CN102650516B - On-line measuring method and device for outer diameter and ovality of large-diameter steel pipe end - Google Patents

On-line measuring method and device for outer diameter and ovality of large-diameter steel pipe end Download PDF

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Publication number
CN102650516B
CN102650516B CN201110046594.6A CN201110046594A CN102650516B CN 102650516 B CN102650516 B CN 102650516B CN 201110046594 A CN201110046594 A CN 201110046594A CN 102650516 B CN102650516 B CN 102650516B
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China
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laser displacement
external diameter
steel pipe
displacement sensor
diameter
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CN201110046594.6A
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Chinese (zh)
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CN102650516A (en
Inventor
潘胜波
吴瑞珉
许晔
乔俊良
金成国
吕常青
杨赛丹
谢仕强
徐振亚
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宝山钢铁股份有限公司
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Abstract

The invention relates to the field of steel pipe outer diameter and ovality measurement, particularly to an on-line measuring method and device for the outer diameter and the ovality of a steel pipe end. The on-line measuring method for the outer diameter and the ovality of large-diameter steel pipe end is as follows: obtaining the nominal data of a to-be-measured steel pipe for determining the axis position, setting the interval for an outer diameter laser displacement sensor, enabling a probe of the sensor to be directed at the axis for measurement and then obtaining the diameter D of the to-be-measured steel pipe, rotating the sensor for 180 degrees for measuring the outer diameter in the all peripheral direction, and obtaining the average diameter and ovality of the to-be-measured steel pipe. The on-line measuring device for the outer diameter and the ovality of large-diameter steel pipe end is characterized by including an industrial robot, an outer diameter measuring device and an axis detecting device. The standard industrial robot is adopted for carrying the measuring device and arranged around the to-be-measured steel pipe end, the non-contact measuring technology is adopted for measurement, and the on-line measuring device has high precision and speed, and excellent popularization and application prospect.

Description

Large-diameter steel pipe pipe end external diameter and ovality On-line Measuring Method and device
Technical field
The present invention relates to outer diameter of steel pipes and ellipticity measurement field, relate in particular to a kind of pipe end external diameter and ovality On-line Measuring Method and device.
Background technology
The size and dimension error of UOE end, is one of important indicator of its quality of check, is related to steel pipe and whether can completes smoothly pipe arrangement welding, to pipeline construction progress and quality, significant.And along with the continuous progress of pipeline field welding procedure technology, the continuous application of semi-automatic, full automatic welding connection technology, has all proposed more and more stricter requirement to the external diameter of pipe end and circularity.In Pipeline technique of pipe standard, require apart from the pipe end external diameter tolerance within the scope of pipe end 100mm-0.5mm is in the scope of 2.0mm, ovality (being the difference of maximum outside diameter and minimum outer diameter and the ratio of nominal external diameter) is not more than 0.6%.Submarine pipeline is more strict to the requirement of outer diameter of steel pipes with steel pipe.
In steel pipe's production process, due to a variety of causes such as raw material and manufacturing process, pipe end external diameter and the ovality phenomenon that exceeds standard is inevitable, and serious exceeds standard even in batches, to enterprise, has brought huge loss.Therefore, develop a kind of effective pipe end external diameter and ovality detection means, for follow-up finishing and correction technique provide foundation, for strengthening product quality management, improving product recovery rate, seem particularly necessary.
Because production on-site environment is severe, be subject to the impact of the factors such as vibrations, dust, humidity, harmful gas and electromagnetic interference (EMI), it is quite slow that the line Measurement Technique of size and dimension error develops.Most factory generally lacks corresponding line Measurement Technique equipment, mostly adopt girth chi to measure outer diameter of steel pipes, by the ovality of kind of calliper steel pipe, (mainly measure weld seam and vertical 90 ° of direction external diameters thereof, using its poor half as ellipticity error), judge whether this outer diameter of steel pipes and ovality exceed standard, and manual by data typing management system.This measurement process based on artificial and measurer, easy to operate, equipment is simple, but has human factor error, and measuring accuracy and efficiency are low, can not realize the shortcomings such as on-the-spot online 100% detection.And the higher instruments of measuring accuracy such as roundness measuring equipment and three-coordinates measuring machine are expensive, very strict to the requirement of operating environment and condition, be conventionally only limited in measuring room for the measurement of centering small-sized precise part, can not be for the production of scene.
In recent years, along with the development of photoelectric detecting technology, some producers and researchist have proposed the major diameter on-line measurement system based on laser scanning sensor or CCD camera, as Jap.P. JP9229653A, JP2002283729A.Measuring principle as shown in Figure 1, respectively arranges a pair of laser scanning sensor up and down in steel tube measuring point both sides.The edge, top and the bottom of the first laser scanning sensor emission device 20a and the second laser scanning sensor emission device 21a Emission Lasers bundle scanning measured object, can know beam length H1 and the H2 of the not crested sensing on receiver, therefore, when two pairs of laser scanning sensor relative positions are fixed as H, the beam length H1 and the H2 that deduct not crested, can obtain steel pipe radial diameter.Based on this principle, rotating roller drives steel pipe 4 to be measured to rotate, and can carry out outside diameter measuring to steel pipe periphery multiple directions.
Method measuring accuracy and the automaticity of laser projection are all higher, and shortcoming is that device is complicated, take up an area greatlyr, and two groups of distances between laser sensor will be readjusted and demarcate to the steel pipe of corresponding different size, and operation requirements is high.And, the vibration that may exist in steel pipe rotary process, wave, the factor such as eccentric, all can cause substantial measurement errors, and be difficult for overcoming.
Summary of the invention
Technical matters to be solved by this invention is to provide a kind of large-diameter steel pipe pipe end external diameter and ovality On-line Measuring Method and device, and when the method is measured, steel pipe is relatively static, thus the measuring error of having avoided assisted rotating mechanism to bring.
The present invention is achieved in that a kind of large-diameter steel pipe pipe end external diameter and ovality On-line Measuring Method, comprises the following steps:
Step 1, receive steel pipe nominal data to be measured, determine the nominal axis position of steel pipe to be measured;
Step 2, axle center are detected, select a pair of axle center laser displacement sensor, the probe symmetry of these two axle center laser displacement sensors is arranged dorsad, from nominal axis position, stretch in steel pipe to be measured, on the radial section of steel pipe to be measured, measure the length of any two strings of a musical instrument, then make the perpendicular bisector of these two strings of a musical instrument, the intersection point of two perpendicular bisectors is the axle center in cross section;
Step 3, select a pair of external diameter laser displacement sensor, the probe symmetry of these two external diameter laser displacement sensors is oppositely arranged, according to the nominal diameter of steel pipe to be measured, two external diameter laser displacement sensors are moved to measuring position, and make two external diameter laser displacement sensors aim at axle center, start to measure, obtain the diameter D of steel pipe to be measured;
D=L-l
L is the spacing between the probe of two external diameter laser displacement sensors,
L is the distance sum that the probe of two external diameter laser displacement sensors arrives steel pipe surface facial contour to be measured,
Step 4, by the probe of two laser displacement sensors around steel pipe rotary to be measured 180 degree, obtain the external diameter of steel pipe circle direction to be measured, by calculating mean diameter and the ovality of steel pipe to be measured.
A kind of large-diameter steel pipe pipe end external diameter and ovality on-line measurement device, comprise industrial robot, external diameter measuring device and axle center pick-up unit, described external diameter measuring device and axle center pick-up unit are coaxially arranged on industrial robot, by industrial robot, are controlled and are driven; Described external diameter measuring device consists of connecting link, Bidirectional-screw, screw mandrel slide block, grating scale sensor, the first external diameter laser displacement sensor and the second external diameter laser displacement sensor, described the first external diameter laser displacement sensor and the second external diameter laser displacement sensor are arranged on the two ends of connecting link by Bidirectional-screw and screw mandrel slide block symmetry, described grating scale sensor setting is on connecting link, and the first external diameter laser displacement sensor is relative with the probe orientation of the second external diameter laser displacement sensor; Described axle center pick-up unit comprises feeler lever, the first axle center laser displacement sensor and the second axle center laser displacement sensor, described feeler lever is radially arranged on the mid point of connecting link, the first described axle center laser displacement sensor and the second axle center laser displacement sensor symmetry are arranged on the end of feeler lever dorsad, and the probe orientation of the first axle center laser displacement sensor and the second axle center laser displacement sensor is contrary.
The end of described feeler lever is also provided with labelling apparatus.
Described the first external diameter laser displacement sensor and the second external diameter laser displacement sensor are 2D laser displacement sensor.
Described the first axle center laser displacement sensor and the second axle center laser displacement sensor are 1D laser displacement sensor.
Large-diameter steel pipe pipe end external diameter of the present invention and ovality On-line Measuring Method and device adopt standard industry robot to carry measurement mechanism around pipe end to be measured, external diameter to different directions on the same outer circumference surface of pipe end detects, obtain the size and dimension information of pipe end to be measured, and steel pipe is made to respective markers; What during measurement, adopt is noncontact measurement, even if sensor measurement direction departs from the actual center of circle slightly, measurement result is still unaffected, and this has strengthened the stability of the measuring precision greatly.Equipment mechanism of the present invention is flexible, easy for installation, and not only measuring accuracy is high, speed is fast, and can carry out real time data processing, on-the site analysis, thereby improve production efficiency and product quality management level have good popularizing application prospect.
Accompanying drawing explanation
Fig. 1 is existing large-diameter steel pipe external diameter on-line measurement apparatus structure schematic diagram;
Fig. 2 is large-diameter steel pipe pipe end external diameter of the present invention and ovality On-line Measuring Method process flow diagram;
Fig. 3 is large-diameter steel pipe pipe end external diameter of the present invention and ovality on-line measurement apparatus structure schematic diagram;
Fig. 4 is external diameter measuring device of the present invention and axle center structure of the detecting device schematic diagram.
In figure: 1 industrial robot, 21 connecting links, 22 Bidirectional-screws, 23 screw mandrel slide blocks, 24 grating scale sensors, 25 first external diameter laser displacement sensors, 26 second external diameter laser displacement sensors, 31 feeler levers, 32 first axle center laser displacement sensors, 33 second axle center laser displacement sensors, 34 labelling apparatus, 4 steel pipes to be measured, 20a the first laser scanning sensor emission device, 21a the second laser scanning sensor emission device.
Embodiment
Below in conjunction with specific embodiment, further set forth the present invention.Should be understood that these embodiment are only not used in and limit the scope of the invention for the present invention is described.In addition should be understood that those skilled in the art can make various changes or modifications the present invention after having read the content of the present invention's statement, these equivalent form of values fall within the application's appended claims limited range equally.
Embodiment 1
As shown in Figure 2, a kind of large-diameter steel pipe pipe end external diameter and ovality On-line Measuring Method, comprise the following steps:
Step 1, receive steel pipe nominal data to be measured, determine the nominal axis position of steel pipe to be measured;
Step 2, axle center are detected, select a pair of axle center laser displacement sensor, the probe symmetry of these two axle center laser displacement sensors is arranged dorsad, from nominal axis position, stretch in steel pipe to be measured, on the radial section of steel pipe to be measured, measure the length of any two strings of a musical instrument, then make the perpendicular bisector of these two strings of a musical instrument, the intersection point of two perpendicular bisectors is the axle center in cross section;
Step 3, select a pair of external diameter laser displacement sensor, the probe symmetry of these two external diameter laser displacement sensors is oppositely arranged, according to the nominal diameter of steel pipe to be measured, two external diameter laser displacement sensors are moved to measuring position, and make two external diameter laser displacement sensors aim at axle center, start to measure, obtain the diameter D of steel pipe to be measured;
D=L-l
L is the spacing between the probe of two external diameter laser displacement sensors,
L is the distance sum that the probe of two external diameter laser displacement sensors arrives steel pipe surface facial contour to be measured,
Step 4, by the probe of two laser displacement sensors around steel pipe rotary to be measured 180 degree, obtain the external diameter of steel pipe circle direction to be measured, by calculating mean diameter and the ovality of steel pipe to be measured.
As shown in Figure 3,4, a kind of large-diameter steel pipe pipe end external diameter and ovality on-line measurement device, comprise industrial robot 1, external diameter measuring device and axle center pick-up unit, described external diameter measuring device and axle center pick-up unit are coaxially arranged on industrial robot 1, by industrial robot 1, are controlled and are driven; Described external diameter measuring device consists of connecting link 21, Bidirectional-screw 22, screw mandrel slide block 23, grating scale sensor 24, the first external diameter laser displacement sensor 25 and the second external diameter laser displacement sensor 26, described the first external diameter laser displacement sensor 25 and the second external diameter laser displacement sensor 26 are arranged on the two ends of connecting link 21 by Bidirectional-screw 22 and screw mandrel slide block 23 symmetries, described grating scale sensor 24 is arranged on connecting link 21, and the first external diameter laser displacement sensor 25 is relative with the probe orientation of the second external diameter laser displacement sensor 26; Described axle center pick-up unit comprises feeler lever 31, the first axle center laser displacement sensor 32 and the second axle center laser displacement sensor 33, described feeler lever 31 is radially arranged on the mid point of connecting link 21, the first described axle center laser displacement sensor 32 and the second axle center laser displacement sensor 33 symmetries are arranged on the end of feeler lever 31 dorsad, and the probe orientation of the first axle center laser displacement sensor 32 and the second axle center laser displacement sensor 33 is contrary.
Large-diameter steel pipe pipe end external diameter of the present invention and ovality on-line measurement device can also further describe into, the end of described feeler lever 31 is also provided with labelling apparatus 34, the blackwash sprayer that labelling apparatus 34 can select telescopic cylinder to drive, for carry out respective markers according to measurement result after measurement completes, as present position minimum, maximum diameter size.
The first external diameter laser displacement sensor 25 and the second external diameter laser displacement sensor 26 in the present embodiment; As the LJ-G200 of keyence company, the profiling object surface size that can measure in 200 ± 48mm distance range, width is 73mm, sample rate reaches 3.8ms once, and precision reaches 2 μ m, can meet large diameter measurement requirement completely.2D laser displacement sensor can accurately detect the overall size of body surface in certain distance, during measurement, needing only actual axle center drops in effective measurement width range of sensor, can measure diameter accurately, even if sensor measurement direction departs from the actual center of circle slightly, measurement result is still unaffected, and this has strengthened the stability of the measuring precision greatly.
The first axle center laser displacement sensor 32 and the second axle center laser displacement sensor 33 adopt the high precision laser displacement sensor of 1D, as the ZX-LT001 of Japanese Omron Corp, measurement range reaches 2m, resolution 4 μ m, can meet caliber scope from the measurement requirement of the Baosteel UOE of Ф 508 ~ Ф 1422mm.During actual measurement, first receive steel pipe 4 nominal datas to be measured, then by industrial robot 1, feeler lever 31 is stretched in steel pipe 4 to be measured from steel pipe to be measured 4 nominal axis positions, with the first axle center laser displacement sensor 32 and 33 pairs of steel pipe 4 inwalls to be measured of the second axle center laser displacement sensor, do displacement measurement one time, then feeler lever 31 is done displacement measurement for the second time around self axis half-twist to steel pipe 4 inwalls to be measured, according to twice measurement result, feeler lever 31 is adjusted to the center of both direction, thinks the axle center in steel pipe to be measured 4 cross sections.
Then carry out steel pipe 4 outside diameter measurings to be measured, according to the nominal diameter of steel pipe 4 to be measured, the spacing of being determined between the first external diameter laser displacement sensor 25 and the probe of the second external diameter laser displacement sensor 26 by grating scale sensor 24, by the position of screw mandrel slide block 23 adjustment the first external diameter laser displacement sensors 25 and the second external diameter laser displacement sensor 26; Industrial robot 1 is sent the first external diameter laser displacement sensor 25 and the second external diameter laser displacement sensor 26 into measuring position, aim at axle center, beginning sampled measurements obtains the diameter D of steel pipe 4 to be measured, by industrial robot 1, drive external diameter measuring device to rotate simultaneously, after Rotate 180 °, complete the outside diameter measuring of steel pipe 4 circle directions to be measured; Last feeler lever 31 continues rotation with completing measurement after labelling apparatus 34 spraying marks.
When measuring, data are sent to computing machine, calculate, process and preserve, obtain the size and dimension information of pipe end to be measured, comprise maximum diameter, path, mean diameter and ovality, can also know that the path present position in this measurement cross section is with respect to the angle of position while welding.Industrial robot 1 arm is retracted, and Optical displacement sensor resets, and steel pipe 4 to be measured is removed, and waits for next time and measuring.Measurement data information is stored in computing machine, and as the foundation of follow-up finishing and correction operation, the follow-up of product quality and the management that also can be the production management system of enterprise provide reference.

Claims (5)

1. large-diameter steel pipe pipe end external diameter and an ovality On-line Measuring Method, is characterized in that, comprises the following steps:
Step 1, receive steel pipe nominal data to be measured, determine the nominal axis position of steel pipe to be measured;
Step 2, axle center are detected, select a pair of axle center laser displacement sensor, the probe symmetry of these two axle center laser displacement sensors is arranged dorsad, from nominal axis position, stretch in steel pipe to be measured, on the radial section of steel pipe to be measured, measure the length of any two strings of a musical instrument, then make the perpendicular bisector of these two strings of a musical instrument, the intersection point of two perpendicular bisectors is the axle center in cross section;
Step 3, select a pair of external diameter laser displacement sensor, the probe symmetry of these two external diameter laser displacement sensors is oppositely arranged, according to the nominal diameter of steel pipe to be measured, two external diameter laser displacement sensors are moved to measuring position, and make two external diameter laser displacement sensors aim at axle center, start to measure, obtain the diameter D of steel pipe to be measured;
D=L-l
L is the spacing between the probe of two external diameter laser displacement sensors,
L is the distance sum that the probe of two external diameter laser displacement sensors arrives steel pipe surface facial contour to be measured,
Step 4, by the probe of two external diameter laser displacement sensors around steel pipe rotary to be measured 180 degree, obtain the external diameter of steel pipe circle direction to be measured, by calculating mean diameter and the ovality of steel pipe to be measured.
2. a large-diameter steel pipe pipe end external diameter and ovality on-line measurement device, it is characterized in that: comprise industrial robot (1), external diameter measuring device and axle center pick-up unit, it is upper that described external diameter measuring device and axle center pick-up unit are coaxially arranged on industrial robot (1), by industrial robot (1), controlled and driven, described external diameter measuring device is by connecting link (21), Bidirectional-screw (22), screw mandrel slide block (23), grating scale sensor (24), the first external diameter laser displacement sensor (25) and the second external diameter laser displacement sensor (26) form, described the first external diameter laser displacement sensor (25) and the second external diameter laser displacement sensor (26) are arranged on the two ends of connecting link (21) by Bidirectional-screw (22) and screw mandrel slide block (23) symmetry, described grating scale sensor (24) is arranged on connecting link (21), the first external diameter laser displacement sensor (25) is relative with the probe orientation of the second external diameter laser displacement sensor (26), described axle center pick-up unit comprises feeler lever (31), the first axle center laser displacement sensor (32) and the second axle center laser displacement sensor (33), described feeler lever (31) is radially arranged on the mid point of connecting link (21), the first described axle center laser displacement sensor (32) and the second axle center laser displacement sensor (33) symmetry are arranged on the end of feeler lever (31) dorsad, and the probe orientation of the first axle center laser displacement sensor (32) and the second axle center laser displacement sensor (33) is contrary.
3. large-diameter steel pipe pipe end external diameter claimed in claim 2 and ovality on-line measurement device, is characterized in that: the end of described feeler lever (31) is also provided with labelling apparatus (34).
4. the large-diameter steel pipe pipe end external diameter described in claim 2 or 3 and ovality on-line measurement device, is characterized in that: described the first external diameter laser displacement sensor (25) and the second external diameter laser displacement sensor (26) are 2D laser displacement sensor.
5. the large-diameter steel pipe pipe end external diameter described in claim 2 or 3 and ovality on-line measurement device, is characterized in that: described the first axle center laser displacement sensor and the second axle center laser displacement sensor are 1D laser displacement sensor.
CN201110046594.6A 2011-02-28 2011-02-28 On-line measuring method and device for outer diameter and ovality of large-diameter steel pipe end CN102650516B (en)

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