CN204788276U - Mouth detecting system is pouted to longitudinal welded pipe welding seam based on laser scanning - Google Patents
Mouth detecting system is pouted to longitudinal welded pipe welding seam based on laser scanning Download PDFInfo
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- CN204788276U CN204788276U CN201520435987.XU CN201520435987U CN204788276U CN 204788276 U CN204788276 U CN 204788276U CN 201520435987 U CN201520435987 U CN 201520435987U CN 204788276 U CN204788276 U CN 204788276U
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Abstract
The utility model discloses a mouth detecting system is pouted to longitudinal welded pipe welding seam based on laser scanning. The system includes transmission, two -dimentional laser scanning sensor and host computer, two dimension laser scanning sensor is used for just along the equidistant scanning welding seam of welded tube axis direction in welded joints, acquires the two -dimentional contour data of the radial cross section of welded tube of welding seam and the welding seam both sides of different positions, transmission is used for adjusting the position of two -dimentional laser scanning sensor, the host computer passes through the order wire and is connected with transmission controller and two -dimentional laser scanning sensor. The utility model discloses a mouth type is pouted to non -contact tests welded tube welding seam, has characteristics such as easy to carry out, strong adaptability, precision height.
Description
Technical field
The utility model patent relates to a kind of straight welded pipe welding-seam based on laser scanning and to be in a pout detection system, is used for detecting " being in a pout " fault of weld seam in longitudinal welded pipe production run, belongs to field of fault detection.
Background technology
Along with China's expanding economy, widely, we are progressively transitioned into pipeline transportation from communications and transportation to the transport of oil gas in the application of pipeline, such as " this priority project of West-east Gas.In order to ensure the safety of oil gas in transportation, pipeline construction proposes the requirement of " heavy wall, Hi-grade steel " to pipeline, so we are also increasing to the demand of longitudinal welded pipe.In the production run of longitudinal welded pipe, it is a kind of ubiquitous defect that commissure " is in a pout ".The curvature at place of " being in a pout " is irregular, if the external force of being subject to, can produce stress and concentrate, affect the life-span of pipeline, can not ensure the reliability that oil gas transports at " being in a pout " place.When we are by defect tracking and normal pipeline welding, due to the existence of " being in a pout " defect, well two pipelines can not be fitted within together, even if weld together reluctantly, weld stress also can be caused to concentrate, affect the mechanical property of whole pipeline.Therefore, weld seam is carried out to steel pipe and " to be in a pout " detection, the life-span of pipeline can be improved, alleviate the labour intensity of workman, cut down finished cost etc.
At present, mainly rely on detect manually in welded tube context of detection, the method mainly measures the external diameter of longitudinal welded pipe by outside micrometer and calliper, then whether sees target " being in a pout " judge to be in a pout type.The method takes time and effort, and precision is not high, and efficiency is low, can not meet technological requirement.Also have a kind of method to be Mechanical Contact mensuration, namely adopt three-coordinates measuring machine, the measuring head of this instrument can be measured in the enterprising line slip of welded tube, and obtains the three-dimensional coordinate information on surface, and then processes these data.But the method is high to environmental requirement, measure efficiency low, higher to the quality requirements of probe.So we need a kind of method can obtain the three-dimensional data of surface of welded pipe intuitively, then these data are processed, obtain " being in a pout " defect of steel pipe, and the method can not affect by environmental factor and human factor too large, thus improve the efficiency detected.
Chinese Patent Application No. 201120049924.2, publication date 2011.9.21, discloses a kind of UOE pipe end ovality and diameter measuring device.Two pairs of scanning laser sensor and two two-dimensional laser displacement transducers have been installed in the two ends up and down of this device, carry out outside diameter measuring and ellipticity measurement to the steel pipe rotated on transfer roller.By calculating not by the beam length that steel pipe covers, the external diameter of steel pipe can be obtained; By laser displacement sensor, shape and the position of weld seam can be measured.But this measurement mechanism to obtain external diameter and the ovality of steel pipe, can not realize the detection be in a pout to straight welded pipe welding-seam only.
Summary of the invention
To be in a pout the deficiency of detection method to overcome existing straight welded pipe welding-seam, the utility model discloses a kind of straight welded pipe welding-seam based on laser scanning to be in a pout detection system, the longitudinal welded pipe of different size can be adapted to, can to be in a pout type by automatic discrimination under the fixed prerequisite of welded tube, and to provide the value that is in a pout accurately.
Straight welded pipe welding-seam based on the laser scanning described in the utility model detection system that is in a pout is made up of two dimensional laser scanning sensor, gearing and host computer; Described two dimensional laser scanning sensor is used for side in welded joints and equidistantly scans weld seam along welded tube axis direction, obtains the two-dimensional silhouette data of diverse location place welded tube radial cross-section; Described gearing is for regulating the position of two dimensional laser scanning sensor; Described host computer is connected with actuator movement controller and two dimensional laser scanning sensor by order wire.
Described gearing comprises frame, sensor fastening device, X-axis stepper motor, y-axis stepper motor, Z axis stepper motor, X-axis guide rail, Y-axis guide rail, Z axis guide rail and motion controller; Wherein X-axis is welded tube horizontal radial direction, and Y-axis is welded tube axis direction, the plane that Z axis is formed perpendicular to X-axis and Y-axis; Described sensor fastening device is for installing two dimensional laser scanning sensor; Described X-axis stepper motor drives two dimensional laser scanning sensor along the translation of X-axis guide rail, makes weld seam be positioned at immediately below two dimensional laser scanning sensor; Described y-axis stepper motor drives two dimensional laser scanning sensor equidistantly to scan weld seam along Y-axis guide rail; Described Z axis stepper motor drives two dimensional laser scanning sensor to move up and down along Z axis guide rail, for regulating the distance of two dimensional laser scanning sensor and weld seam, makes weld seam be positioned at the effective scanning scope of two dimensional laser scanning sensor; Described motion controller for controlling X-axis stepper motor, y-axis stepper motor and Z axis stepper motor, and communicates with host computer.
The utility model has the advantage of, the defect that is in a pout that system architecture is simple, convenient operation, strong adaptability, judgement precision are high, can detect welded tube welding seam in real time, little by such environmental effects, and be in a pout type and the value that is in a pout accurately can be provided, significantly can improve product percent of pass and the production efficiency of this type of welded tube, construction for China's oil and gas pipes provides high-quality welded tube, breaks the monopolization of external associated equipment manufacturing enterprise in this field simultaneously.
Accompanying drawing explanation
A kind of welded tube welding seam based on laser scanning of Fig. 1 is in a pout detection system structural representation.1. frames in figure, 2.X shaft step motor, 3.Y shaft step motor, 4.Z shaft step motor, 5.X axis rail, 6.Y axis rail, 7.Z axis rail, 8. support bar; 9. sensor fastening device, 10. two dimensional laser scanning sensor, 11. weld seams, 12. longitudinal welded pipe;
Fig. 2 is that welded tube welding seam is in a pout detection system Detection & Controling apparatus structure block diagram;
Fig. 3 is that weld seam is in a pout type schematic diagram;
Fig. 4 is the workflow diagram of the straight welded pipe welding-seam detection system based on laser scanning;
Fig. 5 is two-dimensional silhouette discrete point curvature cluster process flow diagram.
Embodiment
The defect that is in a pout of straight welded pipe welding-seam is prevalent in longitudinal welded pipe production run, and longitudinal welded pipe makes it bend by a block plate through excess pressure, then welds together.But due to mechanical reason or steel plate self material, welded tube forming seam place's matching imperfection can be caused, be formed into the situation that groove part has been pouted up or down, weld seam " is in a pout " defect that Here it is.When the Welded Pipe place of being in a pout carries out fault diagnosis, if we can obtain the three-dimensional data of welded tube intuitively, just can by calculating position to be detected whether existing defects, so we need to find a kind of method to obtain the three-dimensional data of welded tube.
Although utilize three-coordinates measuring machine can obtain the three-dimensional data of welded tube, but this method is high to environmental requirement, measuring speed is slow, measurement data density is low, measuring process needs manual intervention, also need to carry out probe damage and probe radius compensation to measurement result, these deficiencies limit the application that it is in a pout in detection field at weld seam.Therefore, find a kind of method effectively more directly perceived to obtain the three-dimensional data of welded tube, butt welded seam can be completed and to be in a pout the first step work detected.Laser scanner technique can obtain the three-D profile data of welded tube very intuitively, comprises 3 D laser scanning and two dimensional laser scanning, and 3 D laser scanning directly can scan a face, but equipment price is expensive; Two dimensional laser scanning can scan out a line, but also can obtain the three-D profile of object by motion scan instrument or testee, and therefore we select two dimensional laser scanning.Two dimensional laser scanning, on target object, produce diffuse reflection after expanding as strip by laser beam, reflected light is aggregated on CCD or CMOS, contour of object is obtained by data processing, the method precision is high, and examined environmental impact is little, can measure outside dimension and external diameter profile.
The utility model has carried out a large amount of experiments to fault welded tube, provides a kind of detection system be in a pout based on the straight welded pipe welding-seam of laser scanning, and experiment shows that the more existing detection system of this detection system has obvious advantage.
Below this detection system is described in detail, with reference to accompanying drawing 1 and accompanying drawing 2:
A. gearing comprises frame (1), X-axis stepper motor (2), y-axis stepper motor (3), Z axis stepper motor (4), X-axis guide rail (5), Y-axis guide rail (6), Z axis guide rail (7), support bar (8); Sensor fastening device (9) and motion controller, described guide rail is leading screw; Described sensor fastening device is for installing two dimensional laser scanning sensor;
The horizontal radial direction of A1.X axle and welded tube (12), drive two dimensional laser scanning sensor (10) along X-axis guide rail (5) translation by X-axis stepper motor, weld seam (11) is positioned at immediately below two dimensional laser scanning sensor (10), is convenient to gather the information that is in a pout more accurately; Support bar (8) is for guaranteeing to move along X-axis in the frame left and right sides simultaneously, and support bar (8) is smooth, and frame is installed bearing by the place that support bar (8) passes;
A2.Y axle and welded tube (12) axis direction, drive two dimensional laser scanning sensor (10) in the upper translation of Y-axis guide rail (6) by y-axis stepper motor, two dimensional laser scanning sensor (10) Welded Pipe weld seam (11) is equidistantly scanned, thus obtain diverse location, than the two-dimensional silhouette data of the weld seam of comparatively dense and the welded tube radial cross-section of weld seam both sides;
The plane that A3.Z axle is formed perpendicular to X-axis and Y-axis, two dimensional laser scanning sensor (10) is driven to move up and down along Z axis guide rail (7) by Z axis stepper motor, the distance of two dimensional laser scanning sensor (10) to welded tube (12) can be adjusted, for adapting to the welded tube of different size; The welded tube that diameter is large, can make sensor move up; The welded tube that diameter is little, can make sensor move down;
A4. described motion controller is for controlling above-mentioned 3 stepper motor work, thus drives two dimensional laser scanning sensor (10) motion; Motion controller is connected with host computer, receives the movement instruction that host computer is sent, and to host computer feedback stepper motor current operating state;
B. described two dimensional laser scanning sensor (10) is core component of the present utility model, transmission module X-axis and Z axis regulate sensing station, it is made to be in a best measuring position, then by the equidistant scanning of sensor in Y-axis, gather the radial section two-dimensional silhouette data of welded tube diverse location, the outline data of n assembly welding seam and weld seam both sides surface of welded pipe can be obtained altogether;
C. described host computer is connected with two dimensional laser scanning sensor with motion controller by order wire, for sending movement instruction to motion controller, receive the stepper motor duty of motion controller feedback, optimum configurations is carried out to two dimensional laser scanning sensor, and receives the scan-data of two dimensional laser scanning sensor;
Accompanying drawing 4 is workflows of the straight welded pipe welding-seam detection system based on laser scanning, and concrete steps comprise:
A. utilize two dimensional laser scanning sensor Gocator2350 to move along welded tube axis direction, mode of motion is encoder modes, equidistantly gathers the two-dimensional silhouette data of welded tube.Operational system carries out data acquisition, can obtain the outline data M of n assembly welding seam and weld seam both sides surface of welded pipe
i(i=1,2 ..., n), M
icomprise t discrete point, the coordinate of point is:
P
j＝{x
j,z
j},j＝1,2,…,t；
Because the direct of travel of what Y-coordinate represented is scanner, the number of Y value is n, does not affect the two-dimensional silhouette of this position, so be not presented in the coordinate of outline data; Below these data are processed, to obtain be in a pout value and the type that is in a pout of weld seam;
B. in detecting, because welded tube welding seam to be detected does not weld, so the laser that laser scanner sends can project to the bottom of welded tube inside in commissure, these data can have an impact to the calculating of curvature below, so pre-service will be carried out to the outline data described in A, after removing noise, obtain the data M ' simplified
i(i=1,2 ..., n), M '
icomprise v discrete point;
C. two-dimensional silhouette data M ' is extracted
i(i=1,2 ..., n) corresponding weld seam is in a pout value, comprises following steps:
C1. according to data characteristics, difference curvature method is selected to calculate i-th profile M '
i(i=1,2 ..., the some P n)
jcurvature k
j, according to difference curvature estimation formula, can calculate and work as j=3,4 ..., v-2 time point P
jcurvature, it is as follows that difference curvature method calculates the formula of discrete curvature:
Wherein,
C2. carry out K mean cluster to the curvature value of the v-4 described in C1, choose K=2, being gathered by the discrete point on profile is two classes: S
1and S
2, wherein S
1for the set of the larger point of curvature, S
2for the set of the less point of curvature, corresponding Weld pipe mill place profile and weld seam two side profile respectively, with reference to accompanying drawing 5, step is as follows:
(1) choose suitable cluster centre, because our comparatively large and less two classes of curvature value that will be curvature value by v-4 curvature value cluster, therefore can curvature k be chosen
j(j=3,4 ..., v-2) in maximal value and minimum value be initial cluster center z
1and z
2;
(2) k is traveled through
j(j=3,4 ..., v-2) in each value, if | k
j-z
1| < | k
j-z
2|, k
j∈ S
1otherwise, k
j∈ S
2;
(3) S is calculated respectively
1and S
2the mean value of mean curvature is as new cluster centre;
(4) repeat step (2), (3), until new cluster centre is identical with a front result of calculation, complete cluster;
C3. S is used
2in discrete point corresponding to all curvature values simulate standard round, obtain coordinate and the radius of a circle r of center of circle O;
C4. the distance of center of circle O to weld seam left slope point P and right slope point Q is calculated
calculate the value that is in a pout of i-th weld seam
wherein weld seam left slope point P and right slope point Q refers to the breakpoint between left and right of Weld pipe mill place profile, with reference to accompanying drawing 3;
D. the value Δ that is in a pout of all n group outline datas is calculated
1, Δ
2..., Δ
n, calculate the value that is on average in a pout of welded tube welding seam
to being in a pout, type judges: if
judge to be in a pout type as pouting outward; If
judge to be in a pout type as in pout; If
judge that welded tube welding seam is normal.
Claims (2)
1. to be in a pout a detection system based on the straight welded pipe welding-seam of laser scanning, it is characterized in that, described system is made up of two dimensional laser scanning sensor, gearing and host computer; Described two dimensional laser scanning sensor is used for side in welded joints and equidistantly scans weld seam along welded tube axis direction, obtains the two-dimensional silhouette data of diverse location place welded tube radial cross-section; Described gearing is for regulating the position of two dimensional laser scanning sensor; Described host computer is connected with actuator movement controller and two dimensional laser scanning sensor by order wire.
2. the straight welded pipe welding-seam based on laser scanning according to claim 1 is in a pout detection system, it is characterized in that, described gearing comprises frame, sensor fastening device, X-axis stepper motor, y-axis stepper motor, Z axis stepper motor, X-axis guide rail, Y-axis guide rail, Z axis guide rail and motion controller; Wherein X-axis is welded tube horizontal radial direction, and Y-axis is welded tube axis direction, the plane that Z axis is formed perpendicular to X-axis and Y-axis; Described sensor fastening device is for installing two dimensional laser scanning sensor; Described X-axis stepper motor drives two dimensional laser scanning sensor along the translation of X-axis guide rail, makes weld seam be positioned at immediately below two dimensional laser scanning sensor; Described y-axis stepper motor drives two dimensional laser scanning sensor equidistantly to scan weld seam along Y-axis guide rail; Described Z axis stepper motor drives two dimensional laser scanning sensor to move up and down along Z axis guide rail, for regulating the distance of two dimensional laser scanning sensor and weld seam, makes weld seam be positioned at the effective scanning scope of two dimensional laser scanning sensor; Described motion controller for controlling X-axis stepper motor, y-axis stepper motor and Z axis stepper motor, and communicates with host computer.
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| CN201520435987.XU CN204788276U (en) | 2015-06-23 | 2015-06-23 | Mouth detecting system is pouted to longitudinal welded pipe welding seam based on laser scanning |
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| CN201520435987.XU CN204788276U (en) | 2015-06-23 | 2015-06-23 | Mouth detecting system is pouted to longitudinal welded pipe welding seam based on laser scanning |
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| CN106323192A (en) * | 2015-06-23 | 2017-01-11 | 河南理工大学 | Longitudinal welded pipe welding seam protrusion detecting system based on laser scanning |
| CN109072881A (en) * | 2016-04-01 | 2018-12-21 | 乌本产权有限公司 | For measuring the measuring system on the surface of the rotor blade of wind energy plant |
| CN110140022A (en) * | 2016-12-20 | 2019-08-16 | 日铁日新制钢株式会社 | The quality control method and its device of the shape detecting method of the docking section of welded still pipe and the welded still pipe using this method |
| US20190323828A1 (en) * | 2016-12-20 | 2019-10-24 | Nippon Steel Nisshin Co., Ltd. | Method for detecting shape of butt joint of welded steel pipe, and quality control method and apparatus for welded steel pipes using the shape detecting method |
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| CN109211123A (en) * | 2018-10-31 | 2019-01-15 | 浙江德清龙立红旗制药机械有限公司 | Punch die laser detection machine |
| CN109916364A (en) * | 2019-03-14 | 2019-06-21 | 华南理工大学 | A kind of disk-shaped part flatness checking device, automatic detecting table and its detection method |
| CN110530261A (en) * | 2019-08-28 | 2019-12-03 | 天津理工大学 | A kind of industrial part quality detection device based on two dimensional laser scanning |
| CN111964611A (en) * | 2020-08-18 | 2020-11-20 | 山东理工大学 | Axle type part straightness accuracy error measuring device based on machine vision |
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