pins 73 can support the side of the steel pipe at multiple points, forming a multi-point support structure. When the anti-swing rod 51 of the tilt detection component 5 or the included angle detection component 6 contacts the surface of the steel pipe and applies an anti-swing force, the slight upward deformation tendency that may occur at the bend of the steel pipe will be blocked by the limiting pin 73. The limiting pin 73 transmits this force to the needle collection box 72 and the mounting bracket 71 through its contact with the upper surface of the steel pipe, and is ultimately borne by the support plate 1, thereby effectively suppressing the deformation of the steel pipe. At the same time, the limiting pin 73 is slidably connected to the through hole, and its falling height can be automatically adjusted according to the actual diameter and placement height of the steel pipe, ensuring that the limiting pin 73 can make close contact with the side surface of the steel pipe and provide stable support regardless of the steel pipe specifications. After the test is completed, the controller controls the electromagnet 74 to be re-energized, and the generated magnetism will attract the limiting pin 73 upward and retract it to the top of the needle box 72, preparing for the removal of the steel pipe or the next test. The limiting pin 73 is made of hard alloy material, which has high strength and wear resistance, ensuring that the needle tip is not easily deformed after long-term use and can continuously provide a reliable support effect. By setting up support component 7, deformation errors caused by insufficient rigidity of the steel pipe itself or the action of detection force are further eliminated, so that the data detected by the angle sensor can more accurately reflect the geometric parameters at the bend of the steel pipe, thereby further improving the detection accuracy and reliability of the entire detection device.

[0041] The needle receiving box 72 is filled with lubricating oil.

[0042] During operation, the lubricating oil of a certain concentration limits the falling speed of the limiting needle 73 under its own weight, preventing it from rapidly impacting the steel pipe surface due to excessive weight and vibrating, thus preventing continuous vibration from affecting the accuracy of subsequent detection. Furthermore, when the electromagnet 74 is de-energized, the limiting needle 73 falls at a suitable speed under the damping effect of gravity and the lubricating oil, gently contacting the steel pipe surface. When the electromagnet 74 is energized to retrieve the limiting needle 73, the lubricating oil ensures that the limiting needle 73 can be quickly and unimpededly attracted to the top of the needle collection box 72, improving the continuity and efficiency of the detection process. The concentration of the lubricating oil is selected based on the weight of the limiting needle 73. Different concentrations of lubricating oil have different adhesion forces on the limiting needle 73, resulting in different resistance. Therefore, selecting an appropriate concentration of lubricating oil ensures that the limiting needle 73 falls smoothly without impact. Furthermore, the lubricating oil forms a lubricating film between the limiting pin 73 and the through hole, reducing the frictional resistance between the limiting pin 73 and the inner wall of the through hole during the falling and retraction process, making the movement of the limiting pin 73 more stable and smooth, and avoiding jamming that could affect the support effect.

[0043] like Figure 9 and Figure 10 As shown, the lower end of the limiting pin 73 is spherical.

[0044] During operation, the spherical design of the lower end of the limiting pin 73 significantly optimizes its contact with the steel pipe surface. When the limiting pin 73 falls under gravity and contacts the upper surface of the steel pipe, the spherical end makes point contact with the outer surface of the steel pipe. Compared with traditional flat or pointed ends, the spherical structure can effectively disperse contact stress, preventing the limiting pin 73 from damaging the steel pipe surface due to excessive local pressure when applying support force. This is especially suitable for hydraulic seamless steel pipes with high surface treatment precision requirements. At the same time, the spherical design has self-centering characteristics. When there is a slight deviation between the contact point between the pin tip and the steel pipe surface during the falling process of the limiting pin 73, the spherical surface can adaptively adjust the contact position through its own curvature, ensuring that the limiting pin 73 always provides support force in a direction perpendicular to the steel pipe surface. This avoids the steel pipe from shifting due to lateral force generated by tilted contact, further improving the stability of the support. In addition, the spherical end is less prone to burrs or deformation due to collisions or friction during long-term use, and can maintain the consistency of the contact point, thereby ensuring the stability and reliability of the support effect during multiple tests, and indirectly ensuring the repeatability accuracy of the angle test data.

[0045] like Figure 6 and Figure 11As shown, the longitudinal positioning clamping assembly 3 and the transverse positioning clamping assembly 4 have the same structure. The longitudinal positioning clamping assembly 3 is placed longitudinally, and the transverse positioning clamping assembly 4 is placed transversely. The longitudinal positioning clamping assembly 3 includes a positioning block 31, an electric telescopic unit 32, a rubber pressure equalizing block 33, a micro control valve 34, and a pressure sensor 35. The positioning block 31 is fixedly connected to the pad 2 on the support plate 1. An arc-shaped positioning surface is provided on one side of the positioning block 31. The electric telescopic unit 32 is provided on one side corresponding to the arc-shaped positioning surface. The electric telescopic unit 32 is fixedly connected to the support plate 1, and the telescopic end of the electric telescopic unit 32 is fixedly connected to the rubber pressure equalizing block 33. At least two cavities are evenly spaced along the length direction inside the rubber pressure equalizing block 33, and a micro control valve 34 is provided between adjacent cavities to control the on / off state. A pressure sensor 35 is provided in each cavity.

[0046] During operation, when longitudinal positioning of the steel pipe is required, the controller activates the electric telescopic unit 32 of the longitudinal positioning clamping assembly 3. The telescopic end of the electric telescopic unit 32 extends, pushing the rubber pressure equalizing block 33 towards the positioning block 31. The steel pipe is placed between the arc-shaped positioning surface of the positioning block 31 and the rubber pressure equalizing block 33. As the rubber pressure equalizing block 33 advances, it first contacts the outer surface of the steel pipe. Due to the elasticity of the rubber pressure equalizing block 33, it undergoes adaptive deformation in the initial contact phase to conform to the outer contour of the steel pipe. At this time, the cavities inside the rubber pressure equalizing block 33 are connected through the micro control valve 34. When the rubber pressure equalizing block 33 contacts the steel pipe and gradually applies clamping force, the pressure in each cavity tends to be consistent. Then, when the pressure sensor 35 monitors in real time that the pressure in each cavity is consistent and reaches the preset clamping pressure range, the controller controls the micro control valve 34 to switch to the disconnected state and simultaneously notifies the electric telescopic unit 32 to stop extending. This design ensures that the clamping force of the rubber equalizing block 33 on the steel pipe is evenly distributed across the entire contact surface, avoiding localized stress concentrations that could damage the steel pipe surface due to traditional rigid clamping. It also ensures the steel pipe is stably and centrally clamped and positioned in the longitudinal direction, preventing axial or radial displacement during testing. The operation of the lateral positioning clamping assembly 4 is identical to that of the longitudinal positioning clamping assembly 3. By applying a uniform clamping force in the lateral direction, it works in conjunction with the longitudinal positioning clamping assembly 3 to achieve precise and stable positioning of the steel pipe in the plane, providing a reliable positional reference for subsequent tilt and angle testing. After testing, the controller retracts the electric telescopic unit 32, moving the rubber equalizing block 33 away from the steel pipe and releasing the clamping state. The rubber equalizing block 33 is made of wear-resistant rubber material, possessing both good elastic deformation capacity and sufficient structural strength and service life, ensuring long-term stable uniform clamping.

[0047] The cavity of the rubber equalizing block 33 is filled with a non-Newtonian fluid.

[0048] During operation, the non-Newtonian fluid filling the cavity of the rubber equalizing block 33 significantly enhances the adaptive pressure regulation capability during the clamping process. Initially, when the rubber equalizing block 33 contacts the steel pipe surface, the electric telescopic unit 32 pushes the rubber equalizing block 33 slowly closer to the steel pipe. At this time, the non-Newtonian fluid flows within the cavity, allowing the rubber equalizing block 33 to fully deform according to the curvature of the steel pipe surface, ensuring a large-area fit with the outer surface of the steel pipe. At this point, the internal pressure of the fluid is low and uniform, and the pressure value detected by the pressure sensor 35 rises steadily. When the pressure sensor 35 detects that the pressure in each cavity is consistent and reaches the preset clamping pressure range, the controller controls the micro-control valve 34 to switch to the off state, simultaneously notifying the electric telescopic unit 32 to stop extending. When the squeezing and vibration forces generated by the contact between the swing rod 51 and the steel pipe are rapidly transmitted to the rubber equalizing block 33, the non-Newtonian fluid exhibits "shear thickening" characteristics due to the rapid shear or impact force. Its internal molecular chains quickly form a rigid structure, significantly enhancing the overall stiffness of the rubber equalizing block 33. This effectively resists external impacts on the steel pipe, preventing minute displacements due to instantaneous stress during testing, thus improving testing accuracy. Once the external impact force disappears, the non-Newtonian fluid returns to its initial flow state, maintaining a flexible clamping effect on the steel pipe. This dynamic response characteristic allows the rubber equalizing block 33 to achieve uniform pressure through elastic deformation during static clamping, and to provide stable support through the rigidification effect of the non-Newtonian fluid during dynamic testing, further enhancing the reliability and anti-interference capability of the positioning clamping.

[0049] The electric telescopic units 32 in both the longitudinal positioning clamping assembly 3 and the transverse positioning clamping assembly 4 are servo controlled, and the electric telescopic units 32 in the longitudinal positioning clamping assembly 3 and the transverse positioning clamping assembly 4 operate in an alternating manner by receiving control codes.

[0050] During operation, the servo control system receives and parses control commands in real time via the encoder, ensuring that the telescopic accuracy of the electric telescopic unit 32 reaches the micrometer level, thereby achieving high-precision positioning of the steel pipe. The alternating control code reception mode effectively avoids electromagnetic interference and signal conflicts that may occur when the longitudinal and lateral electric telescopic units 32 start simultaneously. Specifically, within the same time period, the controller first sends a control code to the electric telescopic unit 32 of the longitudinal positioning clamping component 3. After it completes the current action command (such as extending, pausing, or retracting) and provides feedback on the execution status, it then sends the next control code to the electric telescopic unit 32 of the lateral positioning clamping component 4. This time-sharing control mechanism staggers the clamping actions in the two directions, preventing superposition interference of control signals during transmission and execution, and ensuring the accuracy and timeliness of the electric telescopic unit 32's action response.

[0051] Because the encoding reception time is short, the alternating operation mode can avoid the problem of unbalanced force on the steel pipe caused by the simultaneous application of clamping forces in the two directions. Since the time interval between the clamping actions in the two directions is extremely short, much shorter than the response time of the steel pipe displacement, in actual operation, the longitudinal and transverse clamping forces can be approximated as being applied to the steel pipe simultaneously, thus ensuring that the steel pipe is subjected to balanced forces in both directions and avoiding deflection or displacement of the steel pipe caused by unilateral force application. Furthermore, the alternating control encoding reception method facilitates independent monitoring and precise adjustment of the action process of each electric telescopic unit 32 by the controller. When the pressure sensor 35 in a certain direction detects an abnormal pressure, the controller can immediately pause the action of the electric telescopic unit 32 in that direction and perform parameter correction independently without affecting the clamping process in the other direction, significantly improving the system's fault tolerance and control accuracy. The combination of servo control and alternating encoding operation enables the longitudinal positioning clamping component 3 and the transverse positioning clamping component 4 to work together to achieve micron-level positioning accuracy for the hydraulic seamless steel pipe, providing a stable and reliable position reference for subsequent contour testing.

[0052] The non-Newtonian fluid is a magnetorheological fluid.

[0053] During operation, the magnetorheological fluid exhibits Newtonian fluid characteristics in the absence of a magnetic field, demonstrating excellent fluidity. It flows freely during the initial contact between the rubber equalizing block 33 and the steel pipe, ensuring the rubber equalizing block 33 fully adheres to the steel pipe surface and achieves uniform pressure. When increased clamping stiffness is required to resist external disturbances during testing, the controller can apply current to the electromagnetic coil built into the rubber equalizing block 33 via a preset program, generating a controllable magnetic field. Under the influence of the magnetic field, the magnetic particles in the magnetorheological fluid rapidly align along the magnetic field lines, forming chain-like or columnar structures, instantly transforming the fluid into a near-solid state. This significantly improves the overall stiffness and deformation resistance of the rubber equalizing block 33, effectively preventing displacement of the steel pipe caused by pressure from the swing rod 51. The magnetic field strength can be precisely controlled by adjusting the current, enabling stepless adjustment of the stiffness of the rubber equalizing block 33 to adapt to different specifications of steel pipes or different testing conditions. After testing, the current to the electromagnetic coil is cut off, the magnetic field disappears, and the magnetorheological fluid returns to its flowing state, facilitating the detachment of the rubber equalizing block 33 from the steel pipe surface and preventing clamping damage to the steel pipe. In addition, magnetorheological fluids have extremely fast response speeds (typically in the millisecond range), enabling them to respond to changes in external forces in real time. This ensures that the steel pipe is always provided with a stable and reliable clamping force during the testing process, further improving the dynamic performance and control accuracy of the positioning and clamping components.

[0054] The embodiments of the present invention have been described above with reference to the accompanying drawings. However, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present invention without departing from the spirit and scope of the claims. All of these forms are within the protection scope of the present invention.

Claims

1. A contour detection device for hydraulic seamless steel pipes after bending, characterized in that: The system includes a support plate (1), a pad (2), a longitudinal positioning clamping assembly (3), a transverse positioning clamping assembly (4), and an inclination detection assembly (5); the pad (2) is fixedly connected to the support plate (1) at the position corresponding to the positioning, clamping, and detection of the steel pipe; the lower surface of the steel pipe is in contact with the upper surface of the pad (2); the longitudinal positioning clamping assembly (3) is used to position and clamp the steel pipe longitudinally; the transverse positioning clamping assembly (4) is used to position and clamp the steel pipe laterally; the inclination detection assembly (5) includes an abutting swing rod (51), a first angle sensor, a first telescopic rod (52), and a servo telescopic unit (53). The abutting swing rod (51) is hinged at one end of the first telescopic rod (52), and the first angle sensor is connected between the abutting swing rod (51) and the first telescopic rod (52); the first angle sensor is used to detect the relative angle between the abutting swing rod (51) and the first telescopic rod (52); the servo telescopic unit (53) includes a moving seat (531), a support spring (532), a displacement sensor (533), a limit block (534), a slider (535), a linear guide rail (536), a rotating seat (537), a lead screw (538), a nut (539), and a servo motor. 530); A square guide hole is provided along the length direction of the movable seat (531); The other end of the first telescopic rod (52) is slidably connected in the square guide hole; The end face of the other end of the first telescopic rod (52) abuts against one end of the support spring (532); The other end of the support spring (532) abuts against the limiting block (534); The limiting block (534) is fixedly connected to the end of the movable seat (531); The displacement sensor (533) is disposed between the first telescopic rod (52) and the limiting block (534) for detecting the movement of the first telescopic rod (52) and the limiting block (534). 4) Displacement change between; the bottom of the movable seat (531) is slidably connected to the support plate (1) through the slider (535) and the linear guide rail (536); the bottom of the movable seat (531) is fixedly connected to the nut (539); the nut (539) is connected to the lead screw (538) through a threaded pair; both ends of the lead screw (538) are rotatably connected to the support plate (1) through the rotating seat (537); one end of the lead screw (538) is fixedly connected to the rotating shaft of the servo motor (530); the servo motor (530) is fixedly connected to the support plate (1) through the motor mounting seat.

2. The device for detecting the profile of the bent hydraulic seamless steel pipe according to claim 1, characterized in that: It also includes an angle detection component (6); the angle detection component (6) includes two opposing swing rods (51), a second angle sensor, a third angle sensor, a second telescopic rod (61), and a servo telescopic unit (53); the second telescopic rod (61) has a symmetrical bifurcated structure, with each of the two bifurcated ends hinged to one of the opposing swing rods (51), and the two opposing swing rods (51) are respectively connected to the second angle sensor and the third angle sensor between the bifurcated ends; the non-bifurcated end of the second telescopic rod (61) is connected to the servo telescopic unit (53), and the connection method is the same as that in the tilt detection component (5); the telescopic direction of the servo telescopic unit (53) in the angle detection component (6) is set on the angle bisector of the angle to be measured.

3. The device according to claim 2, characterized in that it comprises: A rigid roller (511) is hinged to each end of the abutting swing rod (51).

4. The device according to claim 3, characterized in that: It also includes a support assembly (7); the support assembly (7) includes a mounting bracket (71), a needle collection box (72), a limiting pin (73), and an electromagnet (74); the needle collection box (72) is set above the position to be tested on the steel pipe and is fixedly connected to the support plate (1) through the mounting bracket (71); through holes are evenly spaced on the bottom surface of the needle collection box (72); the limiting pin (73) is slidably connected in the through holes; the electromagnet (74) is fixedly connected to the top of the needle collection box (72).

5. The device for detecting the profile of the bent hydraulic seamless steel pipe according to claim 4, characterized in that: The needle receiving box (72) is filled with lubricating oil.

6. The device for detecting the profile of the bent hydraulic seamless steel pipe according to claim 4, characterized in that: The lower end of the limiting pin (73) is spherical.

7. The conformal testing device for hydraulic seamless steel pipes after bending according to claim 1, characterized in that: The longitudinal positioning clamping assembly (3) and the transverse positioning clamping assembly (4) have the same structure. The longitudinal positioning clamping assembly (3) is placed longitudinally, and the transverse positioning clamping assembly (4) is placed transversely. The longitudinal positioning clamping assembly (3) includes a positioning block (31), an electric telescopic unit (32), a rubber pressure equalizing block (33), a micro control valve (34), and a pressure sensor (35). The positioning block (31) is fixedly connected to the pad (2) on the support plate (1). An arc-shaped positioning surface is provided on one side of the positioning block (31). The electric telescopic unit (32) is provided on one side of the arc-shaped positioning surface. The electric telescopic unit (32) is fixedly connected to the support plate (1), and the telescopic end of the electric telescopic unit (32) is fixedly connected to the rubber pressure equalizing block (33). At least two cavities are evenly spaced along the length direction inside the rubber pressure equalizing block (33), and a micro control valve (34) is provided between adjacent cavities to control the on / off state. A pressure sensor (35) is provided in each cavity.

8. The device according to claim 7, characterized in that it comprises: The cavity of the rubber equalizing block (33) is filled with a non-Newtonian fluid.

9. The device according to claim 7, characterized in that it comprises: The electric telescopic units (32) in the longitudinal positioning clamping assembly (3) and the transverse positioning clamping assembly (4) are both servo controlled, and the electric telescopic units (32) in the longitudinal positioning clamping assembly (3) and the electric telescopic units (32) in the transverse positioning clamping assembly (4) operate in an alternating manner by receiving control codes.

10. The device for detecting the profile of the bent hydraulic seamless steel pipe according to claim 8, characterized in that: The non-Newtonian fluid is a magnetorheological fluid.

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