CN113189114B - 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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- CN113189114B CN113189114B CN202110487212.7A CN202110487212A CN113189114B CN 113189114 B CN113189114 B CN 113189114B CN 202110487212 A CN202110487212 A CN 202110487212A CN 113189114 B CN113189114 B CN 113189114B
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- 229910000831 Steel Inorganic materials 0.000 title claims abstract description 147
- 239000010959 steel Substances 0.000 title claims abstract description 147
- 238000001514 detection method Methods 0.000 title claims abstract description 53
- 230000007547 defect Effects 0.000 title claims abstract description 33
- 238000010586 diagram Methods 0.000 claims description 8
- 238000005286 illumination Methods 0.000 claims description 6
- 238000000034 method Methods 0.000 claims description 4
- 238000003825 pressing Methods 0.000 claims description 4
- 230000011218 segmentation Effects 0.000 claims description 3
- JEIPFZHSYJVQDO-UHFFFAOYSA-N iron(III) oxide Inorganic materials O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
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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
- G01N21/8851—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
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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
- 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
- G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
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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 tube surface defect detection device comprises a steel tube carrier roller mechanism, a steel tube, a camera movement control mechanism, a camera, a steel tube clamping and rotating mechanism and a main control computer. A steel tube surface defect detection method is applied to a steel tube surface defect detection device and comprises the following steps: 1, presetting an item; 2, segmenting the steel pipe; 3, clamping the steel pipe; 4, acquiring a steel pipe surface image; and 5, image comparison. The invention can replace manual detection of the surface quality of the steel pipe, and is suitable for detection of the surface quality with different pipe diameters, different lengths and different detection precision requirements. Compared with manual detection, the detection efficiency is higher, and the false omission rate is greatly reduced.
Description
Technical Field
The invention relates to the technical field of pipe detection, in particular to a steel pipe surface defect detection device and a detection method.
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 also directly influences the quality and performance of a product.
However, in the process of producing steel pipes, it is difficult for enterprises to avoid different types of defects such as scratches, roll marks, cracks, inclusions, rust spots, pits, pitting surfaces, scratches and the like on the surfaces of the steel pipes due to various reasons such as site environments, equipment 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 the steel pipes on line, on one hand, the manual detection efficiency is lower, and on the other hand, human eyes are easy to fatigue after long-time work, so that the false detection rate is increased.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a steel pipe surface defect detection device and a detection method, which solve the problems that the existing manual detection of the steel pipe surface defect is low in detection efficiency and error detection is easy to occur.
The technical scheme of the invention is as follows: the steel tube surface defect detection device comprises a steel tube carrier roller mechanism, a steel tube, a camera movement control mechanism, a camera, a steel tube clamping and rotating mechanism and a main control computer; the steel tube carrier roller mechanism comprises two rollers which are parallel to each other and are horizontally arranged; the steel tube is placed between two rollers of the steel tube carrier roller mechanism; the camera movement control mechanism is arranged right above the steel tube carrier roller mechanism and is connected with the camera to drive the camera to move in an upper area between the two rollers; the steel tube clamping rotating mechanism is arranged at one end of the steel tube carrier roller mechanism and is connected with the steel tube to drive the steel tube to rotate; the main control computer is respectively connected with the camera, the camera movement control mechanism and the steel pipe clamping and rotating mechanism in a communication mode or in an electric connection mode.
The invention further adopts the technical scheme that: the steel tube carrier roller mechanism also comprises a supporting seat, a sliding rail and an electromagnet; the two ends of the roller are movably arranged on the supporting seat through bearings; the sliding rail is fixedly arranged on the ground, is arranged at the lower end of the supporting seat and is in sliding fit with the supporting seat; the electromagnet is embedded at the bottom of the supporting seat and faces the sliding rail, when the electromagnet is electrified, 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 tube 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 central line of a shaft of the stepping motor C coincides with the central 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 coincident 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 distributed and welded on the outer wall of the guide sleeve in an annular shape; 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 coincides 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; the plurality of sleeves are respectively movably sleeved on each guide rod of the guide sleeve; the clamping assembly comprises a rubber pad seat, a rubber pad and a pressure sensor; the rubber pad 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 invention further adopts the technical scheme that: three guide rods are uniformly distributed and welded on the outer wall of the guide sleeve in an annular mode, and correspondingly, the number of the sleeves is three.
The invention further adopts the technical scheme that: the camera movement control mechanism comprises a translation component and a lifting component; 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 bearings and bearing seats and are horizontally arranged; the nut A is connected to the screw rod A in a threaded manner; 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 bearings and bearing seats; the nut B is connected to the screw rod B in a threaded manner; 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 tube surface defect detection method is applied to the steel tube surface defect detection device and comprises the following steps:
s01, presetting items: 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 similarity percentage value of the steel pipe to be detected and the standard photo to be 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 detection precision, distance L, camera shooting range and grid division density in a main control computer;
in the step, the steps a, b and c are not in sequence;
s02, steel pipe segmentation: inputting the length of the steel pipe to be detected and the required detection precision into a main control computer; the main control computer sequentially performs the following control: a. according to the corresponding relation between the detection precision and the distance L, a stepping motor B of the lifting assembly is controlled to start, and the camera is driven 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 tube to be detected into n sections in an axial direction 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 a steel pipe:
a. placing the steel tube to be detected between the two rollers, so that the steel tube to be detected is supported by the two rollers, and ensuring that the clamping assembly is positioned in an inner hole of the steel tube;
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 then the connecting rod drives the sleeve to linearly move along the guide rod, so that the rubber pad is tightly pressed on the inner wall of the steel pipe, and when the pressure sensor detects that the preset pressing force is reached, the hydraulic cylinder stops acting, and the steel pipe is clamped;
s04, acquiring a steel pipe surface image:
c. the main control computer controls the stepping motor A of the translation assembly to start, and drives the camera to move to the position above the middle part of the target section;
d. the main control computer firstly starts the camera to take a picture of the target segment for the first time, then controls the stepping motor C to start, drives the steel tube to rotate 90 degrees clockwise, then starts the camera to take a picture of the target segment for the second time, then controls the stepping motor C to start, drives the steel tube to rotate 90 degrees clockwise, then starts the camera to take a picture of the target segment for the third time, then controls the stepping motor C to start, drives the steel tube to rotate 90 degrees clockwise, and then starts the camera to take a picture of the target segment for the fourth time, 4 pictures of the target segment are obtained altogether, and the 4 pictures are cambered surface pictures;
e. the main control computer expands the 4 cambered surface photos into 4 plane photos, and 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 sections;
s05, image comparison:
a. numbering each segment by the main control computer, and then carrying out grid division on the plane expansion 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 more than or equal to 90% as a judgment standard, and displaying a grid thumbnail through a display; in the grid thumbnail, the non-aligned grids display gray, the grids meeting the judgment standard display green, and the grids not meeting the judgment standard display red.
The invention further adopts the technical scheme that: in the step S01, in the steel pipe batch to be detected, selecting the steel pipe without surface defects for photographing to obtain a standard photo sample, wherein a 4000K color temperature light source is adopted for providing illumination during photographing, and the illumination intensity of the surface of the steel pipe for photographing is 800-1000 lux.
The invention further adopts the technical scheme that: s05, clicking any grid in the grid thumbnail to pop up a real shot image of the grid;
the invention further adopts the technical scheme that: in the step S05, when all the grids which are obliquely adjacent or directly adjacent and above do not meet the judging standard, highlighting the grids in the grid thumbnail in the high-brightness red.
Compared with the prior art, the invention has the following advantages:
the device can replace manual detection of 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 omission rate is greatly reduced.
The invention is further described below with reference to the drawings and examples.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a top view of FIG. 1;
fig. 3 is an enlarged view of a 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: the tap clamp rotation mechanism is not shown in fig. 1.
Detailed Description
Example 1:
as shown in fig. 1-5, the steel tube surface defect detection device comprises a steel tube carrier roller mechanism, a steel tube 2, a camera movement control mechanism, a camera 4, a steel tube clamping and rotating mechanism and a main control computer 6.
The steel tube 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 to each other and are horizontally arranged, and two ends of the rollers 11 are movably arranged on the supporting seat 12 through bearings. The sliding rail 13 is fixedly arranged on the ground, is arranged at the lower end of the supporting seat 12 and is in sliding fit with the supporting seat 12. The electromagnet 14 is embedded at the bottom of the supporting seat 12 and faces the sliding rail 13, when the electromagnet 14 is electrified, 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 tube carrier roller mechanism, the distance between the two rollers 11 can be adjusted by adjusting the position of the supporting seat 12 in the sliding rail 13 so as to meet the placing requirements of steel tubes with different 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 tube carrier roller mechanism and is connected with the camera 4 to drive the camera to move in an upper area between the two rollers. The camera movement control mechanism includes a translation assembly and a lifting assembly. The translation assembly includes a screw a31, a nut a32, and a stepper motor a33. The two ends of the screw rod A31 are movably arranged on the ground through bearings and bearing seats and are horizontally arranged. The nut A32 is connected to the screw A31 in a threaded manner. 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 the spindle of the stepping motor A33 rotates to drive the screw rod A31 to rotate so as to drive the nut A32 to move on the screw rod A31. The lifting assembly includes a mounting plate 34, a screw B35, a nut B36, and a stepper motor B37. The mounting plate 34 is fixedly mounted on the nut a 32. Two ends of the screw rod B35 are movably arranged on the mounting plate 34 through bearings and bearing seats. The nut B36 is connected to the screw rod B35 in a threaded manner. The stepping motor B37 is fixedly arranged on the mounting plate 34 and is connected with the screw rod B35 through a coupler, and the spindle of the stepping motor B37 rotates to drive the screw rod B35 to rotate so as to drive the nut B36 to move on the screw rod B35.
The camera 4 is fixedly mounted on the nut B36.
The steel pipe clamping rotating mechanism is arranged at one end of the steel pipe carrier roller mechanism and is connected with the steel pipe 2 to drive the steel pipe 2 to rotate. The steel tube 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 central line of the shaft of the stepping motor C is coincident with the central 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 coincides 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 and annularly welded on the outer wall of the guide sleeve 53. 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 a piston rod of the hydraulic cylinder 52, and the center line of the axial moving rod is coincident with the center line of the steel pipe 2. One end of the connecting rod 55 is hinged to the outer wall of the axial moving rod 54, and the other end is hinged to the outer wall of the sleeve 56. A plurality of sleeves 56 are movably sleeved on each guide rod 532 of the guide sleeve 53. The clamping assembly includes rubber pad 57, rubber pad 58 and pressure sensor 59. A rubber mount 57 is welded to one end of the sleeve 56 and is located on the end of the sleeve 56 remote from the guide sleeve 53. The rubber pad 58 is fixedly mounted on the rubber pad holder 57. The pressure sensor 59 is embedded in the rubber pad 58. In the steel pipe clamping and rotating mechanism, a connecting rod 55, a sleeve 56 and a clamping assembly extend into an inner hole of the steel pipe 2, when the steel pipe needs to be clamped, a piston rod of a hydraulic cylinder 52 extends out, the sleeve 56 is driven to move along a guide rod 532 in a direction away from a guide sleeve 53 until a rubber pad 58 is extruded on the inner wall of the steel pipe 2, and the pressing force is detected through a pressure sensor 59.
The main control computer 6 is respectively and communicatively or electrically connected with the camera 4, the stepper motor A33, the stepper motor B37, the stepper motor C51 and the hydraulic cylinder 52.
Preferably, three guide rods 532 are uniformly and annularly welded on the outer wall of the guide sleeve 53, and correspondingly, the number of the sleeves 56 is three.
Preferably, an axially extending guide bar 531 is arranged in the inner hole of the guide sleeve 53, an axially extending guide groove is arranged on the axial moving rod 53, and the guide groove is matched with the guide bar 531, namely, the guide sleeve 53 is driven to synchronously rotate when the axial moving rod 53 rotates.
Preferably, the axial moving rod 54 is rotatably mounted on the ground by means of bearings and bearing blocks.
Brief description of the working principle of the invention:
the steel tube surface defect detection device is used for detecting the surface defect of the steel tube, and comprises the following steps:
s01, presetting items: a. storing a standard photo sample in the main control computer 6, wherein the standard photo sample does not have any form of surface defects; b, setting the similarity percentage value of the steel pipe to be detected and the standard photo to be X, and setting X to be more than or equal to 90% as a judgment standard; c. setting the shortest straight line distance between the 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 detection precision, distance L, camera shooting range and grid division density in a main control computer 6.
In the step, in the steel pipe batch to be detected, steel pipes without surface defects are selected for photographing, a standard photo sample is obtained, a 4000K color temperature light source is adopted for providing illumination during photographing, and the illumination intensity of the surface of the steel pipes for photographing is 800-1000 lux.
In the step, the steps a, b and c are not sequenced.
S02, steel pipe segmentation: inputting the length of the steel pipe to be detected and the required detection precision into a main control computer 6; the main control computer 6 sequentially performs the following control: a. according to the corresponding relation between the detection precision and the distance L, a stepping motor B37 of the lifting assembly is controlled to be started, and the camera is driven 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 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 a steel pipe:
a. placing the steel tube to be detected between the two rollers, so that the steel tube to be detected is supported by the two rollers, and ensuring that the clamping assembly is positioned in an inner hole of the steel tube;
b. the main control computer 6 controls the piston rod of the hydraulic cylinder 52 to extend, drives the axial moving rod 54 to linearly move along the inner hole 531 of the guide sleeve 53, and further drives the sleeve 56 to linearly move along the guide rod 532 through the connecting rod 55, so that the rubber pad 58 is tightly pressed on the inner wall of the steel tube 2, and when the pressure sensor 59 detects that the preset pressing force is reached, the hydraulic cylinder 52 stops acting, and the steel tube 2 is clamped.
S04, acquiring a steel pipe surface image:
c. the main control computer 6 controls the stepping motor A33 of the translation assembly to start, and drives the camera to move to the position above the middle part of the target section;
d. the main control computer 6 firstly starts a camera to take a picture of a target segment for the first time, then controls the starting of the stepping motor C, drives the steel tube to rotate 90 degrees clockwise, then starts the camera to take a picture of the target segment for the second time, then controls the starting of the stepping motor C51, drives the steel tube 2 to rotate 90 degrees clockwise, then starts the camera 4 to take a picture of the target segment for the third time, then controls the starting of the stepping motor C51, drives the steel tube 2 to rotate 90 degrees clockwise, and then starts the camera 4 to take a picture of the target segment for the fourth time, 4 pictures of the target segment are obtained altogether, and the 4 pictures are cambered pictures;
e. the main control computer 6 expands the 4 cambered surface photos into 4 plane photos, and 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 the plane expansion diagram of the outer circular surface of other sections.
S05, image comparison:
a. the main control computer 6 numbers each segment and then performs grid division on the plane expansion 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 more than or equal to 90% as a judgment standard, and displaying a grid thumbnail through a display; in the grid thumbnail, the non-aligned grids display gray, the grids meeting the judgment standard after alignment display green, and the grids not meeting the judgment standard after alignment display red.
In the step, clicking any grid in the grid thumbnail ejects the real shot image of the grid, so that the operator can check/recheck conveniently.
In this step, when all of 3 or more obliquely adjacent or directly adjacent grids do not meet the criterion, the grids are highlighted in a highlighted red in the grid thumbnail so as to remind the staff of particular attention.
Claims (7)
1. Steel pipe surface defect detection device, characterized by: the device comprises a steel tube carrier roller mechanism, a steel tube, a camera movement control mechanism, a camera, a steel tube clamping and rotating mechanism and a main control computer; the steel tube carrier roller mechanism comprises two rollers which are parallel to each other and are horizontally arranged; the steel tube is placed between two rollers of the steel tube carrier roller mechanism; the camera movement control mechanism is arranged right above the steel tube carrier roller mechanism and is connected with the camera to drive the camera to move in an upper area between the two rollers; the steel tube clamping rotating mechanism is arranged at one end of the steel tube carrier roller mechanism and is connected with the steel tube to drive the steel tube to rotate; the main control computer is respectively connected with the camera, the camera movement control mechanism and the steel pipe clamping and rotating mechanism in a communication mode or in an electric connection mode;
the steel tube carrier roller mechanism also comprises a supporting seat, a sliding rail and an electromagnet; the two ends of the roller are movably arranged on the supporting seat through bearings; the sliding rail is fixedly arranged on the ground, is arranged at the lower end of the supporting seat and is in sliding fit with the supporting seat; the electromagnet is embedded at the bottom of the supporting seat and faces the sliding rail, when the electromagnet is electrified, 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 steel tube 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 central line of a shaft of the stepping motor C coincides with the central 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 coincident 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 distributed and welded on the outer wall of the guide sleeve in an annular shape; 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 coincides 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; the plurality of sleeves are respectively movably sleeved on each guide rod of the guide sleeve; the clamping assembly comprises a rubber pad seat, a rubber pad and a pressure sensor; the rubber pad 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.
2. The steel pipe surface defect detecting apparatus according to claim 1, wherein: three guide rods are uniformly distributed and welded on the outer wall of the guide sleeve in an annular mode, and correspondingly, the number of the sleeves is three.
3. The steel pipe surface defect detecting apparatus according to claim 2, wherein: the camera movement control mechanism comprises a translation component and a lifting component; 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 bearings and bearing seats and are horizontally arranged; the nut A is connected to the screw rod A in a threaded manner; 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 bearings and bearing seats; the nut B is connected to the screw rod B in a threaded manner; 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.
4. A steel pipe surface defect detection method applied to the steel pipe surface defect detection device as claimed in claim 3, characterized by comprising the following steps:
s01, presetting items: 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 similarity percentage value of the steel pipe to be detected and the standard photo to be 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 detection precision, distance L, camera shooting range and grid division density in a main control computer;
in the step, the steps a, b and c are not in sequence;
s02, steel pipe segmentation: inputting the length of the steel pipe to be detected and the required detection precision into a main control computer; the main control computer sequentially performs the following control: a. according to the corresponding relation between the detection precision and the distance L, a stepping motor B of the lifting assembly is controlled to start, and the camera is driven 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 tube to be detected into n sections in an axial direction 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 a steel pipe:
a. placing the steel tube to be detected between the two rollers, so that the steel tube to be detected is supported by the two rollers, and ensuring that the clamping assembly is positioned in an inner hole of the steel tube;
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 then the connecting rod drives the sleeve to linearly move along the guide rod, so that the rubber pad is tightly pressed on the inner wall of the steel pipe, and when the pressure sensor detects that the preset pressing force is reached, the hydraulic cylinder stops acting, and the steel pipe is clamped;
s04, acquiring a steel pipe surface image:
c. the main control computer controls the stepping motor A of the translation assembly to start, and drives the camera to move to the position above the middle part of the target section;
d. the main control computer firstly starts the camera to take a picture of the target segment for the first time, then controls the stepping motor C to start, drives the steel tube to rotate 90 degrees clockwise, then starts the camera to take a picture of the target segment for the second time, then controls the stepping motor C to start, drives the steel tube to rotate 90 degrees clockwise, then starts the camera to take a picture of the target segment for the third time, then controls the stepping motor C to start, drives the steel tube to rotate 90 degrees clockwise, and then starts the camera to take a picture of the target segment for the fourth time, 4 pictures of the target segment are obtained altogether, and the 4 pictures are cambered surface pictures;
e. the main control computer expands the 4 cambered surface photos into 4 plane photos, and 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 sections;
s05, image comparison:
a. numbering each segment by the main control computer, and then carrying out grid division on the plane expansion 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 more than or equal to 90% as a judgment standard, and displaying a grid thumbnail through a display; in the grid thumbnail, the non-aligned grids display gray, the grids meeting the judgment standard display green, and the grids not meeting the judgment standard display red.
5. The method for detecting surface defects of steel pipes as set forth in claim 4, wherein: in the step S01, in the steel pipe batch to be detected, selecting the steel pipe without surface defects for photographing to obtain a standard photo sample, wherein a 4000K color temperature light source is adopted for providing illumination during photographing, and the illumination intensity of the surface of the steel pipe for photographing is 800-1000 lux.
6. The method for detecting surface defects of steel pipes according to claim 5, wherein: in the step S05, clicking any grid in the grid thumbnail to pop up the real shot image of the grid.
7. The method for detecting surface defects of steel pipes as set forth in claim 6, wherein: in the step S05, when all the grids which are obliquely adjacent or directly adjacent and above do not meet the judging standard, highlighting the grids in the grid thumbnail in the high-brightness red.
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