Pipe end dimension measuring device of pipe body

Abstract

The utility model relates to a pipe end dimension measuring device of a pipe body, which comprises a robot body, a data acquisition assembly, a pipe body driving assembly and a control assembly, and is characterized in that the robot body is rotatably connected with a machine shaft; the data acquisition assembly comprises a track and a distance measuring sensor, the track is fixed to the machine shaft, a driving piece is arranged on the track and connected with the distance measuring sensor, and the distance measuring sensor is movably connected to the track in the length direction of the track; the pipe body driving assembly is arranged on one side of the data acquisition assembly, a pipe body placing platform used for accommodating a pipe body is arranged on the pipe body driving assembly, and when the pipe body is placed on the pipe body placing platform, the connection point of the track and the machine shaft has a projection on the circumferential section of the pipe body; the control assembly is electrically connected with the robot body, the driving piece, the distance measuring sensor and the pipe body driving assembly. According to the utility model, the distance measuring sensor can scan the distance data from the pipe end of the pipe body to obtain the perimeter of the pipe end, the length of long and short axes, the positions of the long and short axes and ovality parameters.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of robot measurement, in particular to a pipe end size measuring device of a pipe body. BACKGROUND

[0002] In the process of steel pipe manufacturing, the actual produced steel pipe end is not a standard circle. In order to facilitate the butt welding of two steel pipes at the construction site, the pipe end size precision of oil and gas conveying steel pipes is required more and more strictly, and the measured data is required to be stored in the database. The traditional measurement method is to rely on manual measurement of 16 points with a bar gauge and paper recording method. The manual measurement precision error and the number of measurement points are difficult to meet the requirements, and the paper recording method does not meet the standard. CONTENT OF THE UTILITY MODEL

[0003] The present application provides a pipe end size measuring device of a pipe body, which can solve the problems of manual measurement precision error, difficulty in meeting the requirements of the number of measurement points, and non-compliance of the paper recording method in the related art.

[0004] The present application provides a pipe end size measuring device of a pipe body, which can solve the problems of manual measurement precision error, difficulty in meeting the requirements of the number of measurement points, and non-compliance of the paper recording method in the related art.

[0005] In an embodiment, the driving part comprises a servo motor, a lead screw and a nut block. The lead screw is arranged in the track, one end of the lead screw is fixed with the output end of the servo motor, and the other end is rotatably connected with the inner wall of the track. The nut block is threadedly connected with the lead screw. The distance measuring sensor is arranged on the nut block.

[0006] In an embodiment, a connecting rod is arranged between the nut block and the distance measuring sensor.

[0007] In an embodiment, the data acquisition assembly further comprises an encoder, which is electrically connected with the servo motor and the control assembly.

[0008] In an embodiment, a connecting rod is arranged between the track and the machine shaft.

[0009] In an embodiment, the pipe body driving assembly comprises a roller body and a roller motor, wherein the roller body is a pipe body placing platform, and the roller motor is connected with the roller body.

[0010] In an embodiment, the pipe body driving assembly further comprises a stop switch, wherein the stop switch is electrically connected with the control assembly and the roller motor.

[0011] In an embodiment, the pipe body driving assembly further comprises a deceleration switch, wherein the deceleration switch is electrically connected with the control assembly and the roller motor.

[0012] In an embodiment, the control assembly comprises an upper computer, a switch and a controller, wherein the switch is connected with the upper computer and the distance measuring sensor, and the controller is connected with the switch, the pipe body driving assembly and the driving member.

[0013] In an embodiment, the measuring device further comprises a robot controller, wherein the robot controller is electrically connected with the robot body and the control assembly.

[0014] The technical scheme provided by the embodiments of the present application has the following beneficial effects:

[0015] The pipe end size measuring device provided by the embodiments of the present application sets the distance measuring sensor on the track, and the driving member can drive the distance measuring sensor to move along the track. Since the machine shaft can rotate relative to the robot body, when the machine shaft rotates, it can drive the track and the distance measuring sensor to rotate. The distance measuring sensor can scan the distance data from the pipe end. After one rotation, a set number of points are collected. Through an algorithm, the circumference of the pipe end, the major and minor axis lengths, the major and minor axis positions and the ellipticity parameters are obtained. Thus, the device can replace manual work, improve the measurement accuracy and the number of measurement points. At the same time, when the pipe body is placed, it does not need to be accurately positioned at the pipe end face center. It only needs to ensure that the connection point of the track and the machine shaft has a projection on the pipe body circumferential section, so as to facilitate the pipe body installation and detection. BRIEF DESCRIPTION OF DRAWINGS

[0016] In order to more clearly illustrate the technical scheme in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0017] Figure 1 The overall structure schematic diagram provided by the embodiments of the present application is provided.

[0018] Figure 2 The control assembly schematic diagram provided by the embodiments of the present application is provided.

[0019] Figure 3 A pipe body circumferential section and ranging sensor position schematic view is provided for the embodiment of the present application.

[0020] Figure 4 A collection point schematic view is provided for the embodiment of the present application.

[0021] In the figure: 1, robot body; 10, machine shaft; 2, connecting rod; 3, data acquisition assembly; 30, linear module; 31, servo motor; 32, screw nut slider; 33, connecting rod; 34, ranging sensor; 35, encoder; 4, control assembly; 40, upper computer; 41, switch; 42, PLC-CPU; 43, PLC-DI / DO; 44, roller frequency converter; 5, pipe body driving assembly; 50, roller body; 51, roller motor; 52, stop switch; 53, deceleration switch; 54, pipe body; 6, robot controller; 60, robot communication card. DETAILED DESCRIPTION

[0022] In order to enable personnel in the art to better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the present application.

[0023] The pipe end size measuring device for a pipe body provided by the embodiment of the present application can solve the problems of error in manual measurement accuracy, difficulty in meeting the requirement of measurement point number, and non-compliance of paper record mode with standards in the related art.

[0024] Referring to Figures 1 to 4 As shown in the figure, the pipe end size measuring device for a pipe body provided by the embodiment of the present application comprises a robot body 1, a data acquisition assembly 3, a pipe body driving assembly 5, and a control assembly 4. The robot body 1 is rotationally connected with a machine shaft 10. The data acquisition assembly 3 comprises a track and a ranging sensor 34. The track is fixed with the machine shaft 10. A driving member is arranged on the track. The driving member is connected with the ranging sensor 34. The ranging sensor 34 is movably connected with the track along the length direction of the track. The pipe body driving assembly 5 is arranged on one side of the data acquisition assembly 3. A pipe body placement platform for accommodating a pipe body 54 is arranged on the pipe body driving assembly 5. When the pipe body 54 is placed on the pipe body placement platform, the connection point of the track and the machine shaft 10 has a projection on the circumferential section of the pipe body 54. The control assembly 4 is electrically connected with the robot body 1, the driving member, the ranging sensor 34, and the pipe body driving assembly 5.

[0025] In the present application, the distance measuring sensor 34 is arranged on the track, and the driving member can drive the distance measuring sensor 34 to move along the track. Since the machine shaft 10 can rotate relative to the robot body 1, when the machine shaft 10 rotates, the track and the distance measuring sensor 34 can also rotate, and the distance measuring sensor 34 can scan the distance data of the pipe end of the pipe body 54. After one circle of scanning, a certain number of points are collected, and through an algorithm, the circumference, major and minor axis length, major and minor axis position, and ellipticity parameter of the pipe end are obtained. Thus, the device can replace manual work and improve the measurement accuracy and the number of measurement points. At the same time, when the pipe body 54 is placed, it is not necessary to accurately position the center of the end face of the pipe body 54. It is only necessary to ensure that the connecting point of the track and the machine shaft 10 has a projection on the circumferential section of the pipe body 54, so as to facilitate the installation and detection of the pipe body 54.

[0026] The pipe end size measuring device of the pipe body of the present application can install the data acquisition assembly 3 which can adapt to different pipe diameters on the machine shaft 10 of the robot body 1. When the machine shaft 10 of the robot body 1 rotates, the distance measuring sensor 34 of the data acquisition assembly 3 scans the pipe end data of the pipe body 54, and the pipe end size of the pipe body 54 is indirectly measured.

[0027] In the present application, the machine shaft 10 is provided with a transition plate at the end, and a connecting rod 2 is arranged between the machine shaft 10 and the track. That is, one end of the connecting rod 2 is fixed with the transition plate, and the other end is fixed with the track.

[0028] In the present embodiment, the track and the driving member constitute a linear module 30. The driving member includes a servo motor 31, a lead screw, and a nut block 32. Specifically, a cavity is formed in the middle of the track, the lead screw is arranged in the cavity in the track, one end of the lead screw is fixed with the output end of the servo motor 31, and the other end is rotatably connected with the inner wall of the track, that is, rotatably connected with the inner wall of the cavity. A bearing is fixed on the inner wall of the cavity, so that the lead screw is fixed with the inner ring of the bearing, and the lead screw can rotate smoothly when the servo motor 31 drives the lead screw to rotate. The nut block 32 is threadedly connected to the lead screw, and the distance measuring sensor 34 is arranged on the nut block 32. At the same time, the nut block 32 is slidably connected with the inner wall of the cavity. When the lead screw rotates, the nut block 32 slides in the cavity, and the nut block 32 drives the distance measuring sensor 34 to slide between the O point and the M point in the track, while the inner wall of the cavity can limit the nut block 32 to avoid rotation of the nut block 32 during movement. Figure 1

[0029] Further, a connecting rod 33 is arranged between the nut block 32 and the distance measuring sensor 34. The length of the connecting rod 33 can be designed according to the actual situation, so that the distance measuring sensor 34 can collect data.

[0030] ​In order to ensure that the moving position of the wire mother slider 32 and the distance measuring sensor 34 can be accurately positioned, the data acquisition assembly 3 is further provided with an encoder 35, which is electrically connected with the servo motor 31 and the control assembly 4.

[0031] On the basis of the above-mentioned embodiments, in the present embodiment, the pipe body driving assembly 5 comprises a roller bed body 50 and a roller bed motor 51, the surface of the roller bed body 50 is a pipe body placing platform, and the roller bed motor 51 is connected with the roller bed body 50.

[0032] After the pipe body 54 is placed on the roller bed body 50, the roller bed motor 51 can drive the pipe body 54 to move; further, the pipe body driving assembly 5 further comprises a stop switch 52 and a deceleration switch 53, the stop switch 52 is electrically connected with the control assembly 4 and the roller bed motor 51, and the deceleration switch 53 is electrically connected with the control assembly 4 and the roller bed motor 51. In the present embodiment, the deceleration switch 53 and the stop switch 52 are arranged on the side of the roller bed body 50 close to the data acquisition assembly 3, and are used to stop the movement of the pipe body 54 to the side close to the data acquisition assembly 3.

[0033] On the basis of the above-mentioned embodiments, in the present embodiment, the control assembly 4 comprises an upper computer 40, a switch 41 and a controller, the switch 41 is connected with the upper computer 40 and the distance measuring sensor 34, and the controller is connected with the switch 41, the pipe body driving assembly 5 and the driving part. The controller is a PLC controller, which comprises a PLC-CPU 42 and a PLC-DI / DO 43. Further, the measuring device further comprises a robot controller 6, which is electrically connected with the robot body 1 and the control assembly 4.

[0034] Referring to Figure 2 As shown in the figure, the switch 41 is connected with a robot communication card 60 (profinet communication card) in the robot controller 6, the upper computer 40, the distance measuring sensor 34, a roller bed frequency converter 44, the PLC-CPU 42 through a PN communication line, the PLC-CPU 42 is connected with the PLC-DI / DO 43 module through a backplane bus, the PLC-DI / DO 43 module is connected with the deceleration switch 53, the stop switch 52 and the encoder 35 through a signal line, and the servo motor 31 on the side of the linear module 30 is connected with the robot controller 6 through a signal cable.

[0035] Specifically, the measurement operation method of this device is as follows: First, the "standard pipe diameter" is set on the host computer 40. The host computer 40 will transmit this data to the PLC-CPU 42. The PLC-CPU 42 will calculate the "target position" of the nut slider 32 relative to the ground. Then, the "pipe body 54 conveying" software button is pressed. The PLC-CPU 42 will send a control command to the roller frequency converter 44. The roller frequency converter 44 drives the roller motor 51 to rotate, and the conveyed pipe body 54 moves towards the data acquisition component 3. When the pipe end of the pipe body 54 moves to the position of the deceleration switch 53, it begins to decelerate. When it moves to the stop switch 52, it stops immediately. After the stop signal is captured by the PLC-CPU 42, the PLC-CPU 42 will inform the robot controller 6 "pipe body 54 is in place" through the PN line. The robot controller 6 will control the movement of each axis of the robot body 1 to keep its posture in the correct position. Figure 1 As shown in the diagram, while adjusting its posture, the robot body 1 drives the servo motor 31 of the linear module 30 to rotate. The servo motor 31 drives the nut slider 32 to move to the "target position." After reaching the target position, the robot controller 6 drives the machine axis 10 to rotate one revolution, collecting distance data sensed by 3600 ranging sensors 34. The collected data is finally transmitted to the host computer 40's SQL database for storage via PLC-CPU 42. The host computer 40 then performs algorithmic calculations on the collected data to obtain the major and minor axis lengths, angles, ellipticity, and circumference data of the tube end of the tube body 54.

[0036] The calculation algorithm is as follows:

[0037] Step 1: Solve for the process of machine shaft 10 rotating one revolution. Figure 4 The real-time d value.

[0038] For details, see Figure 1 As shown, let the vertical distance from point O to point K be S1, where point O is the starting point of the nut slider 32 and point K is the midpoint of the nut slider 32; let the vertical distance from point O to point RO be S2, where point RO is the intersection of the connecting rod 2 and the linear module 30; Figure 3 The fixed value D is the distance from the axis of point K' to the bottom of the ranging sensor 34, where point K' is the projection of point K onto the cross section of the connecting rod 33; the measured distance value X is the distance from the bottom of the ranging sensor 34 to the surface of the tube body 54 as measured by the ranging sensor 34.

[0039] achievable Figure 3 In this case, d = S1 - S2 - fixed value DX. Figure 3 Point R01 is the projection of point R0 onto the cross-section of the pipe end of pipe body 54; S1 can be obtained by measuring the encoder 35 at the lower end of the linear module 30; S2 is a fixed known value formed after installation; the fixed value D is a known value after the device is installed; X is the distance value sensed and output by the distance sensor 34 in real time.

[0040] Second step: see Figure 4 As shown in the figure, through the real-time d value and angle θ value, the computer calculates the rectangular coordinates of 3600 points on the irregular circle of the pipe end when the machine shaft 10 rotates one round. The real-time angle θ value is the rotation angle of the machine shaft 10, which can be obtained from the robot controller 6 by the upper computer 40 through the PN network cable.

[0041] See Figure 4 As shown in the figure, the rectangular coordinates of a point on the irregular circle of the pipe end are (d*cosθ, d*sinθ), and the coordinates of the 3600 points are (d1*cosθ1, d1*sinθ1), (d2*cosθ2, d2*sinθ2), (d3*cosθ3, d3*sinθ3)......(d3600*cosθ3600, d3600*sinθ3600).

[0042] Third step: on the basis of the second step, an array s[i][j] is established,

[0043] (1=<i=<3600, 1=<j=<3600);

[0044] Poll the distance between the first point and other points, and store them in the array S[1][j] in turn;

[0045] Poll the distance between the second point and other points, and store them in the array S[2][j] in turn,

[0046] Poll the distance between the i-th point and other points, and store them in the array S[i][j] in turn.

[0047] Among them: S[1][j] is composed of S[1][2], S[1][3], S[1][4]......S[1]

[3600] , that is, composed of: the distance between the first point and the second point, the distance between the first point and the third point, the distance between the first point and the fourth point,...... the distance between the first point and the 3600th point. The other arrays are similar.

[0048] Fourth step: on the basis of the results obtained in the third step, the maximum value elements in the array S[1][j] are found in turn by the bubble method:

[0049] The maximum value element in the array S[1][j] is S[1][K1], which is the longest axis of the connection between the first point and other points.

[0050] The maximum value element in the array S[2][j] is S[2][K2], which is the longest axis of the connection between the second point and other points.

[0051] The maximum value element in the array S

[3600] [j] is S

[3600] [K3600], which is the longest axis of the connection between the 3600th point and other points.

[0052] Wherein, K1, K2...K3600 are defined integer variables, which are the index of the second point of the maximum value of S[1][j], the index of the second point of the maximum value of S[2][j]...the index of the second point of the maximum value of S

[3600] [j].

[0053] Fifth step: Calculate the length of the longest axis and the length of the shortest axis of the pipe end.

[0054] Find the maximum value S[m][n] from S[1][K1], S[2][K2], S[3][K3]...S

[3600] [K3600] obtained from the fourth step, which is the length of the longest axis of the pipe end, and find the minimum value S[a][b], which is the length of the shortest axis of the pipe end. S[m][n] represents that the line between the mth point and the nth point is the longest axis, and S[a][b] represents that the line between the ath point and the bth point is the shortest axis.

[0055] Sixth step: Calculate the position of the pipe end of the pipe body 54 where the long axis and the short axis are located, and take the angle between the long axis, the short axis and the X axis as the position of the long axis and the short axis. Figure 4

[0056] Here, the Math.Atan2 function in Microsoft C# high-level language is used to calculate the angle between the long axis and the short axis and the X axis.

[0057] The formula for calculating the angle between the line connecting two points (X1, Y1) and (X2, Y2) and the X axis by the Math.Atan2 function is as follows:

[0058] Angle = Math.Atan2((Y2-Y1), (X2-X1))*180 / Math.PI;

[0059] According to the fifth step, the longest axis is the line between the mth point and the nth point, and according to the first step, the coordinates of the mth point are (dm*cosθm, dm*sinθm) and the coordinates of the nth point are (dn*cosθn, dn*sinθn). Substituting the coordinates of the mth and nth points into the above formula can obtain the angle of the longest axis.

[0060] According to the fifth step, the shortest axis is the line between the ath point and the bth point, and according to the first step, the coordinates of the ath point are (da*cosθa, da*sinθa) and the coordinates of the bth point are (db*cosθb, db*sinθb). Substituting the coordinates of the ath and bth points into the above formula can obtain the angle of the shortest axis.

[0061] Seventh step: Calculate the ellipticity of the pipe end.

[0062] Ellipticity = Longest axis length - Shortest axis length = S[m][n] - S[a][b]. ​

[0063] Eighth step: calculate the pipe body 54 fitting circumference.

[0064] The first point and the second point distance J1 can be calculated by the first point coordinates and the second point coordinates;

[0065] The second point and the third point distance J2 can be calculated by the second point coordinates and the third point coordinates;

[0066] The second point and the third point distance J4 can be calculated by the third point coordinates and the fourth point coordinates.

[0067] The second point and the third point distance J3600 can be calculated by the 3600th point coordinates and the first point coordinates.

[0068] The length of the circumference is: J1+J2+J3+...+J3600.

[0069] In summary, the data acquisition assembly 3 designed in the application can adapt to different pipe diameters and is installed on the machine shaft 10. When the machine shaft 10 rotates, the distance measuring sensor 34 scans the distance between the pipe body 54 and the pipe end, scans 1 circle, collects the set number of points, and obtains the pipe end circumference, major and minor axis length, major and minor axis position, and ellipticity parameter through the algorithm. The device can replace manual work, improve measurement accuracy and measurement point number, can automatically store measurement results to the SQL database, and improves the overall device automation level of finished pipe body 54 pipe end measurement.

[0070] In the description of the application, it should be noted that the orientation or position relationship indicated by the terms "upper", "lower" and the like is based on the orientation or position relationship shown in the drawings, and is only for the convenience of describing the application and simplifying the description, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the application. Unless otherwise specified and limited, the terms "mounting", "connection", "connection" should be understood broadly, for example, it can be fixed connection, or detachable connection, or integral connection; it can be mechanical connection, or electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, or the communication between two elements. For those skilled in the art, the specific meaning of the above terms in the application can be understood according to the specific circumstances.

[0071] It should be noted that, in the present application, the relational terms such as "first" and "second", and the like, are used solely to distinguish one entity or action from another, without necessarily requiring or implying any actual relationship or order between such entities or actions. Moreover, the terms "comprises", "comprising", or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can also include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by "comprises... a" does not, without more constraints, exclude the existence of additional identical elements in the process, method, article, or apparatus that comprises the element.

[0072] The foregoing is considered as illustrative only of the principles of the application. Numerous modifications and changes will readily occur to those skilled in the art, and the generic principles defined herein can be applied to other embodiments without departing from the spirit or scope of the application. Therefore, the application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A pipe end dimension measuring device of a pipe body, characterized by, It includes: A robot body (1), a machine shaft (10) is rotatably connected to the robot body (1); A data acquisition assembly (3) includes a track and a distance measuring sensor (34), the track is fixed with the machine shaft (10), the track is provided with a driving part, the driving part is connected with the distance measuring sensor (34), and the distance measuring sensor (34) is movably connected to the track along the length direction of the track; A pipe body driving assembly (5) is arranged on one side of the data acquisition assembly (3), and the pipe body driving assembly (5) is provided with a pipe body placing platform for accommodating the pipe body (54), when the pipe body (54) is placed on the pipe body placing platform, the connection point of the track and the machine shaft (10) has a projection on the circumferential section of the pipe body (54); A control assembly (4) is electrically connected with the robot body (1), the driving part, the distance measuring sensor (34) and the pipe body driving assembly (5).

2. The pipe end size measuring device of the pipe body according to claim 1, wherein: The driving part includes a servo motor (31), a lead screw and a nut block (32); The lead screw is arranged in the track, one end of the lead screw is fixed with the output end of the servo motor (31), the other end is rotatably connected with the inner wall of the track, the nut block (32) is threadedly connected with the lead screw, and the distance measuring sensor (34) is arranged on the nut block (32).

3. The pipe end size measuring device of the pipe body according to claim 2, wherein: A connecting rod (33) is arranged between the nut block (32) and the distance measuring sensor (34).

4. The pipe end size measuring device of the pipe body according to claim 1, wherein: The data acquisition assembly (3) further includes an encoder (35), which is electrically connected with the servo motor (31) and the control assembly (4).

5. The pipe end size measuring device of the pipe body according to claim 1, wherein: A connecting rod (2) is arranged between the machine shaft (10) and the track.

6. The tube end sizing apparatus of claim 1 wherein: The pipe body driving assembly (5) includes: A roller bed body (50), the surface of the roller bed body (50) is a pipe body placing platform; A roller bed motor (51) is connected with the roller bed body (50).

7. The pipe end size measuring device of the pipe body according to claim 6, wherein: The pipe body driving assembly (5) further includes a stop switch (52), which is electrically connected with the control assembly (4) and the roller bed motor (51).

8. The pipe end size measuring device of the pipe body according to claim 7, wherein: The pipe body driving assembly (5) further includes a deceleration switch (53), which is electrically connected with the control assembly (4) and the roller bed motor (51).

9. The tube end sizing apparatus of claim 1 wherein, The control assembly (4) includes: A host computer (40); A switch (41) is connected with the host computer (40) and the distance measuring sensor (34); A controller is connected with the switch (41), the pipe body driving assembly (5) and the driving part.

10. The pipe end sizing apparatus of claim 1 wherein: The measuring device further comprises: a robot controller (6) which is electrically connected with the robot body (1) and the control assembly (4).

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