CN220419201U - Pipe fitting detection device - Google Patents

Abstract

The utility model relates to the technical field of automatic equipment, and discloses a pipe fitting detection device. The pipe fitting detection device comprises a progressive mechanism, a feeding mechanism, a transplanting mechanism, a 2D visual detection mechanism, a 3D visual detection mechanism and a discharging mechanism. The progressive mechanism is provided with a plurality of bearing positions which are arranged along a preset direction and used for supporting the pipe fittings, and can drive the pipe fittings to synchronously advance forward for one bearing position; the feeding mechanism can grasp the pipe fitting positioned on the bearing position at the forefront end and is placed in the transplanting mechanism; transplanting mechanism can drive the pipe fitting and move in proper order in 2D visual detection mechanism, 3D visual detection mechanism and the unloading mechanism, and 2D visual detection mechanism and 3D visual detection mechanism can detect the pipe fitting surface respectively, and unloading mechanism can place the pipe fitting with different relative positions on progressive mechanism be located terminal loading position. The pipe fitting detection device can automatically finish pipe fitting surface quality detection, and has high detection efficiency and low labor cost.

Description

Pipe fitting detection device

Technical Field

The utility model relates to the technical field of automatic equipment, in particular to a pipe fitting detection device.

Background

In the nuclear power field, a pick pipe is required, and the quality of the pick pipe is required to be strictly detected after the pick pipe is processed. On one hand, the impurities such as oil stains contain halogen, and if the oil stains are attached to the pick pipe for a long time, the surface of the pick pipe is corroded, so that the oil stain condition on the surface of the pick pipe needs to be detected; on the other hand, the surface of the pick tube has defects such as scratches and pits, and if the depths of the scratches and the pits are larger than the preset value, the reliability of the pick tube can be affected, and nuclear raw materials in the pick tube leak, so that the depth of the defects on the surface of the pick tube needs to be detected. In the related art, when pick pipe detection, the pick pipe needs to be manually sent to a detection position one by one, and then is manually classified according to a detection result, so that the detection efficiency is low and the labor cost is high.

Therefore, there is a need for a pipe inspection device to solve the above-mentioned problems.

Disclosure of Invention

The utility model aims to provide a pipe fitting detection device which can automatically finish the detection of the surface quality of a pipe fitting, and has high detection efficiency and low labor cost.

To achieve the purpose, the utility model adopts the following technical scheme:

pipe fitting detection device, including progressive mechanism, feed mechanism, transplanting mechanism, 2D visual detection mechanism, 3D visual detection mechanism and unloading mechanism, wherein:

the progressive mechanism is provided with a plurality of bearing positions which are arranged along a preset direction and used for supporting the pipe fittings, and can drive the pipe fittings to synchronously progressive one bearing position;

the feeding mechanism can grasp the pipe fitting positioned in the bearing position at the forefront end and place the pipe fitting in the transplanting mechanism;

transplanting mechanism can drive the pipe fitting moves in proper order to 2D visual detection mechanism, 3D visual detection mechanism with in the unloading mechanism, 2D visual detection mechanism can be right the surface impurity of pipe fitting detects, 3D visual detection mechanism can be right pipe fitting surface defect detects, unloading mechanism can with the pipe fitting is placed with different relative positions progressive mechanism is last to be located on the position of bearing.

As an alternative, the progressive mechanism includes:

the support frame is provided with a plurality of first tooth grooves which are arranged along a preset direction, and each first tooth groove forms a bearing position;

the bracket is arranged in parallel with the support frame, a plurality of second tooth grooves which are arranged along the preset direction are arranged on the bracket, and the second tooth grooves are staggered with the first tooth grooves;

and the feeding driving assembly can drive the bracket to move up and down so that the second tooth groove pushes the pipe fitting in the first tooth groove adjacent to the second tooth groove to the previous bearing position.

As an alternative scheme, the progressive mechanism comprises two supporting frames, the two supporting frames are arranged at intervals, the first tooth grooves on the two supporting frames are arranged in a one-to-one correspondence manner, and the two first tooth grooves which are correspondingly arranged form one bearing position; and/or

The progressive mechanism comprises two brackets, the two brackets are arranged at intervals, and the second tooth grooves on the two brackets are arranged in one-to-one correspondence.

As an alternative scheme, the feeding mechanism comprises a first traversing module, a first lifting driving component connected with the output end of the first traversing module and a first supporting claw connected with the output end of the first lifting driving component;

the first traversing module can drive the first supporting claw to move to the position below the bearing position at the forefront end, the first lifting driving assembly can drive the first supporting claw to ascend to grab the pipe fitting, the first traversing module can also drive the first supporting claw to move to the position above the progressive mechanism, and the first lifting driving assembly can drive the first supporting claw to descend to place the pipe fitting on the progressive mechanism.

As an alternative scheme, the transplanting mechanism comprises a transplanting conveying mechanism, a first buffer assembly and a second buffer assembly, wherein the first buffer assembly can receive the pipe fitting from the feeding mechanism, and the discharging mechanism can grab the pipe fitting from the second buffer assembly;

the first buffer assembly, the 2D visual detection mechanism, the 3D visual detection mechanism and the second buffer assembly are sequentially arranged along a preset direction, and the transplanting conveying mechanism can synchronously grab the pipe fitting on the first buffer assembly, the 2D visual detection mechanism and the 3D visual detection mechanism, and correspondingly place the pipe fitting on the 2D visual detection mechanism, the 3D visual detection mechanism and the second buffer assembly.

As an alternative scheme, the transplanting conveying mechanism comprises a transplanting lifting driving component, a horizontal driving component connected with the output end of the transplanting lifting driving component and a bearing component connected with the output end of the horizontal driving component, wherein the bearing component comprises at least three groups of material supporting frames arranged at intervals along the preset direction;

the horizontal driving assembly can drive the bearing assembly to move along the preset direction so that the three groups of material supporting frames respectively move to the lower parts of the pipe fittings borne by the first buffer assembly, the 2D visual detection mechanism and the 3D visual detection mechanism, and the transplanting lifting driving assembly can drive the bearing assembly to lift so that the three groups of material supporting frames can grasp the pipe fittings at corresponding positions;

the horizontal driving assembly can also drive the bearing assembly to move along the preset direction, so that three groups of material supporting frames can respectively move to the positions above the 2D visual detection mechanism, the 3D visual detection mechanism and the second buffer assembly, and the transplanting lifting driving assembly can drive the bearing assembly to descend, so that three groups of material supporting frames can place the pipe fitting at corresponding positions.

As an alternative, the 2D visual inspection mechanism includes:

the first autorotation assembly comprises two first driving rollers which are arranged in parallel, and the pipe fitting can be supported between the two first driving rollers;

the first roller driving assembly can drive the two first driving rollers to synchronously rotate so as to enable the pipe fitting supported by the first autorotation assembly to rotate around the axis of the pipe fitting;

the device comprises a first linear module and a 2D camera, wherein the first linear module can drive the 2D camera to move along the length direction of the pipe fitting, so that the 2D camera photographs all positions of the pipe fitting along the length direction.

As an alternative, the 2D visual inspection mechanism further includes two clamping assemblies, the two clamping assemblies are respectively disposed at two ends of the pipe supported on the first rotation assembly, and output ends of the two clamping assemblies can be close to each other so as to clamp and position the pipe along a length direction of the pipe.

As an alternative, the 3D visual inspection mechanism includes:

the second rotation assembly comprises two second driving rollers which are arranged in parallel, and the pipe fitting can be supported between the two second driving rollers;

the second roller driving assembly can drive the two second driving rollers to synchronously rotate so as to enable the pipe fitting supported by the second autorotation assembly to rotate around the axis of the pipe fitting;

the second linear module can drive the 3D camera to move along the length direction of the pipe fitting, so that the 3D camera can photograph all positions of the pipe fitting along the length direction.

As an alternative, the blanking mechanism includes:

the second transverse moving module is connected with the 2D visual detection mechanism and the 3D visual detection mechanism in a communication manner respectively;

the second transverse moving module can drive the second supporting claw to move to the lower part of the transplanting mechanism, and the second lifting driving assembly can drive the second supporting claw to ascend so as to grasp the pipe fitting; the second transverse moving module can drive the second supporting claw to move to one of a first position, a second position and a third position below the bearing position at the tail end, and the second lifting driving assembly can drive the second supporting claw to descend so as to place the pipe fitting at the bearing position at the tail end in different relative positions.

The utility model has the beneficial effects that:

according to the pipe fitting detection device, the progressive mechanism, the feeding mechanism, the transplanting mechanism, the 2D visual detection mechanism, the 3D visual detection mechanism and the blanking mechanism are arranged, so that pipe fittings can be automatically conveyed to the 2D visual detection mechanism and the 3D visual detection mechanism one by one for detection, and the pipe fittings can be placed in a classified mode according to detection results, the detection efficiency of the pipe fittings is greatly improved, the degree of automation is high, and the labor cost of the pipe fitting detection process is reduced.

Drawings

FIG. 1 is a schematic view of a pipe inspection device according to an embodiment of the present utility model;

FIG. 2 is a schematic view of a pipe inspection device according to an embodiment of the present utility model in a view angle after a part of a frame is hidden;

FIG. 3 is a schematic view of the structure of FIG. 2 from another perspective;

fig. 4 is a schematic structural view of a feeding mechanism, a feeding mechanism and a discharging mechanism according to an embodiment of the present utility model;

fig. 5 is a schematic view of a part of a pipe inspection device according to an embodiment of the present utility model.

In the figure:

10. a progressive mechanism; 11. a support frame; 111. a first tooth slot; 12. a bracket; 121. a second tooth slot; 13. a feed drive assembly; 14. a connecting piece;

20. a feeding mechanism; 21. a first traversing module; 22. a first elevation drive assembly; 23. a first holding claw; 231. a first receiving groove;

30. a transplanting mechanism;

31. a first cache component; 311. a first bracket; 312. a first support plate; 313. a first chute;

32. transplanting conveying mechanism; 321. transplanting the lifting driving assembly; 322. a horizontal drive assembly; 323. a support assembly; 3231. a material supporting frame; 32311. a supporting block; 3232. a support beam; 324. a carrying plate;

33. a second cache component; 331. a second bracket; 332. a second support plate; 333. a second chute;

40. a 2D visual inspection mechanism; 41. a first rotation assembly; 411. a first driving roller; 42. a first linear module; 43. a 2D camera; 44. a light source; 45. a clamping assembly; 451. a column; 452. a clamping cylinder;

50. a 3D visual inspection mechanism; 51. a second rotation assembly; 511. a second driving roller; 52. a second linear module; 53. a 3D camera;

60. a blanking mechanism; 61. a second traversing module; 62. a second elevation drive assembly; 63. a second holding claw; 631. a second receiving groove;

70. a frame; 71. a lower box body; 711. a support substrate; 72. an upper frame; 73. a support plate;

82. a keyboard assembly; 83. an operation screen; 84. a display; 85. an air source interface; 86. an air source control valve group; 87. a hygrothermograph.

Detailed Description

The utility model is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the utility model. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present utility model are shown in the drawings.

In the description of the present utility model, unless explicitly stated and limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present utility model will be understood in specific cases by those of ordinary skill in the art.

In the present utility model, unless expressly stated or limited otherwise, a first feature "above" or "below" a second feature may include both the first and second features being in direct contact, as well as the first and second features not being in direct contact but being in contact with each other through additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.

In the description of the present embodiment, the terms "upper", "lower", "right", etc. orientation or positional relationship are based on the orientation or positional relationship shown in the drawings, and are merely for convenience of description and simplicity of operation, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the utility model. Furthermore, the terms "first," "second," and the like, are used merely for distinguishing between descriptions and not for distinguishing between them.

The embodiment provides a pipe fitting detection device, and it can detect the degree of depth of the greasy dirt state of surface of pipe, surface defect (mar, pothole etc.) to place pipe fitting classification according to the testing result, pipe fitting detection device is high, efficient to the detection process degree of automation of pipe fitting.

As shown in fig. 1, the pipe fitting detecting device includes a frame 70, and the frame 70 includes a lower case 71 and an upper frame 72 provided on the lower case 71. A main body, an electric cabinet, etc. of the pipe fitting detecting device are provided in the lower case 71. The air source interface 85 of the pipe fitting detecting device is supported on the lower case 71 and exposed from a side surface of the lower case 71 so as to communicate with an external air source. The air source control valve group 86 of the pipe fitting detecting device is supported on the lower case 71 and exposed from the side surface of the lower case 71 so as to be operated by an operator. Door bodies are installed at the sides of the upper frame 72 to facilitate the operator to take and place the pipe fitting to be inspected into the frame 70 in batches, to repair the internal structure of the frame 70, and the like. A support plate 73 is installed on one side of the upper frame 72, and a display 84, a hygrothermograph 87, an operation panel 83, a keyboard assembly 82, and the like of the pipe detection device are installed on the support plate 73. Alternatively, the keyboard assembly 82 may be configured as a flip-type keyboard, with the keyboard lowered when needed for use and stowed when not in use.

As shown in fig. 1 to 3, the top plate of the lower case 71 forms a supporting substrate 711, and the pipe inspection device further includes a progressive mechanism 10, a feeding mechanism 20, a transplanting mechanism 30, a 2D visual inspection mechanism 40, a 3D visual inspection mechanism 50, and a discharging mechanism 60, which are provided on the supporting substrate 711. The X-direction in fig. 2 is defined as a preset direction, wherein the x+ direction indicates the front and the X-direction indicates the rear. The progressive mechanism 10 is provided with a plurality of bearing positions which are arranged along a preset direction and used for supporting the pipe fittings, an operator can respectively place a plurality of pipe fittings to be detected at a plurality of bearing positions at one time, and the progressive mechanism 10 can drive the pipe fittings to synchronously progressive one bearing position from the back to the front. The loading mechanism 20 is capable of gripping tubulars located in the forward-most load-bearing position on the progressive mechanism 10 and placing the tubulars in the transplanting mechanism 30. The transplanting mechanism 30 can drive the pipe fitting to sequentially move into the 2D visual inspection mechanism 40, the 3D visual inspection mechanism 50 and the blanking mechanism 60. The 2D visual inspection mechanism 40 can detect surface impurities of the pipe, the 3D visual inspection mechanism 50 can detect surface defects of the pipe, and the blanking mechanism 60 can place the pipe on the loading position located at the extreme end on the progressive mechanism 10 in different relative positions according to the detection results of the 2D visual inspection mechanism 40 and the 3D visual inspection mechanism 50. The relative position means: the pipe fittings are placed at different positions on the bearing position at the tail end, and the concrete steps are as follows: put to the left, put in the middle or put to the right.

The pipe fitting detection device of this embodiment is through setting up progressive mechanism 10, feed mechanism 20, transplanting mechanism 30, 2D visual detection mechanism 40, 3D visual detection mechanism 50 and unloading mechanism 60, can realize automatically that the pipe fitting is carried 2D visual detection mechanism 40, 3D visual detection mechanism 50 one by one and is detected, and according to the testing result with the pipe fitting classification place, has improved the detection efficiency of pipe fitting greatly, and the degree of automation of testing process is high, has reduced the cost of labor.

As shown in fig. 4, the progressive mechanism 10 includes a support frame 11, a carriage 12, and a feed drive assembly 13. The support frame 11 extends along the X direction, a plurality of first tooth grooves 111 which are arranged along the preset direction (namely the X direction) are arranged on the support frame 11, and the first tooth grooves 111 form bearing positions for supporting the pipe fittings. The bracket 12 is arranged in parallel with the support frame 11, a plurality of second tooth grooves 121 which are arranged along a preset direction (namely X direction) are arranged on the bracket 12, the number of the second tooth grooves 121 is the same as that of the first tooth grooves 111, and each second tooth groove 121 is staggered with one first tooth groove 111 correspondingly. The feed drive assembly 13 is capable of driving the carriage 12 to move up and down. When the feeding driving assembly 13 drives the bracket 12 to move upwards, the groove walls of the second tooth grooves 121 on the bracket 12 can push the pipe fittings in the adjacent first tooth grooves 111 upwards, when the pipe fittings are higher than the highest point of the first tooth groove 111 where the pipe fittings are located, the bracket 12 is not lifted, at the moment, the pipe fittings can fall into the previous first tooth groove 111 along the side wall of the previous first tooth groove 111, and at the moment, the feeding driving assembly 13 drives the bracket 12 to move downwards to be lower than the supporting bracket 12, so that synchronous pushing of a plurality of pipe fittings into the previous bearing position is realized, and further, the pipe fittings are always arranged in the bearing position at the forefront end.

Preferably, as shown in fig. 4, the progressive mechanism 10 includes two supporting frames 11, the two supporting frames 11 are arranged at intervals, the first tooth grooves 111 on the two supporting frames 11 are arranged in a one-to-one correspondence manner, the two corresponding first tooth grooves 111 form a bearing position, and the two first tooth grooves 111 respectively support two ends of a pipe, so that the stability of pipe support is ensured. Similarly, the progressive mechanism 10 includes two brackets 12, the two brackets 12 are arranged at intervals, the second tooth grooves 121 on the two brackets 12 are arranged in a one-to-one correspondence, and by arranging the two brackets 12, the brackets 12 can support the pipe more stably when ascending. In the present embodiment, two brackets 12 are provided between two support frames 11. In this embodiment, the two brackets 12 are connected by the connecting piece 14, and the connecting piece 14 is connected to the output end of the feeding driving assembly 13, so that the two brackets 12 can be synchronously driven by one feeding driving assembly 13. In this embodiment, the feeding driving assembly 13 may be a cylinder, the cylinder is fixed on the supporting substrate 711, and an output end of the cylinder is connected to the connecting member 14.

As shown in fig. 2 and 4, the transplanting mechanism 30 includes a first buffer assembly 31, and the first buffer assembly 31 is used for receiving the pipe conveyed by the feeding mechanism 20. In this embodiment, the transplanting mechanism 30 and the progressive mechanism 10 are arranged at intervals along the Y direction. The feeding mechanism 20 comprises a first traversing module 21, a first lifting driving assembly 22 and a first supporting claw 23. Wherein the first traversing module 21 is disposed on the support substrate 711, the first traversing module 21 is capable of outputting a linear motion along the Y-direction. The first lifting driving assembly 22 is connected to the output end of the first traversing module 21, the first lifting driving assembly 22 can output lifting motion, and the first supporting claw 23 is connected to the output end of the first lifting driving assembly 22. The first supporting claw 23 is formed with a first receiving groove 231, and the first receiving groove 231 can support and limit the pipe fitting.

When the feeding mechanism 20 works, the first traversing module 21 drives the first supporting claw 23 to move to the lower part of the pipe fitting in the bearing position at the forefront end of the progressive mechanism 10; then the first lifting driving assembly 22 drives the first supporting claw 23 to move upwards, so that the pipe fitting in the foremost carrying position falls into the first carrying groove 231 of the first supporting claw 23; then the first traversing module 21 drives the first supporting claw 23 and the pipe fitting to move above the first buffer assembly 31 of the progressive mechanism 10; finally, the first lifting driving assembly 22 drives the first supporting claw 23 to descend so as to place the pipe fitting on the first buffer assembly 31.

Alternatively, the first traversing module 21 may be an existing relatively mature linear module, and the first lifting driving assembly 22 may be a linear cylinder. As shown in fig. 4, the first buffer assembly 31 includes two first brackets 311, the two first brackets 311 are disposed at intervals along the Y-direction, each first bracket 311 is provided with a first support plate 312, a first chute 313 is disposed on the upper side of the first support plate 312, and the height of the bottom of the first chute 313 is gradually reduced along the X-direction. When the first supporting claw 23 places the pipe at the higher end of the first chute 313, the pipe rolls along the first chute 313 toward the lower end, thereby avoiding the rising of the first supporting claw 23.

As shown in fig. 2 and 5, the transplanting mechanism 30 further includes a transplanting conveying mechanism 32 and a second buffer assembly 33, and the first buffer assembly 31, the transplanting conveying mechanism 32 and the second buffer assembly 33 are sequentially arranged along the X direction. In fact, the first buffer assembly 31, the 2D visual inspection mechanism 40, the 3D visual inspection mechanism 50 and the second buffer assembly 33 are sequentially arranged along the X direction, the transplanting conveying mechanism 32 can synchronously grasp the pipe fittings on the first buffer assembly 31, the 2D visual inspection mechanism 40 and the 3D visual inspection mechanism 50, convey the pipe fittings to the next position along the X direction, and finally the transplanting conveying mechanism 32 correspondingly and synchronously places the grasped pipe fittings on the 2D visual inspection mechanism 40, the 3D visual inspection mechanism 50 and the second buffer assembly 33; finally, the blanking mechanism 60 grabs the pipe from the second buffer assembly 33, and places the pipe at different relative positions on the end-most bearing position of the progressive mechanism 10 according to the detection result. In this embodiment, by arranging the transplanting mechanism 30, synchronous carrying of a plurality of pipes can be realized, thereby further improving the detection efficiency.

As shown in fig. 5, the transplanting conveying mechanism 32 includes a transplanting elevating driving assembly 321, a horizontal driving assembly 322, and a bearing assembly 323, wherein the transplanting elevating driving assembly 321 is provided on a support substrate 711 and can output elevating movement. The horizontal driving assembly 322 is connected to the output end of the transplanting lifting driving assembly 321, and can output linear motion along the X direction, and the supporting assembly 323 is connected to the output end of the horizontal driving assembly 322. The support assembly 323 includes at least three sets of shelves 3231 spaced apart in a predetermined direction (i.e., X-direction), each of the shelves 3231 being capable of supporting a tubular member.

When the transplanting mechanism 30 works, the horizontal driving component 322 can drive the bearing component 323 to move along the X+ direction, and the three groups of material supporting frames 3231 respectively move to the lower parts of the pipe fittings borne by the first buffer component 31, the 2D visual detection mechanism 40 and the 3D visual detection mechanism 50; then, the transplanting lifting driving assembly 321 drives the supporting assembly 323 to ascend, so that the three groups of material supporting frames 3231 respectively support the pipe fittings at the corresponding positions, namely, the three groups of material supporting frames 3231 respectively grip the pipe fittings at the corresponding positions; next, the horizontal driving assembly 322 drives the supporting assembly 323 to move along the X-direction, so that the pipe fittings supported by the three groups of material supporting frames 3231 are respectively moved above the 2D visual inspection mechanism 40, the 3D visual inspection mechanism 50 and the second buffer assembly 33; finally, the transplanting elevating driving assembly 321 drives the supporting assembly 323 to descend so that the three sets of material supporting frames 3231 place the pipe at the corresponding positions.

It should be noted that, if the first buffer assembly 31, the 2D visual inspection mechanism 40, the 3D visual inspection mechanism 50 and the second buffer assembly 33 are spaced apart by the same distance, the supporting assembly 323 only needs to provide three sets of material supporting frames 3231. If the first buffer unit 31, the 2D visual inspection unit 40, the 3D visual inspection unit 50, and the second buffer unit 33 are not equally spaced, the number of sets of the pallet 3231 can be appropriately increased.

In this embodiment, the transplanting lifting driving unit 321 may be an air cylinder mounted on the support substrate 711. The transplanting conveying mechanism 32 further comprises a bearing plate 324, and the bearing plate 324 is connected to the output end of the air cylinder. The horizontal driving assembly 322 may also be a cylinder, which is disposed on the carrier plate 324. The transplanting conveying mechanism 32 further comprises a supporting beam 3232, the supporting beam 3232 is arranged on the upper side of the bearing plate 324, and at least three groups of material supporting frames 3231 are arranged on the supporting beam 3232 and connected with the bearing plate 324 through linear guide rails along the X direction. The output end of the horizontal drive assembly 322 is coupled to a support beam 3232 and is capable of driving the support beam 3232 and the pallet 3231 together in the X-direction relative to the carrier plate 324. Preferably, the support beam 3232 includes at least two parallel beams, the material supporting frame 3231 includes two material supporting blocks 32311 disposed at intervals, two material supporting blocks 32311 of the same group of material supporting frames 3231 are disposed on the two beams oppositely, and the two material supporting blocks 32311 can respectively support two ends of the pipe, so as to ensure that the pipe conveying process is supported stably.

As shown in fig. 4, the second buffer assembly 33 includes two second supports 331, the two second supports 331 are disposed at intervals along the Y-direction, a second support plate 332 is disposed on each second support 331, a second chute 333 is disposed on the upper side of the second support plate 332, and the height of the bottom of the second chute 333 gradually decreases along the X-direction. When the material supporting frame 3231 places the pipe at the higher end of the second chute 333, the pipe rolls along the second chute 333 toward the lower end, so as to avoid the lifting of the material supporting frame 3231 and ensure that the pipe moves to a position where the pipe can be grasped by the discharging mechanism 60.

As shown in fig. 2 and 5, the 2D vision inspection mechanism 40 includes a first rotation assembly 41, a first roller driving assembly, a first linear module 42, and a 2D camera 43. The first rotation assembly 41 comprises two first driving rollers 411 which are arranged in parallel, the pipe fitting can be supported between the two first driving rollers 411, and the transplanting conveying mechanism 32 can place the pipe fitting between the two first driving rollers 411. The first roller driving assembly can drive the two first driving rollers 411 to rotate synchronously, so that the pipe supported by the first rotation assembly 41 rotates around the axis of the pipe. The first linear module 42 is disposed above the first rotation assembly 41, and the 2D camera 43 is connected to an output end of the first linear module 42, where the first linear module 42 can drive the 2D camera 43 to move along a length direction of the pipe, so that the 2D camera 43 photographs each position of the pipe along the length direction. According to the 2D visual detection mechanism 40, the first rotation component 41 drives the pipe fitting to rotate around the axis of the pipe fitting, and meanwhile, the first linear module 42 is matched to drive the 2D camera 43 to move along the length direction of the pipe fitting, so that the 2D camera 43 can comprehensively shoot the whole circumferential surface of the pipe fitting, and in an image shot by the 2D camera 43, whether oil stains are deposited on the surface of the pipe fitting can be distinguished through light and shade changes of colors.

In this embodiment, as shown in fig. 5, the 2D visual detection mechanism 40 includes two first rotation assemblies 41, the two first rotation assemblies 41 are arranged along the length direction of the pipe, and the two first rotation assemblies 41 jointly drive the pipe, so that the problem of slipping of the pipe can be avoided, and the pipe can be reliably rotated around the axis of the pipe. Alternatively, the first roller driving assembly may be a structure of a motor matching with a belt wheel or a transmission belt, or may be a structure of a motor matching with a chain wheel or a chain, which is not limited herein. Preferably, as shown in fig. 2, the 2D visual detection mechanism 40 further includes a light source 44, the light source 44 is disposed above the first rotation assembly 41, and the light source 44 is used for supplementing light for the 2D camera 43, so as to ensure accuracy of a shooting result. Alternatively, the light source 44 may be a line light source.

Preferably, as shown in fig. 5, the 2D visual inspection mechanism 40 further includes two clamping assemblies 45, the two clamping assemblies 45 are respectively disposed at two ends of the pipe supported on the first rotation assembly 41, and output ends of the two clamping assemblies 45 can be close to each other to clamp and position the pipe along the length direction of the pipe. Through setting up two clamping assemblies 45, can fix a position the axial of pipe fitting, avoid the pipe fitting to follow the too big tip that leads to 2D camera 43 unable shooting pipe fitting of axial deviation. Alternatively, in the present embodiment, the clamping assembly 45 includes a column 451 and a clamping cylinder 452, the column 451 being fixed to a support base 711, the clamping cylinder 452 being mounted on the column 451. The height of the stand 451 makes the clamping cylinders 452 just coincide with the pipe fitting supported on the first rotation assembly 41, the output ends of the two clamping cylinders 452 respectively extend out to axially position the pipe fitting, and after the pipe fitting is positioned, the output ends of the two clamping cylinders 452 are mutually separated, so that the pipe fitting can be driven to rotate by the first rotation assembly 41.

As shown in fig. 3 and 5, the 3D vision inspection mechanism 50 includes a second rotation assembly 51, a second roller driving assembly, a second linear module 52, and a 3D camera 53. The second rotation assembly 51 includes two second driving rollers 511 arranged in parallel, the pipe fitting can be supported between the two second driving rollers 511, and the transplanting conveying mechanism 32 can place the pipe fitting between the two second driving rollers 511. The second roller driving assembly is capable of driving the two second driving rollers 511 to rotate synchronously so that the pipe supported by the second rotation assembly 51 rotates about its own axis. The second linear module 52 is disposed above the second rotation assembly 51, and can drive the 3D camera 53 to move along the length direction of the pipe, so that the 3D camera 53 photographs each position of the pipe along the length direction. According to the 3D visual detection mechanism 50, the second autorotation assembly 51 drives the pipe to rotate around the axis of the pipe, and the second linear module 52 is matched to drive the 3D camera 53 to move along the length direction of the pipe, so that the 3D camera 53 can comprehensively shoot the whole circumferential surface of the pipe, and defects on the surface of the pipe and depth information of the defects can be identified in images shot by the 3D camera 53.

In this embodiment, the 3D visual inspection mechanism 50 includes two second rotation assemblies 51, and two second rotation assemblies 51 are arranged along the length direction of the pipe fitting, and two second rotation assemblies 51 jointly drive the pipe fitting, so that the problem of slipping of the pipe fitting can be avoided, and the pipe fitting is ensured to reliably rotate around the axis of the pipe fitting. Alternatively, the second roller driving assembly may be a structure of a motor matching with a belt wheel or a transmission belt, or a structure of a motor matching with a chain wheel or a chain, which is not limited herein.

As shown in fig. 4 and 5, the discharging mechanism 60 includes a second traverse module 61, a second lifting drive assembly 62, and a second holding claw 63. Wherein the second traversing module 61 is provided on the support substrate 711, the second traversing module 61 is capable of outputting a horizontal movement in the X-direction. The second lifting driving assembly 62 is connected to the output end of the second traversing module 61 and can output lifting motion. The second supporting claw 63 is connected to the output end of the second lifting drive assembly 62. The second supporting claw 63 is formed with a second receiving groove 631, and the second receiving groove 631 can support and limit the pipe fitting.

When the blanking mechanism 60 works, the second traversing module 61 drives the second supporting claw 63 to move to the lower part of the pipe fitting positioned on the second buffer assembly 33; then, the second lifting driving assembly 62 drives the second supporting claw 63 to lift, so that the pipe fitting falls into the second receiving groove 631, even if the second supporting claw 63 grabs the pipe fitting; then, the second traversing module 61 drives the second supporting claw 63 to move to one of a first position, a second position and a third position below the endmost bearing position; finally, the second lifting drive assembly 62 drives the second holding pawl 63 to descend to place the tubular in different relative positions on the endmost load carrying position. Optionally, when the second supporting claw 63 moves to the first position, the second position and the third position, the pipe is located at the left position, the middle position or the right position of the supporting position after falling on the supporting position.

In this embodiment, the second traversing module 61 is communicatively connected to the 2D vision inspection mechanism 40 and the 3D vision inspection mechanism 50, respectively. Specifically, the pipe fitting detection device further includes a control module, the 2D camera 43 and the 3D camera 53 can both send the image information obtained by shooting to the control module, the control module classifies the state of the pipe fitting through analysis and calculation, the control module sends the classification result to the second traversing module 61, and the second traversing module 61 places the pipe fitting at a left-hand position, a middle position or a right-hand position on the endmost bearing position according to the result. In one embodiment, if both the image detected by the 2D camera 43 and the image detected by the 3D camera 53 are acceptable, the tubular is placed in the middle of the endmost load bearing position; if the image detected by the 2D camera 43 is not qualified and the image detected by the 3D camera 53 is qualified, the pipe fitting is placed at the leftwards position of the endmost bearing position; if the image detected by the 3D camera 53 is not acceptable, the pipe is placed at the right position of the endmost carrying position, regardless of whether the image detected by the 2D camera 43 is acceptable or not.

After all the pipes placed in the progressive mechanism 10 are detected, an operator can uniformly take out all the pipes from the pipe detection device, and at this time, whether the pipes are qualified or not can be distinguished according to the placement situation of the pipes on the bearing position.

It is to be understood that the foregoing examples of the utility model are provided for the purpose of illustration only and are not intended to limit the scope of the utility model, which is defined by the claims, since modifications in both the detailed description and the application scope of the utility model will become apparent to those skilled in the art upon consideration of the teachings of the utility model. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the utility model are desired to be protected by the following claims.

Claims (10)

1. Pipe fitting detection device, its characterized in that includes progressive mechanism (10), feed mechanism (20), transplants mechanism (30), 2D visual detection mechanism (40), 3D visual detection mechanism (50) and unloading mechanism (60), wherein:

the progressive mechanism (10) is provided with a plurality of bearing positions which are arranged along a preset direction and used for supporting the pipe fittings, and the progressive mechanism (10) can drive the pipe fittings to synchronously progressive one bearing position forward;

the feeding mechanism (20) can grab the pipe fitting positioned in the bearing position at the forefront end and place the pipe fitting in the transplanting mechanism (30);

transplanting mechanism (30) can drive the pipe fitting moves in proper order into 2D visual detection mechanism (40) 3D visual detection mechanism (50) with in unloading mechanism (60), 2D visual detection mechanism (40) can be right the surface impurity of pipe fitting detects, 3D visual detection mechanism (50) can right pipe fitting surface defect detects, unloading mechanism (60) can with the pipe fitting is with different relative position is placed be located on progressive mechanism (10) the extreme on the position of bearing.

2. A pipe inspection device according to claim 1, wherein the advancement mechanism (10) comprises:

the support frame (11) is provided with a plurality of first tooth grooves (111) which are arranged along the preset direction, and each first tooth groove (111) forms one bearing position;

the bracket (12) is arranged in parallel with the support frame (11), a plurality of second tooth grooves (121) which are arranged along the preset direction are arranged on the bracket (12), and the second tooth grooves (121) are staggered with the first tooth grooves (111);

and the feeding driving assembly (13) can drive the bracket (12) to move up and down so that the second tooth groove (121) pushes the pipe fitting in the first tooth groove (111) adjacent to the second tooth groove to the previous bearing position.

3. The pipe fitting detection device according to claim 2, wherein the progressive mechanism (10) comprises two supporting frames (11), the two supporting frames (11) are arranged at intervals, the first tooth grooves (111) on the two supporting frames (11) are arranged in a one-to-one correspondence manner, and the two correspondingly arranged first tooth grooves (111) form one bearing position; and/or

The progressive mechanism (10) comprises two brackets (12), the two brackets (12) are arranged at intervals, and the second tooth grooves (121) on the two brackets (12) are arranged in one-to-one correspondence.

4. A pipe inspection device according to any one of claims 1-3, wherein the loading mechanism (20) comprises a first traversing module (21), a first lifting drive assembly (22) connected to an output end of the first traversing module (21), and a first gripper (23) connected to an output end of the first lifting drive assembly (22);

the first transverse moving module (21) can drive the first supporting claw (23) to move to the position below the bearing position at the forefront end, the first lifting driving assembly (22) can drive the first supporting claw (23) to ascend so as to grab the pipe fitting, the first transverse moving module (21) can also drive the first supporting claw (23) to move to the position above the progressive mechanism (10), and the first lifting driving assembly (22) can drive the first supporting claw (23) to descend so as to place the pipe fitting on the progressive mechanism (10).

5. A pipe inspection device according to any one of claims 1-3, wherein the transplanting mechanism (30) comprises a transplanting conveying mechanism (32), a first buffer assembly (31) and a second buffer assembly (33), the first buffer assembly (31) being capable of receiving the pipe from the loading mechanism (20), and the blanking mechanism (60) being capable of grabbing the pipe from the second buffer assembly (33);

the first buffer assembly (31), the 2D visual detection mechanism (40), the 3D visual detection mechanism (50) and the second buffer assembly (33) are sequentially arranged along the preset direction, and the transplanting conveying mechanism (32) can synchronously grab the pipe fitting on the first buffer assembly (31), the 2D visual detection mechanism (40) and the 3D visual detection mechanism (50), and correspondingly place the pipe fitting on the 2D visual detection mechanism (40), the 3D visual detection mechanism (50) and the second buffer assembly (33).

6. A tubular inspection device according to claim 5, wherein said transplanting conveyor mechanism (32) comprises a transplanting lifting drive assembly (321), a horizontal drive assembly (322) connected to the output of said transplanting lifting drive assembly (321), a support assembly (323) connected to the output of said horizontal drive assembly (322), said support assembly (323) comprising at least three groups of pallets (3231) spaced apart along said predetermined direction;

the horizontal driving assembly (322) can drive the bearing assembly (323) to move along the preset direction, so that three groups of material supporting frames (3231) can respectively move to the lower parts of the pipe fittings carried by the first buffer assembly (31), the 2D visual detection mechanism (40) and the 3D visual detection mechanism (50), and the transplanting lifting driving assembly (321) can drive the bearing assembly (323) to lift so that the three groups of material supporting frames (3231) can grasp the pipe fittings at corresponding positions;

the horizontal driving assembly (322) can also drive the bearing assembly (323) to move along the preset direction, so that three groups of material supporting frames (3231) respectively move to the positions above the 2D visual detection mechanism (40), the 3D visual detection mechanism (50) and the second buffer assembly (33), and the transplanting lifting driving assembly (321) can drive the bearing assembly (323) to descend, so that the three groups of material supporting frames (3231) place the pipe fitting at corresponding positions.

7. A pipe inspection device according to any one of claims 1-3, wherein the 2D visual inspection mechanism (40) comprises:

the first autorotation assembly (41) comprises two first driving rollers (411) which are arranged in parallel, and the pipe fitting can be supported between the two first driving rollers (411);

the first roller driving assembly can drive the two first driving rollers (411) to synchronously rotate so as to enable the pipe fitting supported by the first autorotation assembly (41) to rotate around the axis of the pipe fitting;

the device comprises a first linear module (42) and a 2D camera (43), wherein the first linear module (42) can drive the 2D camera (43) to move along the length direction of the pipe fitting, so that the 2D camera (43) can photograph all positions of the pipe fitting along the length direction.

8. The pipe inspection device according to claim 7, wherein the 2D visual inspection mechanism (40) further comprises two clamping assemblies (45), the two clamping assemblies (45) are respectively disposed at two ends of the pipe supported on the first rotation assembly (41), and output ends of the two clamping assemblies (45) can be mutually close to clamp and position the pipe along the length direction of the pipe.

9. A pipe inspection device according to any one of claims 1-3, wherein the 3D visual inspection mechanism (50) comprises:

the second autorotation assembly (51) comprises two second driving rollers (511) which are arranged in parallel, and the pipe fitting can be supported between the two second driving rollers (511);

the second roller driving assembly can drive the two second driving rollers (511) to synchronously rotate so as to enable the pipe fitting supported by the second autorotation assembly (51) to rotate around the axis of the pipe fitting;

the second linear module (52) and the 3D camera (53), the second linear module (52) can drive the 3D camera (53) to move along the length direction of the pipe fitting, so that the 3D camera (53) can shoot all positions of the pipe fitting along the length direction.

10. A pipe inspection device according to any one of claims 1-3, wherein the blanking mechanism (60) comprises:

the device comprises a second transverse moving module (61), a second lifting driving assembly (62) connected to the output end of the second transverse moving module (61) and a second supporting claw (63) connected to the output end of the second lifting driving assembly (62), wherein the second transverse moving module (61) is respectively in communication connection with the 2D visual detection mechanism (40) and the 3D visual detection mechanism (50);

the second transverse moving module (61) can drive the second supporting claw (63) to move below the transplanting mechanism (30), and the second lifting driving assembly (62) can drive the second supporting claw (63) to lift so as to grasp the pipe fitting; the second traversing module (61) can also drive the second supporting claw (63) to move to one of a first position, a second position and a third position below the bearing position at the extreme end, and the second lifting driving assembly (62) can drive the second supporting claw (63) to descend so as to place the pipe fitting on the bearing position at the extreme end in different relative positions.