Device and method for detecting foreign matters on inner surface of long pipe

Abstract

The invention provides a device and method for detecting foreign matters on the inner surface of a long pipe, and the device comprises a body which is provided with a workbench; wherein the workbench is provided with a storage rack, a cleaning mechanism and a detection assembly; a to-be-detected long pipe is placed on the storage rack, the cleaning mechanism is used for cleaning impurities on the inner surface of the to-be-detected long pipe, and the detection assembly is used for collecting detection parameters of the to-be-detected long pipe; a feeding mechanism is arranged in the body, the feeding mechanism comprises a movable bearing frame, a plurality of stations used for fixing the long pipe to be measured are arranged on the bearing frame, and the feeding mechanism drives the bearing frame to feed the long pipe to be measured. And the long pipe to be detected is conveyed to the corresponding stations of the cleaning mechanism and the detection assembly in sequence. According to the device and the method for detecting the foreign matters on the inner surface of the long pipe, the problems of unclear imaging and low detection result accuracy of the device for detecting the foreign matters on the inner surface of the long pipe are solved.

Description

Technical Field

[0001] This invention relates to the technical field of foreign object detection on the inner surface of long tubes, and in particular to a foreign object detection device and method for the inner surface of long tubes. Background Technology

[0002] The foreign object detection device for the inner surface of long tubes is a specialized device for detecting foreign objects in slender tubes. It mainly solves problems such as tube illumination, probe guidance, and identification of small foreign objects, and realizes the visualization, quantification, and automated detection of foreign objects inside the tube.

[0003] Currently, existing foreign object detection devices for the inner surface of long tubes have the following technical problems: 1. Unclear imaging: Due to the physical limitations of optical depth of field, conventional imaging methods are difficult to achieve clear imaging of the entire long tube section at the same time. They can often only guarantee clear imaging of a single point, which cannot meet the needs of full-area detection of long tubes; 2. Low accuracy of detection results: Traditional detection methods using forward illumination are prone to reflective interference, resulting in low contrast and poor signal-to-noise ratio of foreign object imaging on the inner surface of long tubes, which seriously affects the accuracy of detection results. Summary of the Invention

[0004] In view of the shortcomings of the prior art described above, the technical problem to be solved by the present invention is to provide a foreign object detection device and method for the inner surface of a long tube, thereby solving the problems of unclear imaging and low accuracy of detection results in the prior art.

[0005] To achieve the above objectives, the present invention provides a foreign object detection device for the inner surface of a long tube, comprising:

[0006] The main body, on which a worktable is provided;

[0007] The workbench is equipped with a storage rack, a cleaning mechanism, and a detection component. The storage rack holds a long tube to be tested, the cleaning mechanism is used to clean impurities from the inner surface of the long tube, and the detection component is used to collect the detection parameters of the long tube.

[0008] The main body is equipped with a feeding mechanism, which includes a movable support frame. The support frame has multiple stations for fixing the long tube to be tested. The feeding mechanism drives the support frame to move the long tube to be tested from the storage shelf to the initial station of the support frame, and continues to move the support frame to sequentially convey the long tube to be tested to the corresponding stations of the cleaning mechanism and the detection component.

[0009] As a more preferred embodiment, the feeding mechanism further includes a fork feeding mechanism, which is used to progressively move the long tube to be tested between multiple stations on the support frame. The fork feeding mechanism includes a transmission component, a fork, and a first drive motor. The output shaft of the first drive motor is connected to the transmission component to drive its movement. The fork is movably connected to the transmission component and moves or rotates with the transmission component. Multiple forks are located on both sides of the support frame, and the displacement or rotation of the forks pushes the long tube to be tested at the current station on the support frame into the next adjacent station. By adding a fork feeding mechanism consisting of a transmission component, a fork, and a first drive motor to the feeding mechanism, and arranging multiple forks on both sides of the support frame to achieve progressive pushing, the movement of the forks is controlled by the first drive motor and the transmission component. The distance and direction of each push are limited, ensuring that the long tube to be tested can accurately enter the next station from one station, avoiding problems such as tube offset, jamming, or misalignment caused by transfer deviations. Secondly, the shift fork feeding mechanism adopts a step-by-step, station-by-station pushing method, which eliminates the need for the carrier frame to move significantly as a whole during the transfer process. This not only helps reduce the mechanical load and inertial impact of the transfer mechanism but also reduces vibration and noise that may be caused by high-speed or long-stroke movement, improving the stability and service life of the device. Furthermore, because the shift forks are symmetrically arranged on both sides and can move synchronously or alternately, they can generate a uniform thrust on the long tube, effectively preventing the tube from tilting, rolling, or falling off during the transfer process, further ensuring the safety and reliability of the transfer process.

[0010] As a more preferred embodiment, the transmission component is a gear transmission pair, which includes a driving wheel and a driven wheel that mesh with each other. The output shaft of the first drive motor is coaxially connected to the driving wheel. The first drive motor drives the driving wheel to rotate, and the rotation of the driving wheel drives the driven wheel to rotate through gear meshing, thereby driving the shift fork to move or rotate, so as to complete the movement of the long tube to be tested. By using a gear transmission pair as the transmission component in the shift fork feed mechanism, and using the meshing driving wheel and driven wheel to transmit the rotational motion of the first drive motor to the shift fork, the constant transmission ratio of the gear meshing can ensure that the displacement of each transfer action is consistent, thus making the transfer process of the long tube between each station repeatable, and effectively avoiding process misalignment or detection failure caused by the accumulation of transfer errors. Furthermore, gear drives offer high mechanical efficiency and load-bearing capacity. When transmitting the same power, their energy loss is less than that of flexible transmission methods such as belts and chains. This allows for more efficient conversion of motor power into the pushing force of the shift fork, ensuring sufficient and stable pushing force even when handling long or heavy tubes, guaranteeing smooth and reliable transfer. Moreover, the rigid meshing of gear drives eliminates slippage and slack during transmission, preventing positional deviations caused by slippage or tensile deformation of transmission components. The compact structure and strong impact resistance of gear pairs enable long-term stable operation under frequent stepping movements and potential load fluctuations, reducing gear wear and misalignment caused by vibration or impact, thus extending the service life of the device.

[0011] As a preferred approach, the shift fork is provided with multiple positioning slots at equal intervals to accommodate the long tube to be tested. By providing multiple positioning slots at equal intervals on the shift fork, the positioning slots can effectively constrain the long tube radially and guide it axially, preventing lateral displacement, rolling, or tilting during the pushing process. This ensures that each long tube is accurately aligned when transferred to the cleaning mechanism or testing component, thereby avoiding incomplete cleaning or errors in the acquisition of testing parameters due to positional deviations. Secondly, the design of the positioning slots is equivalent to integrating the dual functions of "pushing + limiting" on the shift fork, simplifying the structural complexity of the transfer system. It eliminates the need for additional independent positioning clamps or guiding devices on the support frame or outside the long tube, achieving accurate transfer and positioning. This not only reduces the number of parts and assembly steps but also lowers the equipment manufacturing cost. Furthermore, the arrangement of equally spaced positioning slots ensures that the movement trajectory of the shift fork matches the transfer path of the long tube. Each time the shift fork completes a stepping motion, the long tube being accommodated can advance one station. This synchronous transfer method helps maintain the neatness of the long tube arrangement between stations, making it easier for the subsequent cleaning and inspection mechanisms to operate in fixed positions, and helps improve the overall working efficiency of the device.

[0012] As a more preferred embodiment, the cleaning mechanism includes a fixing device and an air blowing device, which are respectively located on symmetrical sides of the long tube to be tested. The fixing device is used to axially press and position the long tube to be tested, and the air blowing device is used to blow air into the long tube to clean foreign matter from its inner surface. By adopting a design in the cleaning mechanism where the fixing device and the air blowing device are respectively located on symmetrical sides of the long tube to be tested, the fixing device can effectively counteract the backlash force of the airflow and the vibration that may be generated during air blowing cleaning, preventing the long tube from shifting axially or swaying radially. This ensures that the long tube remains coaxial and aligned with the nozzle of the air blowing device throughout the entire cleaning process, thereby avoiding incomplete cleaning or localized foreign matter residue caused by airflow deviation. Secondly, the symmetrical arrangement ensures that the fixing and cleaning functions do not interfere with each other spatially. The clamping position of the fixing device is staggered from the airflow path of the blowing device, which not only ensures the effective transmission of clamping force but also avoids the clamping components from obstructing or disrupting the airflow. This allows the blowing device to apply airflow to the entire inner surface of the long tube with maximum efficiency and uniformity, improving cleaning coverage and cleanliness. Furthermore, the axial clamping positioning method of the fixing device ensures that the position of the long tube remains consistent before and after cleaning, facilitating parameter acquisition by subsequent testing components and avoiding detection errors caused by changes in the position of the long tube, thereby improving the accuracy of the test results.

[0013] As a more preferred embodiment, the fixing device includes a second drive motor, a transmission device, and a push rod. The output end of the second drive motor is connected to the input end of the transmission device, and the output end of the transmission device is coaxially connected to the push rod. The second drive motor drives the transmission device to move, and the movement of the transmission device causes the push rod to move, thereby pressing and fixing the long tube to be tested onto the support frame. By employing an electric push rod clamping mechanism composed of a second drive motor, a transmission device, and a push rod in the fixing device, and replacing manual or purely pneumatic clamping with a second motor drive, the magnitude and duration of the clamping force can be set and adjusted. This avoids the inconsistencies of manual operation and the disadvantages of pneumatic clamping being easily affected by air pressure fluctuations, ensuring that each long tube receives a stable and appropriate clamping force at the cleaning station. This guarantees reliable positioning and prevents deformation or surface damage to the long tube due to overpressure. Furthermore, the coaxial connection between the output end of the transmission device and the push rod ensures the directness and symmetry of force transmission. The power output by the second drive motor can be efficiently converted into the linear thrust of the push rod, reducing transmission losses and lateral forces in the intermediate links, making the clamping action smoother and the positioning more accurate, especially suitable for slender tubes or long tubes with thin walls. Moreover, the rigid transmission formed by the second drive motor and the transmission device can maintain stable performance under frequent starts and stops and load changes, reducing clamping position drift caused by mechanical wear or loosening, and extending the service life of the fixing device.

[0014] As a preferred embodiment, the air blowing device includes an air nozzle and an air supply unit. The air nozzle is installed at the gas output port of the air supply unit. During cleaning, the air nozzle is coaxially connected to the port of the long tube to be tested. The gas output from the air supply unit is blown into the long tube through the air nozzle to clean the foreign matter on the inner surface of the long tube. By adopting a separate design for the air nozzle and the air supply unit in the air blowing device, and ensuring that the air nozzle is coaxially connected to the port of the long tube during cleaning, the airflow enters at high speed along the central axis of the long tube, avoiding airflow deviation or dispersion, and making the flushing force evenly applied to the entire inner surface, reducing cleaning dead zones and improving the thoroughness of foreign matter removal. For slender tubes or inner cavities with bends or steps, this directional airflow can penetrate to the distal end, effectively solving the problem of clean proximal end but residual distal end that is common with traditional non-coaxial blowing. Secondly, the direct connection between the air nozzle inlet and the air source outlet reduces the length and number of bends in the intermediate pipeline, lowering airflow resistance and pressure loss. This ensures that the gas reaching the long pipe still has sufficient scouring kinetic energy, thus maintaining high-efficiency cleaning performance. Furthermore, the coaxial docking structure facilitates rapid and automated docking and disconnection, helping to shorten the workstation cycle time and improve the speed and efficiency of long pipe cleaning.

[0015] As a preferred embodiment, the detection component includes an illumination component and an image acquisition component, which are located symmetrically on opposite sides of the long tube under test. The illumination component provides illumination to the inner surface of the long tube, and the image acquisition component acquires images of the foreign object state on the inner surface of the long tube. Arranging the illumination component and image acquisition component symmetrically on opposite sides of the long tube avoids strong shadows or reflective areas formed by a single-sided light source on the inner wall of the tube, allowing for more uniform illumination covering the entire circumference and depth of the long tube. This ensures that the images acquired by the image acquisition component have high contrast, low noise, and clear details, thereby significantly improving the detection rate and recognition accuracy of foreign objects (such as microparticles, color differences, dents, and attachments). Furthermore, this dual-sided optical layout effectively constructs a stable optical path channel of "light source—inner surface—camera," creating a controllable illumination environment inside the long tube, reducing external stray light interference, and allowing the camera to focus on capturing signals reflected or scattered from the inner surface, improving the signal-to-noise ratio and detection reliability. Furthermore, the symmetrical separation of the illumination and imaging components facilitates independent installation and replacement to adapt to different pipe diameters and detection accuracy requirements. It has good configurability, which helps to achieve fast and stable image acquisition and improve overall detection efficiency.

[0016] As a preferred embodiment, the illumination component includes a planar light source, which creates an illumination environment suitable for foreign object identification on the inner surface of the long tube under test. The image acquisition component includes an area scan camera, which is positioned directly facing the inner surface of the long tube to acquire image information of foreign objects on the inner surface. By combining a planar light source and an area scan camera in the detection assembly, the planar light source can output a large area of ​​uniform light, effectively eliminating local shadows, strong reflections, or brightness gradients that may be caused by traditional point or strip light sources. This results in a consistent overall brightness and moderate contrast on the inner surface of the long tube during imaging, making the differences between foreign objects (such as particles, stains, scratches, dents, etc.) and the normal inner wall more obvious, facilitating accurate identification by image processing algorithms. Furthermore, the two-dimensional array sensor of the area scan camera can capture a high-resolution image of the entire field of view at once, eliminating the need for scanning and stitching like a line scan camera. This shortens the acquisition time of a single frame image and improves the detection cycle and efficiency. For the inspection of the inner surface of long tubes, an area scan camera can capture a longer inspection segment in a single shot, reducing the errors and complexity caused by segmented shooting and image stitching, and improving the overall consistency and continuity of the inspection results. Furthermore, by adjusting the brightness and color temperature of the planar light source, the visibility of foreign objects of specific materials or colors can be enhanced; by changing the area scan camera with different focal lengths and resolutions, it can be adapted to different tube diameters and minimum detectable foreign object sizes, demonstrating good configurability and adaptability. Moreover, the direct alignment of the planar light source and the area scan camera forms a stable illumination path structure, ensuring consistency between illumination and imaging position in each inspection, thereby improving the repeatability of the inspection data. The uniformity of the planar light source reduces image quality variations caused by illumination fluctuations, further stabilizing inspection performance.

[0017] To address the aforementioned technical problems, the present invention also provides a method for detecting foreign objects on the inner surface of a long tube, applied to the aforementioned foreign object detection device on the inner surface of a long tube, the method comprising:

[0018] Place the tube to be tested on the storage shelf;

[0019] The first drive motor of the feeding mechanism is started. The first drive motor runs and drives the transmission component connected to its output shaft to run. The operation of the transmission component drives the shift fork connected to it to move or rotate, so as to move the long tube to be tested from the storage rack to the initial working position on the support frame.

[0020] The long tube to be tested, which has arrived at the initial station, is moved again to the station where the cleaning mechanism is located under the continuous operation of the shift fork, which is located in the positioning groove of the shift fork.

[0021] At this time, the second drive motor of the fixing device is started. The second drive motor runs and drives the transmission device connected to its output end to move. The movement of the transmission device drives the push rod connected to it on the same axis to move. The push rod moves to the port of the long tube to be tested and presses the long tube to be tested tightly and fixes it on the support frame.

[0022] The cleaning mechanism starts working. During cleaning, the nozzle of the air blowing device is coaxially connected to the port of the long tube to be tested. The air source supply outputs gas and blows it into the long tube to be tested through the nozzle to clean the foreign matter on the inner surface of the long tube to be tested.

[0023] After cleaning, the tube to be tested is transferred to the station of the detection component under the operation of the feeding mechanism. The light-illuminating component of the detection component provides a suitable lighting environment for the identification of foreign objects on the inner surface of the tube to be tested. The image acquisition component faces the inner surface of the tube to be tested and acquires the image information of foreign objects on the inner surface of the tube to be tested, so as to detect the foreign object situation on the inner surface of the tube to be tested.

[0024] As described above, the foreign object detection method for the inner surface of a long tube according to the present invention has the following beneficial effects: When the foreign object detection method for the inner surface of a long tube of the present invention is used, the shift fork feeding mechanism driven by the first drive motor cooperates with the positioning groove to realize the transfer and positioning of the long tube between each work station, avoiding the position deviation and cycle fluctuation of manual operation, and significantly improving the detection efficiency.

[0025] Secondly, the detection method includes a pressing and positioning step driven by a second drive motor before cleaning, which ensures that the axial and radial positions of the long tube are fixed during the air blowing cleaning process, effectively counteracting airflow backlash and vibration, ensuring a stable cleaning airflow path and uniform coverage, thereby improving the thoroughness and repeatability of cleaning.

[0026] During the detection phase, the method provides a uniform and suitable lighting environment through the illumination component, and combines it with a planar array camera to acquire high-resolution images of the inside of the tube, making the differences between foreign objects and the inner wall clearly distinguishable in the images, which can significantly improve the accuracy and reliability of the detection results.

[0027] When the foreign object detection device for the inner surface of the long tube of the present invention is used, the three major functional modules of storage, cleaning and detection are integrated into the same workbench, and the long tube is transferred in sequence by the movable support frame of the internal feeding mechanism, so as to realize a fully automatic, multi-station and continuous foreign object detection process, which significantly improves detection efficiency and consistency.

[0028] The multi-station design of the support frame allows multiple long pipes to be loaded at once and enter the cleaning and testing stations in sequence according to a preset rhythm. This avoids the inefficiency and randomness of traditional manual handling of each pipe, significantly shortens the processing cycle of a single long pipe, and improves the testing capacity per unit time.

[0029] The feeding mechanism drives the support frame to move between the storage rack, the cleaning mechanism and the testing components, ensuring accurate positioning and smooth transfer of the long tubes between each workstation, and reducing incomplete cleaning or testing errors caused by manual handling or positional deviations.

[0030] The cleaning mechanism and the detection components are specifically designed to handle and collect data on the cleanliness and foreign matter status of the inner surface of the long tube, forming a closed-loop process of "clean first, then inspect" to ensure the authenticity and reliability of the detection data.

[0031] Because the device adopts an integrated layout, the storage rack, cleaning mechanism and detection components are all arranged on the same workbench, and the feeding mechanism completes the transfer inside. The overall structure is compact and occupies little space, which makes it easy to arrange flexibly on the production line. It can reduce additional equipment transfer and configuration, and help save manpower and equipment costs. Attached Figure Description

[0032] Figure 1 The diagram shows a first three-dimensional structural schematic of a foreign object detection device and detection method for the inner surface of a long tube according to the present invention.

[0033] Figure 2 Displayed as Figure 1 A magnified view of a section at point A in the middle;

[0034] Figure 3 This is a second three-dimensional structural schematic diagram of a foreign object detection device and detection method for the inner surface of a long tube according to the present invention.

[0035] Figure 4 Displayed as Figure 3 A magnified view of a section at point B in the middle;

[0036] Figure 5 Displayed as Figure 3 A magnified view of a section at point C;

[0037] Figure 6 The diagram shown is a third three-dimensional structural schematic of a foreign object detection device and detection method for the inner surface of a long tube according to the present invention.

[0038] Figure 7 Displayed as Figure 6 A magnified view of a section at point D;

[0039] Figure 8 Displayed as Figure 6 A magnified view of a section at point E in the middle.

[0040] Component designation explanation

[0041] 1 Ontology 11 workbench 12 storage rack 13 Cleaning facilities 131 Fixture 1311 Second drive motor 1312 Transmission device 1313 push rod 132 Air blowing device 1321 air valve 14 Detection components 141 Lighting components 1411 Plane light source 142 Image acquisition component 1421 Area scan camera 2 Long tube under test Detailed Implementation

[0042] The following specific embodiments illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification.

[0043] It should be understood that the structures, proportions, sizes, etc., illustrated in the accompanying drawings are merely for illustrative purposes to aid those skilled in the art and are not intended to limit the implementation of the invention. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in proportions, or adjustments to size, without affecting the effectiveness and purpose of the invention, should still fall within the scope of the disclosed technical content. The following detailed description should not be considered restrictive, and the scope of the embodiments of this application is limited only by the claims of the published patents. The terminology used herein is for describing specific embodiments only and is not intended to limit the application. Spatial terms such as "upper," "lower," "left," "right," "below," "below," "lower part," "above," "upper part," etc., may be used in the text to illustrate the relationship between one element or feature shown in the figures and another element or feature.

[0044] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," "fixing," and "holding" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0045] Furthermore, as used herein, the singular forms “a,” “an,” and “the” are intended to include the plural forms as well, unless the context indicates otherwise. It should be further understood that the terms “comprising,” “including,” indicate the presence of the stated feature, operation, element, component, item, kind, and / or group, but do not preclude the presence, occurrence, or addition of one or more other features, operations, elements, components, items, kinds, and / or groups. The terms “or” and “and / or” as used herein are interpreted as inclusive, or mean any one or any combination thereof. Thus, “A, B, or C” or “A, B, and / or C” means “any one of: A; B; C; A and B; A and C; B and C; A, B, and C.” Exceptions to this definition arise only when combinations of elements, functions, or operations are inherently mutually exclusive in some manner.

[0046] To make the objectives, technical solutions, and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for explaining the present invention and are not intended to limit the invention.

[0047] like Figures 1 to 8 As shown, the present invention provides a foreign object detection device for the inner surface of a long tube, comprising:

[0048] Body 1, on which a worktable 11 is provided;

[0049] The workbench 11 is equipped with a storage rack 12, a cleaning mechanism 13, and a detection component 14. The storage rack 12 holds the long tube 2 to be tested. The cleaning mechanism 13 is used to clean the impurities on the inner surface of the long tube 2 to be tested. The detection component is used to collect the detection parameters of the long tube 2 to be tested.

[0050] The main body 1 is internally provided with a feeding mechanism (not shown). The feeding mechanism includes a movable support frame with multiple stations for fixing the long tube 2 to be tested. The feeding mechanism drives the support frame to move the long tube 2 to be tested from the storage rack 12 to the initial station of the support frame, and continues to move the support frame to sequentially convey the long tube 2 to be tested to the corresponding stations of the cleaning mechanism 13 and the detection component.

[0051] In some embodiments of the present invention, such as Figures 1 to 8As shown, the feeding mechanism further includes a fork feeding mechanism, which is used to move the long tube 2 to be tested between multiple stations on the support frame in a step-by-step manner. The fork feeding mechanism includes a transmission component, a fork, and a first drive motor. The output shaft of the first drive motor is connected to the transmission component to drive the transmission component to move. The fork is movably connected to the transmission component and moves or rotates with the movement of the transmission component. Multiple forks are located on both sides of the support frame. The displacement or rotation of the forks pushes the long tube 2 to be tested at the current station on the support frame into the next adjacent station. By adding a fork feeding mechanism consisting of a transmission component, a fork, and a first drive motor to the feeding mechanism, and arranging multiple forks on both sides of the support frame to achieve step-by-step pushing, the movement of the forks is controlled by the first drive motor and the transmission component. The distance and direction of each push are limited, thereby ensuring that the long tube 2 to be tested can accurately enter from one station to the next, avoiding problems such as tube offset, jamming, or misalignment caused by transfer deviation. Secondly, the shift fork feeding mechanism adopts a step-by-step, station-by-station pushing method, which eliminates the need for the carrier frame to move significantly as a whole during the transfer process. This not only helps reduce the mechanical load and inertial impact of the transfer mechanism but also reduces vibration and noise that may be caused by high-speed or long-stroke movement, improving the stability and service life of the device. Furthermore, because the shift forks are symmetrically arranged on both sides and can move synchronously or alternately, they can generate a uniform thrust on the long tube, effectively preventing the tube from tilting, rolling, or falling off during the transfer process, further ensuring the safety and reliability of the transfer process.

[0052] In some embodiments of the present invention, such as Figures 1 to 8As shown, the transmission component is a gear transmission pair, which includes a driving wheel and a driven wheel that mesh with each other. The output shaft of the first drive motor is coaxially connected to the driving wheel. The first drive motor drives the driving wheel to rotate, and the rotation of the driving wheel drives the driven wheel to rotate through gear meshing, thereby driving the shift fork to move or rotate, so as to complete the movement of the long tube 2 to be tested. By using a gear transmission pair as the transmission component in the shift fork feeding mechanism, and using the meshing driving wheel and driven wheel to transmit the rotational motion of the first drive motor to the shift fork, the constant transmission ratio of the gear meshing can ensure that the displacement of each transfer action is consistent, thus making the transfer process of the long tube between each station repeatable, and effectively avoiding process misalignment or detection failure caused by the accumulation of transfer errors. Furthermore, gear drives offer high mechanical efficiency and load-bearing capacity. When transmitting the same power, their energy loss is less than that of flexible transmission methods such as belts and chains. This allows for more efficient conversion of motor power into the pushing force of the shift fork, ensuring sufficient and stable pushing force even when handling long or heavy tubes, guaranteeing smooth and reliable transfer. Moreover, the rigid meshing of gear drives eliminates slippage and slack during transmission, preventing positional deviations caused by slippage or tensile deformation of transmission components. The compact structure and strong impact resistance of gear pairs enable long-term stable operation under frequent stepping movements and potential load fluctuations, reducing gear wear and misalignment caused by vibration or impact, thus extending the service life of the device.

[0053] In some embodiments of the present invention, such as Figure 1 As shown, the shift fork is provided with multiple positioning grooves at equal intervals, which are used to accommodate the long tube 2 to be tested. By providing multiple positioning grooves at equal intervals on the shift fork, the positioning grooves can effectively constrain the long tube radially and guide it axially, preventing it from shifting laterally, rolling, or tilting during the pushing process. This ensures that each long tube is accurately aligned when it is transferred to the cleaning mechanism 13 or the detection component 14, thereby avoiding incomplete cleaning or errors in the acquisition of detection parameters due to positional deviations. Secondly, the design of the positioning grooves is equivalent to integrating the dual functions of "pushing + limiting" on the shift fork, simplifying the structural complexity of the transfer system. It eliminates the need for additional independent positioning clamps or guiding devices on the support frame or outside the long tube, achieving accurate transfer and positioning. This not only reduces the number of parts and assembly steps but also lowers the equipment manufacturing cost. Furthermore, the arrangement of equally spaced positioning slots ensures that the movement trajectory of the shift fork matches the transfer path of the long tube. Each time the shift fork completes a stepping motion, the long tube being accommodated can advance one station. This synchronous transfer method helps maintain the neatness of the long tube arrangement between stations, making it easier for the subsequent cleaning and inspection mechanisms to operate in fixed positions, and helps improve the overall working efficiency of the device.

[0054] In some embodiments of the present invention, such as Figure 4 and Figure 5 As shown, the cleaning mechanism 13 includes a fixing device 131 and an air blowing device 132. The fixing device 131 and the air blowing device 132 are respectively located on symmetrical sides of the long tube 2 to be tested. The fixing device 131 is used to axially press and position the long tube 2 to be tested, and the air blowing device 132 is used to blow air into the long tube 2 to clean foreign matter on the inner surface of the long tube 2. By adopting the design of fixing device 131 and air blowing device 132 being located on symmetrical sides of the long tube 2 to be tested in the cleaning mechanism 13, the fixing device 131 can effectively counteract the backflow force of the airflow and the possible vibration during air blowing cleaning because the long tube is pressed from the outside. This prevents the long tube from shifting axially or swaying radially, ensuring that the long tube always maintains coaxiality and alignment with the nozzle of the air blowing device 132 throughout the cleaning process, thereby avoiding incomplete cleaning or localized foreign matter residue caused by airflow deviation. Secondly, the symmetrical arrangement ensures that the fixing and cleaning functions do not interfere with each other spatially. The clamping position of the fixing device 131 is staggered from the airflow path of the blowing device 132, which not only ensures the effective transmission of clamping force but also avoids the clamping components from blocking or disturbing the airflow. This allows the blowing device 132 to apply airflow to the entire inner surface of the long tube with maximum efficiency and uniformity, improving cleaning coverage and cleanliness. In addition, the axial pressing positioning method of the fixing device 131 ensures that the position of the long tube remains consistent before and after cleaning, facilitating parameter acquisition by the subsequent detection component 14 and avoiding detection errors caused by changes in the position of the long tube, thereby improving the accuracy of the detection results.

[0055] In some embodiments of the present invention, such as Figure 4As shown, the fixing device 131 includes: a second drive motor 1311, a transmission device 1312, and a push rod 1313. The output end of the second drive motor 1311 is connected to the input end of the transmission device 1312, and the output end of the transmission device 1312 is coaxially connected to the push rod 1313. The second drive motor 1311 drives the transmission device 1312 to move, and the movement of the transmission device 1312 drives the push rod 1313 to move, so as to press and fix the long tube 2 to be tested on the support frame. By employing an electric push-rod clamping mechanism consisting of a second drive motor 1311, a transmission device 1312, and a push rod 1313 in the fixing device 131, the second motor drive replaces manual or purely pneumatic clamping. This allows for the setting and adjustment of both the clamping force and its duration, avoiding the inconsistencies of manual operation and the susceptibility of pneumatic clamping to air pressure fluctuations. This ensures that each long tube receives a stable and appropriate clamping force at the cleaning station, guaranteeing reliable positioning and preventing deformation or surface damage due to overpressure. Furthermore, the coaxial connection between the output end of the transmission device 1312 and the push rod 1313 ensures direct and symmetrical force transmission. The power output from the second drive motor 1311 is efficiently converted into a linear thrust of the push rod 1313, reducing transmission losses and lateral forces in intermediate stages. This results in smoother clamping action and more accurate positioning, making it particularly suitable for slender tubes or long tubes with thin walls. Furthermore, the rigid transmission consisting of the second drive motor 1311 and the transmission device 1312 can maintain stable performance under frequent start-stop and load changes, reduce clamping position drift caused by mechanical wear or loosening, and extend the service life of the fixing device 131.

[0056] In some embodiments of the present invention, such as Figure 5As shown, the air blowing device 132 includes an air nozzle 1321 and an air source supply. The air nozzle 1321 is installed at the gas output port of the air source supply. During cleaning, the air nozzle 1321 is coaxially connected to the port of the long tube 2 to be tested. The gas output from the air source supply is blown into the long tube 2 through the air nozzle 1321 to clean the foreign matter on the inner surface of the long tube 2. By adopting a separate design for the air nozzle 1321 and the air source supply in the air blowing device 132, and ensuring that the air nozzle 1321 is coaxially connected to the port of the long tube 2 during cleaning, it ensures that the airflow enters at high speed along the central axis of the long tube, avoiding airflow deviation or dispersion, so that the scouring force is evenly applied to the entire inner surface, reducing cleaning dead zones, and improving the thoroughness of foreign matter removal. For slender tubes or inner cavities with bends or steps, this directional airflow can penetrate to the distal end, effectively solving the problem of clean proximal end but residual distal end that is easily encountered in traditional non-coaxial blowing. Secondly, the inlet of the air nozzle 1321 is directly connected to the air source output port, reducing the length and number of bends in the intermediate pipeline, lowering airflow resistance and pressure loss, and ensuring that the gas reaching the long pipe still has sufficient scouring kinetic energy, thereby maintaining high-efficiency cleaning performance. Furthermore, the coaxial docking structure facilitates rapid and automated docking and disconnection, helping to shorten the workstation cycle time and improve the speed and efficiency of long pipe cleaning.

[0057] In some embodiments of the present invention, such as Figures 6 to 8 As shown, the detection component 14 includes an illumination component 141 and an image acquisition component 142. The illumination component 141 and the image acquisition component 142 are respectively located on symmetrical sides of the long tube 2 to be tested. The illumination component 141 is used to provide illumination to the inner surface of the long tube 2 to be tested, and the image acquisition component 142 is used to acquire images of the foreign object state on the inner surface of the long tube 2 to be tested. Arranging the illumination component 141 and the image acquisition component 142 on symmetrical sides of the long tube 2 to be tested avoids strong shadows or reflective areas formed by a single light source on the inner wall of the tube, so that the illumination can more evenly cover the entire circumference and depth of the long tube. This ensures that the image acquired by the image acquisition component 142 has the characteristics of high contrast, low noise, and clear details, thereby greatly improving the detection rate and recognition accuracy of foreign objects (such as small particles, color differences, dents, and attachments). Furthermore, this dual-sided optical layout effectively creates a stable optical path channel between the light source, the inner surface, and the camera. This allows for a controllable illumination environment inside the long tube, reducing interference from stray light and enabling the camera to focus on capturing signals reflected or scattered from the inner surface, thus improving the signal-to-noise ratio and detection reliability. Moreover, the symmetrical separation of the illumination and imaging components facilitates independent installation and replacement to adapt to different tube diameters and detection accuracy requirements, offering excellent configurability and contributing to rapid and stable image acquisition, thereby improving overall detection efficiency.

[0058] In some embodiments of the present invention, such as Figure 7 and Figure 8 As shown, the illumination component 141 includes a planar light source 1411, which is used to create an illumination environment suitable for foreign object identification on the inner surface of the long tube 2 under test. The image acquisition component 142 includes an area scan camera 1421, which is positioned directly facing the inner surface of the long tube 2 under test to acquire image information of foreign objects on the inner surface of the long tube 2 under test. By using a combination of the planar light source 1411 and the area scan camera 1421 in the detection component 14, the planar light source 1411 can output light with a large area and uniform intensity, effectively eliminating local shadows, strong reflections, or brightness gradients that may be caused by traditional point light sources or strip light sources. This results in the inner surface of the long tube exhibiting a consistent overall brightness and moderate contrast during imaging, making the difference between foreign objects (such as particles, stains, scratches, dents, etc.) and the normal inner wall more obvious, facilitating accurate identification by image processing algorithms. Secondly, the two-dimensional array sensor of the area scan camera 1421 can capture high-resolution images of the entire field of view in one go, eliminating the need for scanning and stitching like a line scan camera. This shortens the acquisition time for a single frame image and improves detection cycle time and efficiency. For the detection of the inner surface of long tubes, the area scan camera 1421 can acquire a longer detection segment in a single shot, reducing the errors and complexity caused by segmented shooting and image stitching, and improving the integrity and continuity of the detection results. Furthermore, by adjusting the brightness and color temperature of the planar light source 1411, the visibility of foreign objects of specific materials or colors can be enhanced. By replacing the area scan camera 1421 with different focal lengths and resolutions, it can be adapted to different tube diameters and minimum detectable foreign object sizes, exhibiting good configurability and adaptability. Moreover, the facing arrangement of the planar light source 1411 and the area scan camera 1421 forms a stable illumination path structure, ensuring that the illumination and imaging positions are consistent in each detection, thereby improving the repeatability of the detection data. The uniformity of the planar light source 1411 reduces image quality variations caused by illumination fluctuations, further stabilizing detection performance.

[0059] In some embodiments of the present invention, such as Figures 1 to 8 As shown, in order to solve the above-mentioned technical problems, the present invention also provides a method for detecting foreign objects on the inner surface of a long tube, applied to the aforementioned foreign object detection device on the inner surface of a long tube, the method comprising:

[0060] Place the tube 2 to be tested on the storage rack 12;

[0061] Start the first drive motor of the feeding mechanism. The first drive motor runs and drives the transmission component connected to its output shaft to run. The operation of the transmission component drives the shift fork connected to it to move or rotate, so as to move the long tube 2 to be tested from the storage rack 12 to the initial working position on the support frame.

[0062] The long tube 2 to be tested, which has arrived at the initial station, is moved again to the station where the cleaning mechanism 13 is located under the continuous operation of the shift fork and is located in the positioning groove of the shift fork.

[0063] At this time, the second drive motor 1311 of the fixing device 131 is started. The second drive motor 1311 runs and drives the transmission device 1312 connected to its output end to move. The movement of the transmission device 1312 drives the push rod 1313 connected to it to move. The push rod 1313 moves to the port of the long tube 2 to be tested and presses the long tube 2 to be tested to be fixed on the support frame.

[0064] When the cleaning mechanism 13 starts working, during cleaning, the nozzle 1321 of the air blowing device 132 is coaxially connected to the port of the long tube 2 to be tested. The air source supply outputs gas and blows it into the long tube 2 to be tested through the nozzle 1321 to clean the foreign matter on the inner surface of the long tube 2 to be tested.

[0065] After cleaning, the long tube 2 to be tested is transferred to the station where the detection component 14 is located under the operation of the feeding mechanism. The light-illuminating component 141 of the detection component 14 provides a suitable lighting environment for the identification of foreign objects on the inner surface of the long tube 2 to be tested. The image acquisition component 142 faces the inner surface of the long tube 2 to be tested and acquires the image information of foreign objects on the inner surface of the long tube 2 to be tested for the purpose of detecting the foreign object situation on the inner surface of the long tube 2 to be tested.

[0066] As described above, the foreign object detection method for the inner surface of a long tube according to the present invention has the following beneficial effects: When the foreign object detection method for the inner surface of a long tube of the present invention is used, the shift fork feeding mechanism driven by the first drive motor cooperates with the positioning groove to realize the transfer and positioning of the long tube between each work station, avoiding the position deviation and cycle fluctuation of manual operation, and significantly improving the detection efficiency.

[0067] Secondly, the detection method includes a pressing and positioning step before cleaning, which is driven by the second drive motor 1311 to press the push rod 1313. This ensures that the axial and radial positions of the long tube are fixed during the air blowing cleaning process, effectively counteracting the backflow and vibration of the airflow, ensuring a stable cleaning airflow path and uniform coverage, thereby improving the thoroughness and repeatability of the cleaning.

[0068] During the detection phase, the method provides a uniform and suitable lighting environment through the illumination component 141, and combines it with the area array camera 1421 to acquire high-resolution images of the inside of the tube, making the difference between the foreign object and the inner wall clearly distinguishable in the image, which can significantly improve the accuracy and reliability of the detection results.

[0069] When the foreign object detection device for the inner surface of the long tube of the present invention is used, the three major functional modules of storage, cleaning and detection are integrated into the same workbench 11, and the long tube is transferred in sequence by the movable support frame of the internal feeding mechanism, so as to realize a fully automatic, multi-station and continuous foreign object detection process, which significantly improves detection efficiency and consistency.

[0070] The multi-station design of the support frame allows multiple long pipes to be loaded at once and enter the cleaning and testing stations in sequence according to a preset rhythm. This avoids the inefficiency and randomness of traditional manual handling of each pipe, significantly shortens the processing cycle of a single long pipe, and improves the testing capacity per unit time.

[0071] The feeding mechanism drives the support frame to move between the storage rack 12, the cleaning mechanism 13 and the detection component 14, ensuring that the long tube is accurately positioned and smoothly transferred between each station, reducing incomplete cleaning or detection errors caused by manual transfer or positional deviation.

[0072] The cleaning mechanism 13 and the detection component 14 are specifically designed to handle and collect data on the cleanliness and foreign matter status of the inner surface of the long tube, forming a closed-loop process of "cleaning first and then detecting" to ensure the authenticity and reliability of the detection data.

[0073] Because the device adopts an integrated layout, the storage rack 12, the cleaning mechanism 13 and the detection component 14 are all arranged on the same workbench 11. The feeding mechanism completes the transfer inside. The overall structure is compact and occupies little space, which makes it easy to arrange flexibly on the production line. It can reduce additional equipment transfer and configuration, and help save manpower and equipment costs.

[0074] In summary, the foreign object detection device and method for the inner surface of a long tube of the present invention have the following advantages:

[0075] 1. Clear foreign object imaging and high accuracy of detection results:

[0076] The illumination component 141 provides a uniform and suitable illumination environment, and the area array camera 1421 collects high-resolution images of the inside of the tube, making the difference between the foreign object and the inner wall clearly distinguishable in the image, which can significantly improve the accuracy and reliability of the detection results.

[0077] 2. High detection efficiency:

[0078] By integrating the three functional modules of storage, cleaning and detection into the same workbench 11, and using the movable support frame of the internal feeding mechanism to sequentially transfer long tubes, a fully automatic, multi-station, and continuous foreign object detection process is realized, which significantly improves detection efficiency and consistency.

[0079] 3. Foreign objects are clearly and thoroughly removed:

[0080] The push rod 1313 driven by the second drive motor 1311 is pressed and positioned to ensure that the axial and radial positions of the long tube are fixed during the air blowing cleaning process, effectively counteracting the backflow and vibration of the airflow, ensuring a stable cleaning airflow path and uniform coverage, thereby improving the thoroughness and repeatability of the cleaning.

[0081] In summary, this invention effectively overcomes the various shortcomings of the prior art and has high industrial application value.

[0082] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in the present invention should still be covered by the claims of the present invention.

Claims

1. A foreign object detection device for the inner surface of a long tube, characterized in that, include: The main body, on which a worktable is provided; The workbench is equipped with a storage rack, a cleaning mechanism, and a detection component. The storage rack holds a long tube to be tested, the cleaning mechanism is used to clean impurities from the inner surface of the long tube, and the detection component is used to collect the detection parameters of the long tube. The main body is equipped with a feeding mechanism, which includes a movable support frame. The support frame has multiple stations for fixing the long tube to be tested. The feeding mechanism drives the support frame to move the long tube to be tested from the storage shelf to the initial station of the support frame, and continues to move the support frame to sequentially convey the long tube to be tested to the corresponding stations of the cleaning mechanism and the detection component.

2. The foreign object detection device on the inner surface of a long tube according to claim 1, characterized in that: The feeding mechanism further includes a fork feeding mechanism, which is used to move the long tube to be tested between multiple stations of the support frame in a step-by-step manner; the fork feeding mechanism includes a transmission component, a fork, and a first drive motor; wherein, the output shaft of the first drive motor is connected to the transmission component to drive the transmission component to move; the fork is movably connected to the transmission component and moves or rotates with the movement of the transmission component; multiple forks are located on both sides of the support frame, and the displacement or rotation of the forks pushes the long tube to be tested located at the current station of the support frame into the next adjacent station.

3. The foreign object detection device on the inner surface of a long tube according to claim 2, characterized in that: The transmission component is a gear transmission pair, which includes a driving wheel and a driven wheel that mesh with each other. The output shaft of the first drive motor is coaxially connected to the driving wheel. The first drive motor drives the driving wheel to rotate. The rotation of the driving wheel drives the driven wheel to rotate through gear meshing, thereby driving the shift fork to move or rotate, so as to complete the movement of the long tube to be tested.

4. The foreign object detection device on the inner surface of a long tube according to claim 2, characterized in that: The shift fork is provided with multiple positioning grooves at equal intervals, which are used to accommodate the long tube to be tested.

5. The foreign object detection device on the inner surface of a long tube according to claim 1, characterized in that: The cleaning mechanism includes a fixing device and an air blowing device. The fixing device and the air blowing device are located on the symmetrical sides of the long tube to be tested, respectively. The fixing device is used to press and position the long tube to be tested in the axial direction, and the air blowing device is used to blow air into the long tube to be tested to clean foreign objects on the inner surface of the long tube to be tested.

6. The foreign object detection device on the inner surface of a long tube according to claim 5, characterized in that: The fixing device includes a second drive motor, a transmission device, and a push rod. The output end of the second drive motor is connected to the input end of the transmission device, and the output end of the transmission device is coaxially connected to the push rod. The second drive motor drives the transmission device to move, and the movement of the transmission device causes the push rod to move, so as to press and fix the long tube to be tested on the support frame.

7. The foreign object detection device on the inner surface of a long tube according to claim 5, characterized in that: The air blowing device includes an air nozzle and an air source supply. The air nozzle is installed at the gas output port of the air source supply. During cleaning, the air nozzle is coaxially connected to the port of the long tube to be tested. The gas output by the air source supply is blown into the long tube to be tested through the air nozzle to clean the foreign matter on the inner surface of the long tube to be tested.

8. The foreign object detection device on the inner surface of a long tube according to claim 1, characterized in that: The detection component includes an illumination component and an image acquisition component, which are located on opposite sides of the long tube to be tested. The illumination component is used to provide illumination to the inner surface of the long tube to be tested, and the image acquisition component is used to acquire images of the foreign object state on the inner surface of the long tube to be tested.

9. A foreign object detection device for the inner surface of a long tube according to claim 8, characterized in that: The illumination component includes a planar light source, which is used to create an illumination environment suitable for foreign object identification on the inner surface of the long tube to be tested. The image acquisition component includes an area scan camera, which is positioned facing the inner surface of the long tube to be tested to acquire image information of foreign objects on the inner surface of the long tube to be tested.

10. A method for detecting foreign objects on the inner surface of a long tube, applied to the foreign object detection device for the inner surface of a long tube as described in any one of claims 1-9, characterized in that, The method includes: Place the tube to be tested on the storage shelf; The first drive motor of the feeding mechanism is started. The first drive motor runs and drives the transmission component connected to its output shaft to run. The operation of the transmission component drives the shift fork connected to it to move or rotate, so as to move the long tube to be tested from the storage rack to the initial working position on the support frame. The long tube to be tested that has arrived at the initial station is moved again to the station where the cleaning mechanism is located under the continuous operation of the shift fork, which is located in the positioning groove of the shift fork. At this time, the second drive motor of the fixing device is started. The second drive motor runs and drives the transmission device connected to its output end to move. The movement of the transmission device drives the push rod connected to it on the same axis to move. The push rod moves to the port of the long tube to be tested and presses the long tube to be tested tightly and fixes it on the support frame. The cleaning mechanism starts working. During cleaning, the nozzle of the air blowing device is coaxially connected to the port of the long tube to be tested. The air source supply outputs gas and blows it into the long tube to be tested through the nozzle to clean the foreign matter on the inner surface of the long tube to be tested. After cleaning, the tube to be tested is transferred to the station of the detection component under the operation of the feeding mechanism. The light-illuminating component of the detection component provides a suitable lighting environment for the identification of foreign objects on the inner surface of the tube to be tested. The image acquisition component faces the inner surface of the tube to be tested and acquires the image information of foreign objects on the inner surface of the tube to be tested, so as to detect the foreign object situation on the inner surface of the tube to be tested.

Images