KR100648111B1 - Automated bead detecting and sorting system for welded pipe - Google Patents

Abstract

An automatic aligning system of a pipe welding part is provided to automatically control rotation of the pipe such that a welding part is positioned at a desired position by processing a photographed image after photographing an inner peripheral surface of the pipe while rotating a pipe. An automatic aligning system of a pipe welding part comprises: a camera(20) and an illumination(30) that are slantly installed at an end of a liftable and lowerable member in front of a position where a front end of a transferred pipe is aligned to photograph a welding part on an inner surface of the pipe; rotation rollers(40) installed on a frame at which the pipe is installed to rotate the pipe; a drive motor(50) installed at the frame and connected to the rotation rollers by a power transmission means; a key input part(60) for inputting various operation modes including welding part automatic alignment, pipe diameter input and the like; a display part for displaying various images including images outputted from the camera; and a control part(80) for controlling operation of the camera, the illumination and the drive motor according to a control signal outputted from the key input part, and controlling the drive motor such that the welding part is aligned at a specific position by analyzing image signals inputted into the control part in real time.

Description

Automated bead detecting and sorting system for welded pipe}

1 is a block diagram showing a pipe welding unit automatic alignment device according to the present invention

Figure 2a is a front view showing the automatic pipe welding device alignment apparatus according to the present invention

FIG. 2B is a side view of FIG. 2A

3 is a flow chart showing a process of automatic alignment of pipe welds according to the present invention.

4 is a diagram illustrating a welding part detection process output to a display unit;

* Explanation of symbols for main parts of drawings *

10 pipe 20 camera

30: lighting 40: rotating roller

50: drive motor 60: key input unit

70 welding part 80 control unit

The present invention relates to a pipe welder automatic alignment device, and more particularly, to a pipe welder automatic alignment device for controlling the rotation of the pipe to photograph the inner circumferential surface of the pipe while rotating the pipe, so that the welded portion is aligned to the desired position.

Pipes are divided into lumberless steel pipes, electric resistance welding pipes, and automatic arc welding pipes according to the manufacturing method.The lumberless steel pipes are made by hot-rolling and cold-rolling by drilling holes in round bars without welding seams. Is made by welding seam in the longitudinal direction of the pipe, and automatic arc welding pipe is used for the welding of heavy plate of large pipe.

The above-mentioned electric resistance welding pipe (hereinafter referred to as ERW pipe) is a kind of welded steel pipe manufacturing method, which releases a coil at room temperature and bends the shape of a pipe from a roller to generate heat by electric resistance as a high frequency. It is manufactured by welding, and after removing the bead of the weld, it is manufactured through a process such as annealing, straightening, heat treatment, and the like.

These ERW pipes are subjected to hydraulic inspection, weld inspection (SEAM UT) to identify weld defects after manufacturing. As an example, Japanese Laid-Open Patent Publication No. 56-55852 (a method of tracking a flaw detector) photographs a position of a weld formed on an inner surface of a conduit with a camera, and detects a gap between the actual weld position and a preset weld position. When the welded portion is close to the position facing the flaw detector, a technique is disclosed in which the flaw detector is moved by an amount corresponding to the gap, thereby rotating the flaw detector (probe holder) and the welded portion to have a constant positional relationship at all times. It is.

However, the above-mentioned technique makes no mention of the parts for arranging the pipes so that the welds are in a constant position, so that the welds and the probes can be photographed by photographing the inner circumferential surface of the pipes in a pre-aligned state so that the welds are positioned adjacent to the probes. Inferred to maintain a constant interval. The reason why it is judged that the welding part is pre-aligned in this way is that when the welding part is located at the opposite side of the probe device or out of the moving radius, even if the position of the probe is moved, the proper distance between the welding part and the probe cannot be maintained.

In order to perform non-destructive testing of welded pipes, the movement of NDE is limited spatially by the equipment, so the weld must be located within the range where the NDE can be moved.

However, in general, the method of aligning the welded parts of the pipe is that the operator finds the welded parts (beads) by hand and observes the welded parts (beads) on the outside by CCTV or the naked eye. It was very difficult to find the weld bead unless it was an expert.

On the other hand, this manual work is also difficult to identify the weld bead through the ERW pipe manufacturing process described above, and even if the camera is used to process it in the computer, due to the gloss and rounded surface of the pipe, It was difficult to obtain a valid image due to interference of lighting.

An object of the present invention for solving the above problems is to automatically control the rotation of the pipe so that the weld is located in a desired position by photographing the inner circumferential surface of the pipe while rotating the pipe, image processing the photographed image .

A feature of the present invention for achieving the above object is, installed at an angle inclined in front of the position in which the front end of the conveyed pipe is aligned, the camera and the lighting for photographing the inner surface weld of the pipe, is installed in the frame where the pipe is located Rotating roller for rotating the pipe, a drive motor installed in the frame and connected by the rotating roller and the power transmission means, key input unit for inputting various operation modes including welding automatic alignment, pipe diameter, etc., images output from the camera Display unit for displaying a variety of images including, and control the operation of the camera, lighting and driving motor in accordance with the control signal output from the key input unit, but to analyze the image signal input from the camera in real time so that the weld is aligned in a specific position Consists of a control unit for controlling the speed and operation of the drive motor, Automatically align welds in pipes.

An embodiment of the present invention for achieving the above object will be described in more detail with reference to the accompanying drawings.

1 is a block diagram showing an automatic pipe welder alignment device according to the invention, Figure 2a is a side view showing a pipe welder automatic alignment device according to the invention, Figure 2b is a front view.

Pipe welding unit automatic alignment device according to the present invention is a camera 20 and the lighting 30 to photograph the inside of the pipe 10, the rotary roller 40 for rotating the pipe 10 and the driving motor 50 for driving the pipe 10 Controls the camera 20, the illumination 30, and the driving motor 50 according to the signals output from the key input unit 60 and the key input unit 60 for selecting various operation modes, and outputs the images from the camera 20. The control unit 80 is configured to process the beads 70 formed in the welded portion to be aligned at a specific position.

In the above-described configuration, the camera 20 and the illumination 30 are pipe 10 in front of a specific position of the frame 100 where one end of the pipe 10 is aligned to automatically inspect the pipe 10 of various lengths. Installed to be able to see the inner bead, the camera 20 is installed to obtain an image of the 12 o'clock inside the pipe in order to avoid the interference of indoor lighting or natural light, and the illumination 30 is a constant angle to reduce the reflected light of the inner surface (45 degrees, 60 degrees, etc.) In addition, in order to apply to the pipe 10 having a variety of diameters, the camera 20 and the lighting 30 are fixedly installed on the lifting / lowering member 110 installed integrally with the frame 100, and the lifting / lowering The descending member 110 may be used by using a rod of a cylinder or by installing a screw on a motor shaft and installing a guide rod that descends according to the rotation of the screw, and may use a motor, a rack, and a pinion.

And the rotation roller 40 is installed on the frame 100 to be located on both sides of the lower surface of the pipe 10 is connected to the drive motor 50 and the power transmission means 120, such as a rotating shaft, pulley, belt, etc. The pipe 10 rotates according to the rotation of the drive motor 50.

In the above configuration, the frame 100 in which the pipe 10 is located may be a conveying conveyor. In this case, the rotating roller 40 may be rotated after the pipe 10 is conveyed through the conveying conveyor. 2 is installed so as to be lifted / lowered or rotated laterally by a known lifting / lowering member (not shown) such as a cylinder, and FIG. 2A when the pipe 10 is moved onto the frame 100 by a lift or the like. As shown, the rotary roller 40 is fixedly installed at the corresponding position of the frame 100.

In addition, in order to prevent lens contamination of the camera 20, an air cleaner (not shown) is also installed in the frame 100 so that a shield is provided at the front end of the lens and the lens is cleaned before inspection.

An operation of the automatic pipe welding unit automatic alignment device configured as described above will be described in more detail with reference to FIG. 3.

3 is a flowchart illustrating an automatic alignment process of a pipe weldment according to the present invention, and FIG. 4 is a diagram of a weld detection process output to the display unit.

First, the controller 80 receives the pipe diameter to be inspected through the key input unit 60 to process pipes having various diameters, and the camera 20 and the illumination 30 are installed at predetermined positions according to the diameters. By driving the lifting member 110, the position of the camera 20 and the illumination 30 is adjusted up and down.

After the preliminary work as described above is finished, the pipe is transferred by a conveying means such as a conveying conveyor so that the position of the tip portion is aligned with a specific position of the frame 100, the controller 80 controls the operation by the driving motor 50. The rotary roller 40 rotates the pipe 10 at a constant speed by outputting a signal.

In this process, when the frame 100 constitutes the conveying conveyor, the rotary roller 40 is moved to the lower side or the side of the frame 100 so as not to interfere with the conveyance of the pipe 10 and then the pipe 10 The position is moved to contact the outer peripheral surface of the.

As described above, when the rotating roller 40 starts to rotate the pipe 10, the controller 80 drives the camera 20 and the illumination 30 to obtain an image from the camera 20, and in real time. The bead 70 is extracted from the obtained image (refer to FIG. 4). First, the horizontal reference line a is set at the portion where the pipe 10 is located in the image output from the camera, and the shade of the horizontal reference line a is removed. When the bead 70 is found by analyzing, both boundaries of the bead 70 are extracted through an outline extraction algorithm.

Then, the vertical reference line (b) is erected at both positions of the extracted beads (70), the average joke of the vertical reference line (b) is determined, and the beads (70) are discriminated. After determining the bead 70 to determine the center of the bead 70 determined by reducing the speed of the drive motor 50 to reduce the rotational speed of the pipe, it is continuously checked whether this position is an alignment position and the bead 70 Reaches the alignment position, the control unit 80 stops the driving motor 50.

According to the present invention configured as described above it is possible to fully automate the hydraulic inspection or non-destructive inspection of the weld by automating the alignment of the weld depending on the manual operation.

In addition, since the height of the camera is adjusted, there is an effect that can detect the weld, regardless of the diameter of the pipe.

Claims (3)

A camera and lighting to be installed at an angle to the end of the elevating / lowering member in front of the position where the distal end of the conveyed pipe is aligned to photograph the inner weld of the pipe, A rotary roller installed on a frame in which the pipe is located, to rotate the pipe; A drive motor installed in the frame and connected by a rotation roller and a power transmission means, Key input unit for inputting various operation modes including automatic welding of welds, pipe diameter input, etc. A display unit for displaying various images including images output from the camera, Controlling the operation of the camera, the lighting and the driving motor in accordance with the control signal output from the key input unit, characterized in that the control unit for controlling the drive motor so that the welded portion is aligned to a specific position by analyzing the input image signal in real time Pipe welder automatic alignment device. The method of claim 1, wherein the control unit drives the drive motor to start searching for a weld, and when the weld is photographed and detected by the camera, the rotation speed of the drive motor is decelerated, and when the weld reaches a desired position, the drive motor. Automatic pipe welding device, characterized in that to stop the operation of the pipe. The method of claim 1, wherein the controller analyzes the shade of the horizontal reference line from the image output from the camera, extracts both boundaries of the weld through an outline extraction algorithm, establishes a vertical reference line at both positions of the extracted weld, and averages the vertical reference lines. Automatically arranging pipe welders, characterized in that after determining the weld to determine whether the weld, and if it is determined that the weld is the center of the weld to determine whether this position is the alignment position.

Images