CN102636145A - Automatic detection device for roundness of end part of special steel pipe and detection method thereof - Google Patents

Abstract

An automatic detection device for the roundness of the end of a special steel pipe and a detection method thereof, including a vertical movement driving mechanism of the detection device, a steel pipe angular displacement detection mechanism, and a steel pipe end roundness detection mechanism, wherein the vertical movement driving mechanism of the detection device is used to adjust The position of the steel pipe angular displacement detection mechanism and the steel pipe end roundness detection mechanism when detecting steel pipes with different diameters, the combination of the steel pipe angular displacement detection mechanism and the steel pipe end roundness detection mechanism detects the pipe diameter corresponding to the steel pipe at different angular displacements , and finally get the roundness value of the end of the steel pipe. The invention has the advantages of fast detection speed, reliable detection data, high degree of automation and greatly reduced labor intensity of personnel, and is suitable for automatic detection of roundness at both ends of steel pipes, especially special steel pipes.

Description

An automatic detection device and detection method for the roundness of the end of a special steel pipe

technical field

The invention relates to a detection device and a detection method, in particular to an automatic detection device for the roundness of a special steel pipe end and a detection method thereof, belonging to the technical field of metal profile manufacture.

Background technique

With the continuous and rapid growth of my country's economy, the strategic position of oil and natural gas resources in the national economy has become increasingly prominent. In addition to actively raising oil and natural gas resources from the international crude oil market, my country has also increased the exploitation of domestic oil and natural gas resources and exploration. Drill pipes, drill collars and casings for oil and gas wells are key components in oil and gas drilling equipment, and drill pipes and casings are special seamless steel pipes. At present, the drilling depth has reached more than 10,000 meters. When drilling, hundreds of drill pipes and casings need to be connected. The connection methods are all connected by threads. Extremely high requirements, if the two ends of the drill pipe and casing are not straight or round, the quality of thread processing at both ends will be affected, thereby affecting the connection strength.

After retrieval, it was found that Xue Ting, Yang Xueyou and other scholars published an article in Tianjin University Journal 2003 Issue 03, introducing the optimal design and calibration of the visual sensor for steel pipe straightness measurement. 5 laser vision sensors are arranged within 1m, and the plan is to measure simultaneously in sections. A beam of light plane is emitted by the semiconductor laser LD, and after being cut off from the seamless steel pipe, an elliptical arc is formed on the outer surface of the steel pipe. The images of each elliptical arc are received by the CCD camera, and the center of each elliptical arc is obtained by real-time computer image processing. The coordinates in the world coordinate system; under the control of the computer, the hydraulic transmission mechanism drives the steel pipe to contact the positioning switch at one end, and the positioning switch sends a measurement pulse signal to the computer. After a delay of about 1min, after the steel pipe stabilizes, the computer Control the 5 visual sensors at this end to quickly collect the elliptical arc images when the 5 light planes intersect the steel pipe; then, the computer controls the hydraulic transmission mechanism to drive the steel pipe to move to the other end, and collect the measurement signals of the 5 sensors at this end; finally The computer processes 10 images and calculates the straightness error of the steel pipe through the aforementioned algorithm. In this method, the image of the elliptical arc formed by the light planes emitted by five lasers on the steel pipe surface is captured by the CCD, and then the straightness of the measured measurement section is determined through image processing and analysis.

The disadvantage of this method is that it only proposes a method for detecting the straightness of both ends of the steel pipe in a static state, and fails to solve the problem of detecting the roundness of both ends of the steel pipe.

Contents of the invention

Aiming at the deficiencies in the prior art, the present invention provides an automatic detection device for the roundness of the end of a special steel pipe, which can detect the roundness of both ends of the steel pipe, and has the advantages of high speed, reliability and high degree of automation. The purpose is to provide a method for realizing the automatic detection of the roundness of both ends of the steel pipe by using the device.

The present invention is achieved through the following technical solutions:

An automatic detection device for the roundness of a special steel pipe end, which includes a detection device column, a positioning block, a steel pipe rotation drive wheel, a first suspension wheel, a suspension plate, a second suspension wheel, a steel wire rope, a balance weight, and a detection device that moves up and down The driving mechanism, the steel pipe angular displacement detection mechanism and the steel pipe end roundness detection mechanism, wherein the suspension plate is fixed on the top of the column of the detection device, the steel wire rope is hung on the first suspension wheel and the second suspension wheel at both ends of the suspension plate, and one end is connected The balance weight and the other end are connected to the up and down driving mechanism of the detection device. The roundness detection mechanism of the steel pipe end and the steel pipe angular displacement detection mechanism are connected to the up and down movement driving mechanism of the detection device, and the gravity balance is carried out through the steel wire rope and the balance weight. The detection device The driving mechanism for moving up and down is fixed on the top of the column of the detection device and drives the steel pipe end roundness detection mechanism and the steel pipe angular displacement detection mechanism to move up and down. On the detection device column under the detection mechanism.

The detection device moving up and down driving mechanism includes: a servo motor, a first synchronous pulley, a first synchronous belt, a second synchronous pulley, a ball screw pair, a linear guide rail pair and a support plate, wherein the servo motor is fixedly installed on Detect the top of the column of the device, and drive the ball screw pair to rotate through the first synchronous pulley, the first synchronous belt and the second synchronous pulley, the support plate is suspended and connected to one end of the steel wire rope, and simultaneously with the ball screw pair and The linear guide rail pair is connected so that it is driven by the servo motor to move up and down along the linear guide rail pair.

The steel pipe angular displacement detection mechanism includes: a first displacement sensor, a V-shaped positioning support block, a first pressure spring, an encoder, an encoder connecting shaft, a friction roller and a support roller, wherein the V-shaped positioning support block uses two Bolts are mounted on the support plate and move up and down with the support plate. The first displacement sensor is fixedly installed on the support plate and is located above the V-shaped positioning support block to detect the displacement of the V-shaped positioning support block. The encoder is connected The shaft, together with the encoders and friction rollers installed at its left and right ends, are movably installed in the V-shaped positioning support block and can move up and down. The first pressure spring presses against the upper part of the encoder connecting shaft so that it is always in the V-shaped positioning support block. The lower end of the support roller is installed in the bottom of the V-shaped positioning support block.

The roundness detection mechanism at the end of the steel pipe includes: a roundness detection mechanism frame, a stepping motor, a third synchronous pulley, a second synchronous belt, a fourth synchronous pulley, a sliding bushing, a spline bushing, a left and right rotation ball Screw rod, right measuring arm, left measuring arm, sliding shaft, displacement sensor mounting bracket, second displacement sensor and second pressure spring, wherein, the roundness detection mechanism frame is fixedly installed on the support plate and can work with the support plate Moving up and down, the stepper motor is fixedly installed on the frame of the roundness detection mechanism, and driven by the third synchronous pulley, the second synchronous belt, the fourth synchronous pulley and the spline sleeve, it is slidably inserted into the left and right sides of the sliding bushing. The rotating ball screw rotates, and then drives the right measuring arm and the left measuring arm connected to the left and right rotating ball screw to move inward or outward at the same time, the sliding shaft slides through the hole at the lower part of the right measuring arm, and the displacement sensor is installed The frame is fixedly installed on the right outer side of the right measuring arm, the second pressure spring clip is placed between the displacement sensor mounting frame and the sliding shaft, and pushed into the sliding shaft, the second displacement sensor is fixedly mounted on the displacement sensor mounting frame and detects The displacement of the sliding axis.

Another technical scheme of the present invention is:

An automatic detection method for the roundness of a special steel pipe end, which comprises the following steps:

In the first step, the steel pipe to be tested is placed on the rotating driving wheel of the steel pipe and positioned axially against the positioning block, and the servo motor drives the ball screw pair through the first synchronous pulley, the first synchronous belt and the second synchronous pulley Rotate, and then drive the support plate to move down;

In the second step, when the support plate moves downward, the V-shaped positioning support block moves downward, and the friction roller first contacts the steel pipe to be tested, and is pressed tightly on the arc surface at the top of the steel pipe to be tested under the action of the first pressure spring , the V-shaped positioning support block continues to move down with the support plate until the support roller touches the steel pipe to be tested and is supported and does not move down. The support plate continues to move down until the first displacement sensor touches and detects the V-shaped positioning support When the upper end face of the block stops moving, the angular displacement detection mechanism of the steel pipe reaches the detection position at this time;

In the third step, when the steel pipe angular displacement detection mechanism reaches the detection position, the steel pipe to be tested is clamped in the middle of the right measuring arm and the left measuring arm of the steel pipe end roundness detection mechanism, and the sliding shaft is moved under the action of the second pressure spring Press against the steel pipe to be tested, at this time, the roundness detection mechanism at the end of the steel pipe reaches the detection position;

In the fourth step, the rotating driving wheel of the steel pipe drives the steel pipe under test to rotate. At the beginning of the detection, the friction roller in the angular displacement detection mechanism of the steel pipe rotates with the steel pipe under test, and the encoder rotates accordingly through the encoder connecting shaft, thereby detecting the rotation of the steel pipe under test. At the same time, the sliding shaft in the steel pipe end roundness detection mechanism moves left and right with the rotation of the steel pipe under test, and the second displacement sensor measures the maximum and minimum values of the sliding shaft moving left and right. The difference is the difference between the maximum diameter and the minimum diameter of the tested steel pipe, half of the difference is the roundness error of the tested section of the tested steel pipe, and the roundness detection of the end of the steel pipe has been completed; combined with the angular displacement of the steel pipe The angular displacement detection result of the detection mechanism can obtain the relationship between the diameter change of the steel pipe under test and the angular displacement change.

Compared with the prior art, the present invention has the following beneficial effects:

The invention realizes the automatic detection of the roundness of both ends of the steel pipe, and has the advantages of fast detection speed, reliable detection data, high degree of automation and greatly reduced labor intensity of personnel.

Description of drawings

Fig. 1 is a structural schematic diagram of the present invention.

Fig. 2 is an enlarged view of the angular displacement detection mechanism of the steel pipe in the circular area I in Fig. 1 .

Fig. 3 is a left side view of Fig. 2 .

Fig. 4 is an enlarged left view of the roundness detection mechanism of the steel pipe end in the circular area II in Fig. 1 .

Detailed ways

The embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings. This embodiment provides detailed implementation methods and specific operating procedures on the premise of the technical solution of the present invention, but the protection scope of the present invention is not limited to the following embodiments.

In the embodiment shown in Figure 1, the automatic detection device for the roundness of the end of the special steel pipe includes: a detection device column 1, a positioning block 2, a steel pipe rotation driving wheel 3, a first suspension wheel 13, a suspension plate 14, a second suspension Wheel 21, steel wire rope 22, balance weight 23, detection device moving up and down drive mechanism, steel pipe angular displacement detection mechanism and steel pipe end roundness detection mechanism. The suspension plate 14 is horizontally fixed on the top of the detection device column 1, and the first suspension wheel 13 and the second suspension wheel 21 are rotatably installed at its two ends; the steel wire rope 22 is hung around the first suspension wheel 13 and the second suspension wheel. On the two suspension wheels 21, one end of the steel wire rope 22 is connected to the balance weight 23, and the other end is connected to the detection device to move up and down the drive mechanism; the steel pipe end roundness detection mechanism and the steel pipe angular displacement detection mechanism are connected to the detection device Move up and down on the drive mechanism, and carry out gravity balance through the steel wire rope 22 and the balance weight 23; the detection device moves up and down the drive mechanism is fixed on the top of the detection device column 1, and can drive the roundness detection mechanism of the end of the steel pipe and the angle of the steel pipe. The displacement detection mechanism moves up and down; the positioning block 2 and the steel pipe rotation driving wheel 3 are located below the steel pipe end roundness detection mechanism and the steel pipe angular displacement detection mechanism, and are installed on the detection device column 1 .

Please refer to Fig. 1, the described detecting device moves up and down driving mechanism and comprises: servo motor 20, first synchronous pulley 19, first synchronous belt 18, second synchronous belt pulley 17, ball screw pair 16, linear guide rail pair 15 and support plate 12. The support plate 12 is suspended and connected to one end of the steel wire rope 22, and the gravity balance is carried out by the first suspension wheel 13, the suspension plate 14, the second suspension wheel 21, the steel wire rope 22 and the balance weight 23, so as to reduce the load on the servo motor 20. The support plate 12 is loaded, and the support plate 12 is fixedly connected to the ball screw pair 16, and at the same time, it is slidably connected to the linear guide pair 15 installed on the column 1 of the detection device; the servo motor 20 is fixedly installed on the column 1 of the detection device. The top, and the first synchronous pulley 19, the first synchronous belt 18 and the second synchronous pulley 17 drive the ball screw pair 16 to rotate, thereby driving the support plate 12 to move up and down along the linear guide rail pair 15.

Referring again to Fig. 1, Fig. 2 and Fig. 3, the steel pipe angular displacement detection mechanism includes: a first displacement sensor 11, a V-shaped positioning support block 10, a first pressure spring 8, an encoder 9, and an encoder connecting shaft 7 , friction roller 5 and support roller 6. The V-shaped positioning support block 10 is hung and installed on the support plate 12 with two bolts, so that the V-shaped positioning support block 10 and the entire steel pipe angular displacement detection mechanism can move up and down with the support plate 12; A displacement sensor 11 is fixedly installed on the support plate 12 and is positioned above the V-shaped positioning support block 10, for detecting the displacement of the V-shaped positioning support block 10; the encoder 9 and the friction roller 5 are respectively installed on the The left and right ends of the encoder connecting shaft 7, the encoder 9, the friction roller 5 and the encoder connecting shaft 7 are movably installed in the V-shaped positioning support block 10, and can move up and down; the first pressure spring 8 presses against On the upper part of the encoder connecting shaft 7, under the action of the first pressure spring 8, the encoder connecting shaft 7 is always at the lower end of the V-shaped positioning support block 10; the supporting roller 6 is rotatably mounted on the V-shaped positioning The bottom of the support block 10 may have more than one number, which is four in the present embodiment.

Please refer to Fig. 4, described steel pipe end roundness detection mechanism comprises: roundness detection mechanism frame 24, stepper motor 25, the 3rd synchronous pulley 26, the 2nd synchronous belt 27, the 4th synchronous pulley 28, slide Axle sleeve 29, spline sleeve 30, left and right rotation ball screw 31, right measuring arm 32, left measuring arm 33, sliding shaft 34, displacement sensor mounting frame 35, second displacement sensor 36 and second pressure spring 37. The roundness detection mechanism frame 24 is fixedly installed on the support plate 12, so that the roundness detection mechanism frame 24 and the entire steel pipe end roundness detection mechanism can move up and down with the support plate 12; the sliding bushing 29 Fixedly installed on the side wall of the roundness detection mechanism frame 24, the left and right rotation ball screw 31 is slidably inserted in the sliding sleeve 29, and the right measuring arm 32 and the left measuring arm 33 are connected to the left and right measuring arms. on the ball screw 31; the stepper motor 25 is fixedly installed on the roundness detection mechanism frame 24, and passes through the third synchronous pulley 26, the second synchronous belt 27, the fourth synchronous pulley 28 and the spline sleeve 30 Drive the left and right ball screw 31 to rotate, thereby driving the right measuring arm 32 and the left measuring arm 33 to move inward or outward at the same time, so as to adapt to the measurement of steel pipes with different diameters; considering that the steel pipes will shake during rotation, the left and right The integral part composed of the ball screw 31, the right measuring arm 32 and the left measuring arm 33 can slide left and right in the sliding sleeve 29; the sliding shaft 34 is slidably inserted in the hole at the bottom of the right measuring arm 32 The displacement sensor mounting frame 35 is fixedly installed on the right outer side of the right measuring arm 32, and the second pressure spring 37 is sandwiched between the displacement sensor mounting frame 35 and the sliding shaft 34, and pushes against the sliding shaft 34 inwardly, The second displacement sensor 36 is fixedly installed on the displacement sensor mounting bracket 35 for detecting the displacement of the sliding shaft 34 .

The method for automatically detecting the roundness of the end of a special steel pipe by using the device of the present invention is as follows, and the steps include four steps:

In the first step, the steel pipe 4 to be tested is placed on the rotating driving wheel 3 of the steel pipe, and positioned axially against the positioning block 2 of the column 1 of the detection device; the servo motor 20 fixedly installed on the top of the column 1 of the detection device passes through the first The synchronous pulley 19, the first synchronous belt 18 and the second synchronous pulley 17 drive the ball screw pair 16 to rotate, thereby driving the support plate 12 that is slidably installed on the linear guide rail pair 15 to move down, so as to adjust the position of the detection mechanism to facilitate Inspection of steel pipes of different diameters.

In the second step, when the support plate 12 moves downward, the V-shaped positioning support block 10, which is installed on the support plate 12 by movable suspension, also moves downward together. The friction roller 5 is first in contact with the arc surface at the top of the steel pipe 4 to be tested; as the V-shaped positioning support block 10 continues to move downward, the friction roller 5 is pressed tightly against the circle at the top of the steel pipe 4 to be tested under the action of the first pressure spring 8 . On the arc surface; the V-shaped positioning support block 10 continues to move down with the support plate 12 under the action of its own gravity. When it is on the surface, the V-shaped positioning support block 10 is positioned on the arc surface of the top of the steel pipe 4 to be tested and is supported so that it does not move down; while the support plate 12 continues to move downward until the first one fixed on the support plate 12 When the displacement sensor 11 touches and detects the upper end surface of the V-shaped positioning support block 10, it stops moving; The steel pipe angular displacement detection mechanism has reached the detection position, and the working status is shown in Figure 3.

In the third step, when the steel pipe angular displacement detection mechanism moves down to the detection position, the steel pipe 4 to be tested is clamped in the middle of the right measuring arm 32 and the left measuring arm 33 of the steel pipe end roundness detection mechanism, and the second pressure spring Under the action of 37, the sliding shaft 34 movably installed in the right measuring arm 32 is pressed against the steel pipe 4 to be tested; the second displacement sensor 36 fixedly installed on the displacement sensor mounting frame 35 can detect the displacement of the sliding shaft 34, At this time, the roundness detection mechanism at the end of the steel pipe reaches the detection position, and the working state is shown in Figure 4; considering that the steel pipe will shake during the rotation, the integral parts composed of the left and right ball screw 31, the right measuring arm 32 and the left measuring arm 33 Can slide left and right in the sliding bushing 29 .

In the fourth step, the rotating driving wheel 3 of the steel pipe drives the steel pipe 4 to rotate, and the detection starts, and the steel pipe angular displacement detection mechanism and the steel pipe end roundness detection mechanism enter the detection state at the same time; The friction roller 5 at the right end of the shaft 7 rotates with the measured steel pipe 4, and the encoder 9 installed at the left end of the encoder connecting shaft 7 rotates accordingly, thereby detecting the angle at which the tested steel pipe 4 turns; at the same time, at the end of the steel pipe In the roundness detection mechanism, the measured steel pipe 4 is clamped between the right measuring arm 32 and the left measuring arm 33. With the rotation of the measured steel pipe 4, if there is a roundness deviation of the tested steel pipe 4, the sliding installation will be pushed The sliding shaft 34 in the right measuring arm 32 moves left and right, and the second displacement sensor 36 records the maximum and minimum values of the sliding shaft 34 moving left and right, and the difference between the two values is the maximum diameter and the minimum diameter of the steel pipe 4 to be tested. half of the difference is the roundness error of the detected section of the steel pipe 4 to be tested. So far, the roundness detection of the end of the steel pipe has been completed. Combining with the angular displacement detection results of the steel pipe angular displacement detection mechanism, the relationship between the diameter change of the steel pipe 4 under test and the angular displacement change can also be obtained.

The method for automatically detecting the roundness of the end of the special steel pipe has the advantages of fast detection speed, reliable detection data, high degree of automation and greatly reduced labor intensity.

Claims (5)

1. A special steel pipe end roundness automatic detection device is characterized in that: the automatic detection device includes a detection device column, a positioning block, a steel pipe rotation drive wheel, a first suspension wheel, a suspension plate, a second suspension wheel, Steel wire rope, balance weight, detection device up and down driving mechanism, steel pipe angular displacement detection mechanism and steel pipe end roundness detection mechanism, wherein the suspension plate is fixed on the top of the column of the detection device, and the steel wire rope is hung around the first suspension at both ends of the suspension plate On the wheel and the second suspension wheel, one end is connected to the balance weight and the other end is connected to the vertical movement driving mechanism of the detection device. Gravity balance with the balance weight, the detection device moves up and down and the driving mechanism is fixed on the top of the detection device column and drives the steel pipe end roundness detection mechanism and the steel pipe angular displacement detection mechanism to move up and down, the positioning stopper and the steel pipe rotation drive wheel are set on the steel pipe On the column of the detection device below the end roundness detection mechanism and the steel pipe angular displacement detection mechanism. 2. The automatic detection device for the roundness of the end of special steel pipe according to claim 1, characterized in that: the detection device moves up and down and the driving mechanism includes: a servo motor, a first synchronous pulley, a first synchronous belt, a second Synchronous pulley, ball screw pair, linear guide rail pair and support plate, wherein, the servo motor is fixedly installed on the top of the column of the detection device, and drives the ball wire through the first synchronous pulley, the first synchronous belt and the second synchronous pulley The rod pair rotates, and the support plate is suspended and connected to one end of the steel wire rope, and is connected with the ball screw pair and the linear guide rail pair at the same time, so as to be driven by the servo motor to move up and down along the linear guide rail pair. 3. The special steel pipe end roundness automatic detection device according to claim 2, characterized in that: the steel pipe angular displacement detection mechanism includes: a first displacement sensor, a V-shaped positioning support block, a first pressure spring, a code encoder, encoder connecting shaft, friction roller and support roller, wherein, the V-shaped positioning support block is installed on the support plate with two bolts for movable suspension and moves up and down with the support plate, and the first displacement sensor is fixedly installed on the support plate and above the V-shaped positioning support block to detect the displacement of the V-shaped positioning support block. The encoder connecting shaft, together with the encoders and friction rollers installed at its left and right ends, are movably installed in the V-shaped positioning support block and can move up and down. The first pressure spring presses against the top of the encoder connecting shaft so that it is always at the lower end of the V-shaped positioning support block, and the supporting roller is rotatably installed on the bottom of the V-shaped positioning support block. 4. The automatic detection device for the roundness of the end of the special steel pipe according to claim 3, characterized in that: the detection mechanism for the roundness of the end of the steel pipe comprises: a frame of the roundness detection mechanism, a stepping motor, a third synchronous pulley , the second synchronous belt, the fourth synchronous pulley, the sliding shaft sleeve, the spline sleeve, the left and right rotation ball screw, the right measuring arm, the left measuring arm, the sliding shaft, the displacement sensor mounting bracket, the second displacement sensor and the second pressure Spring, wherein, the frame of the roundness detection mechanism is fixedly installed on the support plate and can move up and down with the support plate, and the stepper motor is fixedly mounted on the frame of the roundness detection mechanism, and through the third synchronous pulley, the second synchronous The belt, the fourth synchronous pulley and the spline sleeve drive the left and right rotation ball screw slidably inserted in the sliding shaft sleeve to rotate, and then drive the right measuring arm and the left measuring arm connected to the left and right rotation ball screw to move inward at the same time Or move outward, the sliding shaft slides through the hole in the lower part of the right measuring arm, the displacement sensor mounting frame is fixedly installed on the right outer side of the right measuring arm, and the second pressure spring clip is placed between the displacement sensor mounting frame and the sliding shaft , and push against the sliding shaft inwardly, the second displacement sensor is fixedly installed on the displacement sensor mounting frame and detects the displacement of the sliding shaft. 5. A detection method adopting the automatic detection device for the roundness of the special steel pipe end according to claim 4, characterized in that: the detection method comprises the following steps: In the first step, the steel pipe to be tested is placed on the rotating driving wheel of the steel pipe and positioned axially against the positioning block, and the servo motor drives the ball screw pair through the first synchronous pulley, the first synchronous belt and the second synchronous pulley Rotate, and then drive the support plate to move down; In the second step, when the support plate moves downward, the V-shaped positioning support block moves downward, and the friction roller first contacts the steel pipe to be tested, and is pressed tightly on the arc surface at the top of the steel pipe to be tested under the action of the first pressure spring , the V-shaped positioning support block continues to move down with the support plate until the support roller touches the steel pipe to be tested and is supported and does not move down. The support plate continues to move down until the first displacement sensor touches and detects the V-shaped positioning support When the upper end face of the block stops moving, the angular displacement detection mechanism of the steel pipe reaches the detection position at this time; In the third step, when the steel pipe angular displacement detection mechanism reaches the detection position, the steel pipe to be tested is clamped in the middle of the right measuring arm and the left measuring arm of the steel pipe end roundness detection mechanism, and the sliding shaft is moved under the action of the second pressure spring Press against the steel pipe to be tested, at this time, the roundness detection mechanism at the end of the steel pipe reaches the detection position; In the fourth step, the rotating driving wheel of the steel pipe drives the steel pipe under test to rotate. At the beginning of the detection, the friction roller in the angular displacement detection mechanism of the steel pipe rotates with the steel pipe under test, and the encoder rotates accordingly through the encoder connecting shaft, thereby detecting the rotation of the steel pipe under test. At the same time, the sliding shaft in the steel pipe end roundness detection mechanism moves left and right with the rotation of the steel pipe under test, and the second displacement sensor measures the maximum and minimum values of the sliding shaft moving left and right. The difference is the difference between the maximum diameter and the minimum diameter of the tested steel pipe, half of the difference is the roundness error of the tested section of the tested steel pipe, and the roundness detection of the end of the steel pipe has been completed; combined with the angular displacement of the steel pipe The angular displacement detection result of the detection mechanism can obtain the relationship between the diameter change of the steel pipe under test and the angular displacement change.

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