CN113189114A - Steel pipe surface defect detection device and detection method - Google Patents
Steel pipe surface defect detection device and detection method Download PDFInfo
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- CN113189114A CN113189114A CN202110487212.7A CN202110487212A CN113189114A CN 113189114 A CN113189114 A CN 113189114A CN 202110487212 A CN202110487212 A CN 202110487212A CN 113189114 A CN113189114 A CN 113189114A
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- 239000010959 steel Substances 0.000 title claims abstract description 150
- 238000001514 detection method Methods 0.000 title claims abstract description 52
- 230000007547 defect Effects 0.000 title claims abstract description 35
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- G—PHYSICS
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- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
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- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
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- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/8806—Specially adapted optical and illumination features
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
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Abstract
A steel pipe surface defect detection device and a detection method relate to the technical field of pipe detection. The steel pipe surface defect detection device comprises a steel pipe carrier roller mechanism, a steel pipe, a camera movement control mechanism, a camera, a steel pipe clamping and rotating mechanism and a main control computer. A steel pipe surface defect detection method is applied to a steel pipe surface defect detection device and comprises the following steps: 1, presetting items; 2, segmenting the steel pipe; 3, clamping the steel pipe; 4, acquiring a steel pipe surface image; and 5, comparing the images. The invention can replace manual work to detect the surface quality of the steel pipe, and is suitable for the surface quality detection of different pipe diameters, different lengths and different detection precision requirements. Compared with manual detection, the detection efficiency is higher, and the false and missed detection rate is greatly reduced.
Description
Technical Field
The invention relates to the technical field of pipe detection, in particular to a device and a method for detecting surface defects of a steel pipe.
Background
The surface quality of the steel pipe is an important index for evaluating the grade of the steel pipe, and the quality of the surface quality of the steel pipe directly influences the quality and the performance of a product.
However, in the process of producing steel pipes by enterprises, various types of defects such as scratches, roll marks, cracks, inclusions, rusts, pits, pittings, scratches, and the like are difficult to avoid on the surfaces of the steel pipes due to various reasons such as field environments, facilities, and the like. These defects not only affect the appearance of the product, but also reduce the performance of the product.
At present, most steel pipe production enterprises arrange inspectors to detect the surface defects of steel pipes on line, on one hand, the manual detection efficiency is low, and on the other hand, human eyes are easy to fatigue after working for a long time, so that the false and missed detection rates are increased.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, and provides a steel pipe surface defect detection device and a detection method, which solve the problems that the detection efficiency of the existing manual detection of the steel pipe surface defects is low, and the detection is easy to be mistaken and missed.
The technical scheme of the invention is as follows: the steel pipe surface defect detection device comprises a steel pipe carrier roller mechanism, a steel pipe, a camera movement control mechanism, a camera, a steel pipe clamping and rotating mechanism and a main control computer; the steel pipe carrier roller mechanism comprises two rollers which are parallel to each other and are horizontally arranged; the steel pipe is placed between the two rollers of the steel pipe carrier roller mechanism; the camera movement control mechanism is arranged right above the steel pipe carrier roller mechanism and is connected with the camera so as to drive the camera to move in an upper area between the two rollers; the steel pipe clamping and rotating mechanism is arranged at one end of the steel pipe carrier roller mechanism and is connected with a steel pipe so as to drive the steel pipe to rotate; the main control computer is respectively connected or electrically connected with the camera, the camera movement control mechanism and the steel pipe clamping and rotating mechanism in a communication mode.
The further technical scheme of the invention is as follows: the steel pipe carrier roller mechanism also comprises a supporting seat, a sliding rail and an electromagnet; two ends of the roller are movably arranged on the supporting seat through a bearing; the slide rail is fixedly arranged on the ground, arranged at the lower end of the supporting seat and matched with the supporting seat in a sliding manner; the electromagnet is embedded at the bottom of the supporting seat and is opposite to the sliding rail, when the electromagnet is powered on, the supporting seat and the sliding rail are fixed into a whole, and when the electromagnet is powered off, the supporting seat can slide in the sliding rail.
The invention further adopts the technical scheme that: the steel pipe clamping and rotating mechanism comprises a stepping motor C, a hydraulic cylinder, a guide sleeve, an axial moving rod, a connecting rod, a sleeve and a clamping assembly; the stepping motor C is fixedly arranged on the ground, and the center line of a crankshaft of the stepping motor C is superposed with the center line of the steel pipe; the cylinder body of the hydraulic cylinder is fixedly connected with the crankshaft of the stepping motor C, and the center line of the piston rod of the hydraulic cylinder is superposed with the center line of the steel pipe; an inner hole for inserting the axial moving rod is formed in the guide sleeve, and a plurality of guide rods are uniformly welded on the outer wall of the guide sleeve in an annular manner; one end of the axial moving rod is movably inserted into an inner hole of the guide sleeve, the other end of the axial moving rod is fixedly connected with a piston rod of the hydraulic cylinder, the center line of the axial moving rod is superposed with the center line of the steel pipe, and the axial moving rod drives the guide sleeve to synchronously rotate when rotating; one end of the connecting rod is hinged on the outer wall of the axial moving rod, and the other end of the connecting rod is hinged on the outer wall of the sleeve; a plurality of sleeves are respectively and movably sleeved on each guide rod of the guide sleeve; the clamping assembly comprises a rubber cushion seat, a rubber cushion and a pressure sensor; the rubber cushion seat is welded and fixed at one end of the sleeve pipe far away from the guide sleeve; the rubber pad is fixedly arranged on the rubber pad seat; the pressure sensor is embedded in the rubber pad.
The further technical scheme of the invention is as follows: three guide rods are uniformly welded on the outer wall of the guide sleeve in an annular shape, and correspondingly, the number of the sleeves is three.
The further technical scheme of the invention is as follows: the camera movement control mechanism comprises a translation assembly and a lifting assembly; the translation assembly comprises a screw rod A, a nut A and a stepping motor A; two ends of the screw rod A are movably arranged on the ground through a bearing and a bearing seat and are horizontally arranged; the nut A is in threaded connection with the screw rod A; the stepping motor A is directly or indirectly fixedly arranged on the ground and is connected with one end of the screw rod A through a coupler; the lifting assembly comprises a mounting plate, a screw rod B, a nut B and a stepping motor B; the mounting plate is fixedly arranged on the nut A; two ends of the screw rod B are movably arranged on the mounting plate through a bearing and a bearing seat; the nut B is in threaded connection with the screw rod B; the stepping motor B is fixedly arranged on the mounting plate and is connected with the screw rod B through a coupler; the camera is fixedly arranged on the nut B.
The technical scheme of the invention is as follows: the steel pipe surface defect detection method is applied to the steel pipe surface defect detection device and comprises the following steps:
s01, preset item: a. storing a standard photo sample in a main control computer, wherein the standard photo sample does not have any form of surface defects; b, setting the percentage value of the similarity degree of the steel pipe to be detected compared with the standard picture as X, and setting X to be more than or equal to 90% as a judgment standard; c. setting the shortest straight line distance between a camera and the surface of the steel pipe as L, measuring detection precision corresponding to different L values and camera shooting ranges corresponding to different L values in advance, and then establishing a corresponding relation of the detection precision, the distance L, the camera shooting range and the grid division density in a main control computer;
in the step, the steps a, b and c are not in sequence;
s02, steel tube segmentation: inputting the length of the steel pipe to be detected and the required detection precision in a main control computer; the main control computer sequentially performs the following control: a. controlling a stepping motor B of the lifting assembly to start according to the corresponding relation between the detection precision and the distance L, and driving the camera to move to the corresponding distance L; b. determining the maximum shooting range of the current camera according to the corresponding relation between the distance L and the shooting range of the camera; c. dividing the steel pipe to be detected into n sections axially according to the maximum shooting range of the current camera, and ensuring that each section can be completely covered by the maximum shooting range of the current camera;
s03, clamping the steel pipe:
a. placing the steel pipe to be detected between the two rollers, enabling the steel pipe to be detected to be supported by the two rollers, and ensuring that the clamping assembly is positioned in an inner hole of the steel pipe;
b. the main control computer controls the piston rod of the hydraulic cylinder to extend out to drive the axial moving rod to linearly move along the inner hole of the guide sleeve, and further drives the sleeve to linearly move along the guide rod through the connecting rod, so that the rubber pad is tightly pressed on the inner wall of the steel pipe, when the pressure sensor detects that the preset pressing force is reached, the hydraulic cylinder stops acting, and the steel pipe is tightly clamped;
s04, acquiring a steel pipe surface image:
c. the main control computer controls a stepping motor A of the translation assembly to be started, and drives the camera to move to the position above the middle part of the target section;
d. the method comprises the steps that a main control computer firstly starts a camera to shoot a target section for the first time, then controls a stepping motor C to start, drives a steel pipe to rotate clockwise by 90 degrees, then starts the camera to shoot the target section for the second time, then controls the stepping motor C to start, drives the steel pipe to rotate clockwise by 90 degrees, then starts the camera to shoot the target section for the third time, then controls the stepping motor C to start, drives the steel pipe to rotate clockwise by 90 degrees, then starts the camera to shoot the target section for the fourth time, and obtains 4 pictures of the target section in total, wherein the 4 pictures are all arc-surface pictures;
e. the main control computer expands the 4 cambered surface photos into 4 plane photos, and then synthesizes the 4 plane photos to obtain a plane expansion diagram of the outer circular surface of the target segment;
g. repeating the steps c, d and e to obtain a plane expansion diagram of the outer circular surface of other segments;
s05, image alignment:
a. the main control computer numbers each segment, and then carries out grid type division on the plane development graph of each segment according to the corresponding relation between the detection precision and the grid division density;
b. comparing each divided grid image with a standard photo sample, taking X being more than or equal to 90% as a judgment standard, and displaying a grid thumbnail through a display; in the grid thumbnail, the grid which is not compared displays gray, the grid which meets the judgment standard displays green, and the grid which does not meet the judgment standard displays red.
The further technical scheme of the invention is as follows: and S01, selecting a steel pipe without surface defects from the steel pipe batch to be detected, photographing to obtain a standard photo sample, and adopting a light source with the color temperature of 4000K to provide illumination when photographing, wherein the illumination intensity of the surface of the steel pipe for photographing is 800-1000 lux.
The invention further adopts the technical scheme that: in the step of S05, clicking any grid in the grid thumbnail to pop up a real shot image of the grid;
the further technical scheme of the invention is as follows: in step S05, if none of the 3 or more obliquely adjacent or directly adjacent grids satisfy the criterion, the grid thumbnail is highlighted in highlighted red.
Compared with the prior art, the invention has the following advantages:
the surface quality detection device can replace manual work to detect the surface quality of the steel pipe, and is suitable for surface quality detection with different pipe diameters, different lengths and different detection precision requirements. Compared with manual detection, the detection efficiency is higher, and the false and missed detection rate is greatly reduced.
The invention is further described below with reference to the figures and examples.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a top view of FIG. 1;
FIG. 3 is an enlarged view of portion A of FIG. 2;
FIG. 4 is a cross-sectional view A-A of FIG. 3;
fig. 5 is a schematic diagram of the electrical connection relationship of the components in the present invention.
Description of the drawings: the steel pipe clamping rotation mechanism is not shown in fig. 1.
Detailed Description
Example 1:
as shown in fig. 1-5, the steel pipe surface defect detection device comprises a steel pipe carrier roller mechanism, a steel pipe 2, a camera movement control mechanism, a camera 4, a steel pipe clamping and rotating mechanism and a main control computer 6.
The steel pipe carrier roller mechanism comprises a roller 11, a supporting seat 12, a sliding rail 13 and an electromagnet 14. The number of the rollers 11 is two, the two rollers 11 are parallel and horizontally arranged, and two ends of each roller 11 are movably arranged on the supporting seat 12 through bearings. The slide rail 13 is fixedly installed on the ground, is arranged at the lower end of the supporting seat 12 and is matched with the supporting seat 12 in a sliding mode. The electromagnet 14 is embedded at the bottom of the supporting seat 12 and is opposite to the sliding rail 13, when the electromagnet 14 is powered on, the supporting seat 12 and the sliding rail 13 are fixed into a whole, and when the electromagnet 14 is powered off, the supporting seat 12 can slide in the sliding rail 13. In the steel pipe carrier roller mechanism, the distance between two rollers 11 can be adjusted by adjusting the position of the supporting seat 12 in the slide rail 13, so as to meet the placing requirements of steel pipes with different pipe diameters.
The steel tube 2 is placed between two rollers 11 of the steel tube carrier roller mechanism.
The camera movement control mechanism is arranged right above the steel pipe carrier roller mechanism and is connected with the camera 4 so as to drive the camera to move in the upper area between the two rollers. The camera movement control mechanism includes a translation assembly and a lift assembly. The translation assembly comprises a lead screw A31, a nut A32 and a stepper motor A33. Two ends of the screw rod A31 are movably arranged on the ground through a bearing and a bearing seat and are horizontally arranged. The nut A32 is screwed on the lead screw A31. The stepping motor A33 is directly or indirectly fixedly arranged on the ground and is connected with one end of the screw rod A31 through a coupler, and a crankshaft of the stepping motor A33 rotates to drive the screw rod A31 to rotate, so that the nut A32 is driven to move on the screw rod A31. The lifting assembly comprises a mounting plate 34, a lead screw B35, a nut B36 and a stepping motor B37. The mounting plate 34 is fixedly mounted on nut a 32. Two ends of the screw rod B35 are movably arranged on the mounting plate 34 through a bearing and a bearing seat. The nut B36 is screwed on the lead screw B35. The stepping motor B37 is fixedly mounted on the mounting plate 34 and is connected with the lead screw B35 through a coupler, and a crankshaft of the stepping motor B37 rotates to drive the lead screw B35 to rotate, so that the nut B36 is driven to move on the lead screw B35.
The camera 4 is fixedly mounted on a nut B36.
The steel pipe clamping and rotating mechanism is arranged at one end of the steel pipe carrier roller mechanism and is connected with the steel pipe 2 so as to drive the steel pipe 2 to rotate. The steel pipe clamping and rotating mechanism comprises a stepping motor C51, a hydraulic cylinder 52, a guide sleeve 53, an axial moving rod 54, a connecting rod 55, a sleeve 56 and a clamping assembly. The stepping motor C51 is fixedly arranged on the ground, and the center line of the shaft of the stepping motor C51 is coincident with the center line of the steel pipe 2. The cylinder body of the hydraulic cylinder 52 is fixedly connected with the crankshaft of the stepping motor C51, and the center line of the piston rod of the hydraulic cylinder 52 is superposed with the center line of the steel pipe 2. An inner hole 531 for inserting the axial moving rod 54 is formed in the guide sleeve 53, and a plurality of guide rods 532 are uniformly welded on the outer wall of the guide sleeve 53 in an annular shape. One end of the axial moving rod 54 is movably inserted into the inner hole 531 of the guide sleeve 53, the other end is fixedly connected with the piston rod of the hydraulic cylinder 52, and the center line of the axial moving rod coincides with the center line of the steel pipe 2. The connecting rod 55 is hinged at one end to the outer wall of the axially moving rod 54 and at the other end to the outer wall of the sleeve 56. A plurality of sleeves 56 are respectively movably sleeved on each guide rod 532 of the guide sleeve 53. The clamping assembly includes a rubber shoe 57, a rubber pad 58 and a pressure sensor 59. A rubber shoe 57 is welded to one end of the sleeve 56 and is located at the end of the sleeve 56 remote from the guide housing 53. The rubber pad 58 is fixedly mounted on the rubber pad seat 57. The pressure sensor 59 is embedded in the rubber pad 58. In the steel pipe clamping and rotating mechanism, the connecting rod 55, the sleeve 56 and the clamping assembly all extend into an inner hole of the steel pipe 2, when the steel pipe needs to be clamped, a piston rod of the hydraulic cylinder 52 extends out, the sleeve 56 is driven to move along the guide rod 532 in the direction away from the guide sleeve 53 until the rubber pad 58 is extruded on the inner wall of the steel pipe 2, and the pressing force is detected by the pressure sensor 59.
The main control computer 6 is respectively connected with or electrically connected with the camera 4, the stepping motor A33, the stepping motor B37, the stepping motor C51 and the hydraulic cylinder 52 in a communication mode.
Preferably, three guide rods 532 are uniformly welded on the outer wall of the guide sleeve 53 in an annular shape, and correspondingly, the number of the sleeves 56 is three.
Preferably, an axially extending guide strip 531 is arranged in the inner hole of the guide sleeve 53, an axially extending guide groove is arranged on the axially moving rod 53, and the guide groove is matched with the guide strip 531, so that the guide sleeve 53 is driven to synchronously rotate when the axially moving rod 53 rotates.
Preferably, the axially moving rod 54 is rotatably mounted to the ground through bearings and bearing blocks.
Briefly describing the working principle of the invention:
the steel pipe surface defect detection device is used for detecting the steel pipe surface defects and comprises the following steps:
s01, preset item: a. a standard photo sample is stored in the main control computer 6, and the standard photo sample does not have any form of surface defects; b, setting the percentage value of the similarity degree of the steel pipe to be detected compared with the standard picture as X, and setting X to be more than or equal to 90% as a judgment standard; c. the shortest straight line distance between the camera and the surface of the steel pipe is set to be L, the detection precision corresponding to different L values and the camera shooting range corresponding to different L values are measured in advance, and then the corresponding relation of the detection precision, the distance L, the camera shooting range and the grid division density is established in the main control computer 6.
In the step, steel pipes without surface defects are selected from the steel pipe batch to be detected for photographing to obtain a standard photo sample, a light source with the color temperature of 4000K is adopted for providing illumination during photographing, and the illumination intensity of the surface of the steel pipe for photographing is 800-1000 lux.
In the step, the steps a, b and c are not in sequence.
S02, steel tube segmentation: inputting the length of the steel pipe to be detected and the required detection precision in a main control computer 6; the main control computer 6 sequentially performs the following controls: a. controlling a stepping motor B37 of the lifting assembly to start according to the corresponding relation between the detection precision and the distance L, and driving the camera to move to the corresponding distance L; b. determining the maximum shooting range of the current camera according to the corresponding relation between the distance L and the shooting range of the camera; c. and axially equally dividing the steel pipe to be detected into n sections according to the maximum shooting range of the current camera, and ensuring that each section can be completely covered by the maximum shooting range of the current camera.
S03, clamping the steel pipe:
a. placing the steel pipe to be detected between the two rollers, enabling the steel pipe to be detected to be supported by the two rollers, and ensuring that the clamping assembly is positioned in an inner hole of the steel pipe;
b. the extension of a piston rod of the hydraulic cylinder 52 is controlled by the main control computer 6, the axial moving rod 54 is driven to linearly move along the inner hole 531 of the guide sleeve 53, and then the sleeve 56 is driven to linearly move along the guide rod 532 by the connecting rod 55, so that the rubber pad 58 is tightly pressed on the inner wall of the steel pipe 2, when the pressure sensor 59 detects that the preset pressing force is reached, the hydraulic cylinder 52 stops acting, and the steel pipe 2 is tightly clamped.
S04, acquiring a steel pipe surface image:
c. the main control computer 6 controls a stepping motor A33 of the translation assembly to start, and drives the camera to move to the upper part of the middle part of the target section;
d. the main control computer 6 firstly starts a camera to shoot a target segment for the first time, then controls a stepping motor C to start, drives a steel pipe to rotate clockwise by 90 degrees, then starts the camera to shoot the target segment for the second time, then controls a stepping motor C51 to start, drives a steel pipe 2 to rotate clockwise by 90 degrees, then starts a camera 4 to shoot the target segment for the third time, then controls a stepping motor C51 to start, drives the steel pipe 2 to rotate clockwise by 90 degrees, then starts the camera 4 to shoot the target segment for the fourth time, and obtains 4 pictures of the target segment in total, wherein the 4 pictures are all cambered pictures;
e. the main control computer 6 expands the 4 cambered surface photos into 4 plane photos, and then synthesizes the 4 plane photos to obtain a plane expansion diagram of the outer circular surface of the target segment;
g. and c, repeating the steps c, d and e, and obtaining a plane development diagram of the excircle surface of other segments.
S05, image alignment:
a. the main control computer 6 numbers each segment, and then performs grid type division on the plane development graph of each segment according to the corresponding relation between the detection precision and the grid division density;
b. comparing each divided grid image with a standard photo sample, taking X being more than or equal to 90% as a judgment standard, and displaying a grid thumbnail through a display; in the grid thumbnail, the grid which is not compared displays gray, the grid which meets the judgment standard after comparison displays green, and the grid which does not meet the judgment standard after comparison displays red.
In the step, any grid in the grid thumbnail is clicked, and the real shot image of the grid is popped up, so that the staff can conveniently review/review the image.
In this step, if 3 or more obliquely adjacent or directly adjacent grids do not meet the criterion, the grid thumbnail is highlighted in highlighted red to remind the worker to pay special attention.
Claims (9)
1. Steel pipe surface defect detection device, characterized by: the device comprises a steel pipe carrier roller mechanism, a steel pipe, a camera movement control mechanism, a camera, a steel pipe clamping and rotating mechanism and a main control computer; the steel pipe carrier roller mechanism comprises two rollers which are parallel to each other and are horizontally arranged; the steel pipe is placed between the two rollers of the steel pipe carrier roller mechanism; the camera movement control mechanism is arranged right above the steel pipe carrier roller mechanism and is connected with the camera so as to drive the camera to move in an upper area between the two rollers; the steel pipe clamping and rotating mechanism is arranged at one end of the steel pipe carrier roller mechanism and is connected with a steel pipe so as to drive the steel pipe to rotate; the main control computer is respectively connected or electrically connected with the camera, the camera movement control mechanism and the steel pipe clamping and rotating mechanism in a communication mode.
2. The steel pipe surface defect detecting apparatus according to claim 1, wherein: the steel pipe carrier roller mechanism also comprises a supporting seat, a sliding rail and an electromagnet; two ends of the roller are movably arranged on the supporting seat through a bearing; the slide rail is fixedly arranged on the ground, arranged at the lower end of the supporting seat and matched with the supporting seat in a sliding manner; the electromagnet is embedded at the bottom of the supporting seat and is opposite to the sliding rail, when the electromagnet is powered on, the supporting seat and the sliding rail are fixed into a whole, and when the electromagnet is powered off, the supporting seat can slide in the sliding rail.
3. The steel pipe surface defect detecting apparatus according to claim 2, wherein: the steel pipe clamping and rotating mechanism comprises a stepping motor C, a hydraulic cylinder, a guide sleeve, an axial moving rod, a connecting rod, a sleeve and a clamping assembly; the stepping motor C is fixedly arranged on the ground, and the center line of a crankshaft of the stepping motor C is superposed with the center line of the steel pipe; the cylinder body of the hydraulic cylinder is fixedly connected with the crankshaft of the stepping motor C, and the center line of the piston rod of the hydraulic cylinder is superposed with the center line of the steel pipe; an inner hole for inserting the axial moving rod is formed in the guide sleeve, and a plurality of guide rods are uniformly welded on the outer wall of the guide sleeve in an annular manner; one end of the axial moving rod is movably inserted into an inner hole of the guide sleeve, the other end of the axial moving rod is fixedly connected with a piston rod of the hydraulic cylinder, the center line of the axial moving rod is superposed with the center line of the steel pipe, and the axial moving rod drives the guide sleeve to synchronously rotate when rotating; one end of the connecting rod is hinged on the outer wall of the axial moving rod, and the other end of the connecting rod is hinged on the outer wall of the sleeve; a plurality of sleeves are respectively and movably sleeved on each guide rod of the guide sleeve; the clamping assembly comprises a rubber cushion seat, a rubber cushion and a pressure sensor; the rubber cushion seat is welded and fixed at one end of the sleeve pipe far away from the guide sleeve; the rubber pad is fixedly arranged on the rubber pad seat; the pressure sensor is embedded in the rubber pad.
4. The steel pipe surface defect detecting apparatus according to claim 3, wherein: three guide rods are uniformly welded on the outer wall of the guide sleeve in an annular shape, and correspondingly, the number of the sleeves is three.
5. The steel pipe surface defect detecting apparatus according to claim 4, wherein: the camera movement control mechanism comprises a translation assembly and a lifting assembly; the translation assembly comprises a screw rod A, a nut A and a stepping motor A; two ends of the screw rod A are movably arranged on the ground through a bearing and a bearing seat and are horizontally arranged; the nut A is in threaded connection with the screw rod A; the stepping motor A is directly or indirectly fixedly arranged on the ground and is connected with one end of the screw rod A through a coupler; the lifting assembly comprises a mounting plate, a screw rod B, a nut B and a stepping motor B; the mounting plate is fixedly arranged on the nut A; two ends of the screw rod B are movably arranged on the mounting plate through a bearing and a bearing seat; the nut B is in threaded connection with the screw rod B; the stepping motor B is fixedly arranged on the mounting plate and is connected with the screw rod B through a coupler; the camera is fixedly arranged on the nut B.
6. A steel pipe surface defect detection method applied to the steel pipe surface defect detection device of claim 5, characterized by comprising the steps of:
s01, preset item: a. storing a standard photo sample in a main control computer, wherein the standard photo sample does not have any form of surface defects; b, setting the percentage value of the similarity degree of the steel pipe to be detected compared with the standard picture as X, and setting X to be more than or equal to 90% as a judgment standard; c. setting the shortest straight line distance between a camera and the surface of the steel pipe as L, measuring detection precision corresponding to different L values and camera shooting ranges corresponding to different L values in advance, and then establishing a corresponding relation of the detection precision, the distance L, the camera shooting range and the grid division density in a main control computer;
in the step, the steps a, b and c are not in sequence;
s02, steel tube segmentation: inputting the length of the steel pipe to be detected and the required detection precision in a main control computer; the main control computer sequentially performs the following control: a. controlling a stepping motor B of the lifting assembly to start according to the corresponding relation between the detection precision and the distance L, and driving the camera to move to the corresponding distance L; b. determining the maximum shooting range of the current camera according to the corresponding relation between the distance L and the shooting range of the camera; c. dividing the steel pipe to be detected into n sections axially according to the maximum shooting range of the current camera, and ensuring that each section can be completely covered by the maximum shooting range of the current camera;
s03, clamping the steel pipe:
a. placing the steel pipe to be detected between the two rollers, enabling the steel pipe to be detected to be supported by the two rollers, and ensuring that the clamping assembly is positioned in an inner hole of the steel pipe;
b. the main control computer controls the piston rod of the hydraulic cylinder to extend out to drive the axial moving rod to linearly move along the inner hole of the guide sleeve, and further drives the sleeve to linearly move along the guide rod through the connecting rod, so that the rubber pad is tightly pressed on the inner wall of the steel pipe, when the pressure sensor detects that the preset pressing force is reached, the hydraulic cylinder stops acting, and the steel pipe is tightly clamped;
s04, acquiring a steel pipe surface image:
c. the main control computer controls a stepping motor A of the translation assembly to be started, and drives the camera to move to the position above the middle part of the target section;
d. the method comprises the steps that a main control computer firstly starts a camera to shoot a target section for the first time, then controls a stepping motor C to start, drives a steel pipe to rotate clockwise by 90 degrees, then starts the camera to shoot the target section for the second time, then controls the stepping motor C to start, drives the steel pipe to rotate clockwise by 90 degrees, then starts the camera to shoot the target section for the third time, then controls the stepping motor C to start, drives the steel pipe to rotate clockwise by 90 degrees, then starts the camera to shoot the target section for the fourth time, and obtains 4 pictures of the target section in total, wherein the 4 pictures are all arc-surface pictures;
e. the main control computer expands the 4 cambered surface photos into 4 plane photos, and then synthesizes the 4 plane photos to obtain a plane expansion diagram of the outer circular surface of the target segment;
g. repeating the steps c, d and e to obtain a plane expansion diagram of the outer circular surface of other segments;
s05, image alignment:
a. the main control computer numbers each segment, and then carries out grid type division on the plane development graph of each segment according to the corresponding relation between the detection precision and the grid division density;
b. comparing each divided grid image with a standard photo sample, taking X being more than or equal to 90% as a judgment standard, and displaying a grid thumbnail through a display; in the grid thumbnail, the grid which is not compared displays gray, the grid which meets the judgment standard displays green, and the grid which does not meet the judgment standard displays red.
7. The method for detecting the surface defects of the steel pipe as set forth in claim 6, wherein: and S01, selecting a steel pipe without surface defects from the steel pipe batch to be detected, photographing to obtain a standard photo sample, and adopting a light source with the color temperature of 4000K to provide illumination when photographing, wherein the illumination intensity of the surface of the steel pipe for photographing is 800-1000 lux.
8. The method for detecting the surface defects of the steel pipe as set forth in claim 6, wherein: in step S05, clicking any grid in the grid thumbnail pops up a live shot of the grid.
9. The method for detecting the surface defects of the steel pipe as set forth in claim 8, wherein: in step S05, if none of the 3 or more obliquely adjacent or directly adjacent grids satisfy the criterion, the grid thumbnail is highlighted in highlighted red.
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