KR102516523B1 - Bending pipe inspection device - Google Patents

Abstract

The present invention relates to a bending pipe inspection device, and more particularly, to a bending pipe inspection device for inspecting a finished product by scanning the external shape of a pipe that has been bent, wherein x, y, and z planes are parallel to the ground. A device for inspecting the shape of a bending pipe formed in a coordinate axis space, comprising: a base panel placed horizontally on an xy plane; a pair of y-axis transfer rails disposed parallel to the upper side of the base panel in the y-axis direction; A 'П'-shaped y-axis transfer truck having both ends coupled to the y-axis transfer rail and transported in the y-axis direction; a pair of x-axis transfer rails arranged in parallel in the x-axis direction on the upper side of the y-axis transfer bogie; an x-axis transfer truck that is coupled to the x-axis transfer rail and transferred in the x-axis direction; a z-axis actuator that is fixedly coupled to the x-axis transfer cart and transported in the z-axis direction; a shape scanner that is fixedly coupled to the end of the z-axis actuator and scans the outer shape of the bending pipe; A control unit that performs position calculation and driving control of the y-axis transport cart, the x-axis transport cart, and the z-axis actuator according to the coordinate position of the bending pipe, drives the shape scanner, and calculates and outputs the resultant value. After the shape scanner scans the bending pipe in one direction to obtain one-side shape information, and moves the shape scanner to obtain the other-side shape information of the bending pipe, the one-side shape information and the other-side shape information are combined. It is characterized in that the calculated image is output.

Description

Bending pipe inspection device {BENDING PIPE INSPECTION DEVICE}

The present invention relates to a bending pipe inspection device, and more particularly, to a bending pipe inspection device that inspects a finished product by scanning an external shape of a pipe that has been bent.

Pipes are widely used in various fields such as living facilities and industrial facilities, and are used for various purposes such as transportation through which gases, liquids or powders pass, and covers protecting wires and cables when wiring is buried. The pipe is made of a pipe line bent into a specific shape or a straight pipe line according to the installation place and use. In order to form a bent pipeline, in general, a method of joining ends of pipes having a unit length using couplings, joint pipes, welding, etc., and applying heat to pipes placed in the longitudinal direction and then pressurizing to plastic deformation There is a way to form the necessary pipeline by doing so.

These pipeline formation methods include a process of deforming the shape by applying an external force to the raw material, so defects and deformations occur, or some required dimensional conditions are not satisfied, and the line itself is damaged due to fatigue failure during use, resulting in economic loss. There was a problem with In order to prevent this in advance, a process of pre-inspecting the external shape, defect and damage of the external appearance and internal pipe of the pipeline was required. Pipeline inspection methods include non-destructive inspection, which uses the naked eye, laser, camera, magnetism, induction current, etc. to determine the internal and external conditions without damaging or destroying the test object, and quantitative level difference by destroying the sample. There is a destructive testing method that obtains a value. In the case of visual inspection, it is an inspection that observes and determines the surface state of the test object and the presence or absence of defects with the human eye, either directly or using an auxiliary instrument. In the case of the destructive test, there were problems such as high risk during the test process, time consuming test, and disposal of the pipeline used as the test object.

Therefore, recently, among non-destructive inspection methods to solve these problems, a vision system-type inspection method using a camera including a laser and a CCD sensor and an inspection method using magnetism and induced current have been in the limelight, and related technologies have been actively developed. are losing

[0001] Korean Registered Patent Publication No. 10-1858032 (Pipeline appearance inspection device, method, system and program) [0002] Korean Patent Registration No. 10-1476749 (Non-destructive inspection, in particular, non-destructive inspection of pipes being manufactured or completed)

One object of the present invention is to obtain a 3D broadband image by matching the shape information of the bent pipe obtained through the shape scanner, and compare and analyze it to provide a bending pipe inspection device capable of inspecting the finished product of the bent pipe. will be.

Another object of the present invention is to provide a bending pipe inspection apparatus capable of automatically inspecting a finished product of a bending pipe under the control of a control unit based on a configuration of a Cartesian coordinate robot method.

An apparatus for examining the shape of a bending pipe in which the xy plane is formed in the space of x, y, z coordinate axes parallel to the ground, comprising: a base panel placed horizontally on the xy plane; a pair of y-axis transfer rails disposed parallel to the upper side of the base panel in the y-axis direction; A 'П'-shaped y-axis transfer truck having both ends coupled to the y-axis transfer rail and transported in the y-axis direction; a pair of x-axis transfer rails arranged in parallel in the x-axis direction on the upper side of the y-axis transfer bogie; an x-axis transfer truck that is coupled to the x-axis transfer rail and transferred in the x-axis direction; a z-axis actuator that is fixedly coupled to the x-axis transfer cart and transported in the z-axis direction; a shape scanner that is fixedly coupled to the end of the z-axis actuator and scans the outer shape of the bending pipe; A control unit that performs position calculation and driving control of the y-axis transport cart, the x-axis transport cart, and the z-axis actuator according to the coordinate position of the bending pipe, drives the shape scanner, and calculates and outputs the resultant value. After the shape scanner scans the bending pipe in one direction to obtain one-side shape information, and moves the shape scanner to obtain the other-side shape information of the bending pipe, the one-side shape information and the other-side shape information are combined. An apparatus for inspecting a bending pipe characterized by outputting a calculated image is a subject of the present invention.

Preferably, the control unit obtains an entire shape image of the bending pipe by calculating optimal scanning coordinates according to the shape of the bending pipe and controlling the position of the shape scanner.

Preferably, the control unit is a bending pipe inspection device characterized in that it calculates an entire bending pipe image by performing scanning while moving the shape scanner by a unit distance in the y-axis direction.

Preferably, the shape scanner is a bending pipe inspection device characterized in that it consists of a 3D broadband laser scanner.

Preferably, the control unit is a bending pipe inspection device characterized in that it outputs a 3D modeling image by collecting and matching the image information of the polygonal composition collected by the shape scanner.

Through the present invention, by calculating and outputting the shape information of the bending pipe as a 3D broadband image and comparing and analyzing it with processing modeling, a bending pipe inspection device that not only keeps uniformity and repeatability constant, but also minimizes the occurrence of measurement errors. There is an effect provided.

In addition, by controlling the operation of the shape scanner based on the configuration of the control unit and the Cartesian coordinate robot method, a 3D broadband image of the bending pipe is obtained, and the finished product inspection of the bent pipe is automatically performed by calculating and outputting the comparison result. There is an effect that a bending pipe inspection device is provided.

1 is a perspective view showing the overall configuration of a bending pipe inspection apparatus according to the present invention.
2 is a front view of a state in which a shape scanner of a bending pipe inspection apparatus according to the present invention is disposed on one side of a bending pipe.
3 is a front view of a state in which the shape scanner of the bending pipe inspection apparatus of the present invention is transferred in the z-axis direction to acquire shape information of the bending pipe.
4 is a front view of a state in which the shape scanner of the bending pipe inspection apparatus of the present invention is transferred in the x-axis direction and disposed on the other side of the bending pipe.
5 is a schematic diagram showing a unit distance transferred in the y-axis direction by the shape scanner of the bending pipe inspection apparatus according to the present invention on a bending pipe.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. The terms used in the present invention have been selected from general terms that are currently widely used as much as possible while considering the functions in the present invention, but these may vary depending on the intention of a person skilled in the art or precedent, the emergence of new technologies, and the like. Therefore, the term used in the present invention should be defined based on the meaning of the term and the overall content of the present invention, not simply the name of the term.

And, when a part in the entire specification "includes" a certain component, it means that it may further include other components, not excluding other components unless otherwise stated.

Hereinafter, with reference to the accompanying drawings, embodiments of the present invention will be described in detail so that those skilled in the art can easily carry out the present invention. However, the present invention may be embodied in many different forms and is not limited to the embodiments described herein. And in order to clearly explain the present invention in the drawings, parts irrelevant to the description are omitted, and similar reference numerals are attached to similar parts throughout the specification.

The bending pipe inspection apparatus according to the present invention can be defined as a device that inspects a pipe in a finished product after bending, but inspects the appearance and overall shape of the bent pipe placed in the longitudinal direction, such as defects in welding and defects in bending.

For example, the inspection items measured by the bending pipe inspection device include bending angle, bending radius, short diameter, long diameter, flatness, straight line distance, etc., and each item has a standard value for distinguishing good and bad bending pipe products. It is desirable that it is established and preset.

At this time, the bending pipe inspection apparatus according to the present invention is disposed in an xyz coordinate axis space in which an xy plane is parallel to the ground, and a space portion in which a bent pipe P in a finished product state after bending is disposed is provided inside to perform pipe inspection.

Looking at the embodiments of the present invention with reference to the drawings below, the bending pipe inspection apparatus of the present invention is largely a base panel 100, a y-axis transfer rail 200, a y-axis transfer carriage 300, an x-axis transfer rail 400 , x-axis transfer cart 500, z-axis actuator 600, shape scanner 700, and a control unit 800.

The base panel 100 has a plate shape and is placed horizontally on an xy plane.

At this time, the base panel 100 is preferably formed with a width and width in which the finished bending pipe P can be placed, and includes a jig and a fixing member for fixing the bending pipe P to the upper surface. It can be.

A pair of y-axis transfer rails 200 are disposed parallel to the upper side of the base panel 100 in the y-axis direction.

The y-axis transfer rail 200 is a rail that is coupled to the y-axis transfer cart 300 and moves in the y-axis direction, and stoppers may be provided at the front and rear ends, respectively.

The y-axis transfer cart 300 is composed of a vertical bar and a cross bar, and the shape of the front surface is made of a 'П' shape, and both ends of the vertical bar are coupled to the y-axis transfer rail 200 to provide a y-axis or -y-axis direction are transferred to

At this time, it is preferable that driving units for traveling the y-axis transfer rail 200 are provided on both sides of the vertical bar of the y-axis transfer bogie 300, respectively.

A pair of x-axis transfer rails 400 are disposed in parallel in the x-axis direction on the upper side of the y-axis transfer cart 300, and the x-axis transfer cart 500 is coupled to the x-axis transfer rail 400 in the x-axis direction are transferred to

Stoppers may be provided at both ends of the x-axis transfer rail 400 to prevent the x-axis transfer trolley 500 coupled to the x-axis transfer rail 400 from being separated.

The x-axis transfer truck 500 is preferably provided with a driving part for driving the x-axis transfer rail 400 on the lower surface.

The z-axis actuator 600 is fixedly coupled to the x-axis transfer cart 500 and transported in the z-axis direction, and at the end of the z-axis actuator 600, a shape scanner 700 for scanning the outer shape of the bending pipe P is fixedly connected.

That is, the shape scanner 700 is transported in the x-axis direction by the x-axis transfer cart 500 moving in the x-axis direction, and transported in the z-axis direction by the z-axis actuator 600 to Both one side and the other side can be scanned.

At this time, the z-axis actuator 600 and the shape scanner 700 are positioned higher than the bending pipe P so as not to interfere with the bending pipe P when moving in the x-axis direction by the x-axis transfer cart 500. It is divided into an x-axis movement mode disposed in and an information collection mode in which the x-axis transfer cart 500 stops and only the z-axis actuator 600 is driven to collect the shape information of one side and the other side of the bending pipe P. can

In addition, it is preferable that the shape scanner 700 scans an image of the entire bending pipe by performing scanning when the driving of the z-axis actuator 600 is completed.

In addition, the controller 800 performs position calculation and drive control of the y-axis transfer cart 300, the x-axis transfer cart 500, and the z-axis actuator 600 according to the coordinate position of the bending pipe P, and The scanner 700 is driven, and the collected information is calculated and output to derive a result value.

At this time, the control unit 800 pre-calculates the optimal position that the shape scanner 700 can scan according to the shape of the bending pipe P, and the y-axis transfer cart 300 and the x-axis transfer cart 500, z By controlling the shaft actuator 600 to be disposed at each coordinate point, it is possible to obtain an overall shape image of the bending pipe (P).

In addition, the control unit 800 converts the number of times of scanning of the shape scanner 700, the time required for inspection, and error probability into a database and big data, and based on this, the bending pipe (P) inspection using machine vision-based deep learning is performed. can be carried out.

For example, the bending pipe P is disposed on the base panel 100, that is, between the y-axis transfer rails 200, and the y-axis transfer cart 300 is disposed at the rear end of the y-axis transfer rail 200, , The x-axis transfer cart 500 is disposed on one side of the x-axis transfer rail 400. Then, the z-axis actuator 600 is driven to move the shape scanner 700 in the -z-axis direction, and when the shape scanner 700 is placed at the optimal scanning position calculated by the control unit 800, the z-axis actuator 600 operation is stopped. Then, when the shape scanner 700 completes collecting shape information on one side of the rear end of the bending pipe P, it is moved in the z-axis direction by the z-axis actuator 600 and returns to the original height point. Then, the x-axis transfer cart 500 moves in the -x-axis direction and is disposed on the other side of the x-axis transfer rail 400, and the z-axis actuator 600 drives the shape scanner 700 in the -z-axis direction When the shape scanner 700 is moved and the shape scanner 700 is placed at the optimum scanning position calculated by the control unit 800, the driving of the z-axis actuator 600 is stopped. Then, when the shape scanner 700 completes collecting the shape information of the rear end of the bending pipe P, it is moved in the z-axis direction by the z-axis actuator 600 and returns to the original height point. Then, a 3D image of the bending pipe (P) is output by combining the obtained shape information on one side and the shape information on the other side.

As another example, the bending pipe P is disposed on the base panel 100, that is, between the y-axis transfer rails 200, and the y-axis transfer carriage 300 is disposed at the rear end of the y-axis transfer rail 200 And, the x-axis transfer cart 500 is disposed on one side of the x-axis transfer rail 400. Then, the z-axis actuator 600 is driven to move the shape scanner 700 in the -z-axis direction, and when the shape scanner 700 is placed at the optimal scanning position calculated by the control unit 800, the z-axis actuator 600 operation is stopped. Then, when the shape scanner 700 completes the collection of shape information on one side of the rear end of the bending pipe P, the y-axis transfer cart 300 moves in the -y-axis direction along the y-axis transfer rail 200 to form a scanner ( 700) is also moved in the -y axis direction. In addition, when the shape scanner 700 reaches the front of the bending pipe P, the x-axis transfer carriage 500 moves in the -x-axis direction along the x-axis transfer rail 400 so that the shape scanner 700 moves the bending pipe The front shape information of (P) is collected, and as the y-axis transfer cart 300 moves in the y-axis direction again at the front end of the y-axis transfer rail 200, the shape scanner 700 detects the shape of the other side of the bending pipe P. Collect information. And, when it reaches the rear end of the y-axis transfer rail 200 again, the x-axis transfer trolley 500 moves in the x-axis direction along the x-axis transfer rail 400 so that the shape scanner 700 bends the bending pipe P Collect posterior shape information. Then, the z-axis actuator 600 is driven, and the shape scanner 700 is moved in the z-axis direction, so that it returns to its original height. Then, a 3D image of the bending pipe (P) is output by combining the obtained shape information on one side and the shape information on the other side.

In addition, the control unit 800 of the bending pipe inspection apparatus according to the present invention calculates the coordinates according to the pre-input bending transformation section and length of the bending pipe P, divides the bending pipe P into a unit distance d, and divides the bending pipe P into a unit distance d. Scanning may be performed while moving the scanner 700 at a unit distance d.

At this time, the unit distance (d) may be defined as a scanning range after the shape scanner 700 moves in the z-axis direction once, and the unit distance (d) may be formed differently for each section.

In addition, the shape information of the outer circumferential surface (I) of the bending pipe (P) scanned from one side and the outer circumferential surface (I) of the bending pipe (P) scanned from the other side for each unit distance (d) are overlapped by the control unit 800 during matching. can be processed and produced.

In addition, the shape scanner 700 of the bending pipe inspection apparatus according to the present invention may be formed of a 3D broadband laser scanner, and the control unit 800 may output a 3D modeling image by collecting and matching the collected shape information of the polygonal composition.

In addition, the y-axis transfer trolley 300 and the x-axis transfer trolley 500 move the shape scanner 700 clockwise or counterclockwise based on the bending pipe P, and the shape information of the bending pipe P can be collected

At this time, it is preferable that the x-axis transfer cart 500 is driven only at the front and rear ends of the bending pipe (P).

In addition, the shape scanner 700 composed of a 3D broadband laser scanner calculates the coordinate points for acquiring the entire image information of the bending pipe P under the control of the control unit 800 in advance, and calculates the y-axis transfer cart 300 And when moved to the corresponding coordinate point by driving the x-axis transfer cart 500 and the z-axis actuator 600, it is possible to obtain shape information by scanning all directions of 360 degrees in a stopped state.

In addition, when scanning is completed at all coordinate points calculated from the control unit 800, the entire image of the bending pipe P may be output in 3D by matching the acquired shape information.

That is, based on the shape information obtained by the 3D broadband laser scanner, the control unit 800 outputs a modeling image to the output tool so that the xyz coordinate points correspond to the actual bending pipe P, and measures defects and inspections within the output shape Values can be compared.

As described above, the basic technical idea of the present invention relates to a bending pipe inspection device, and more particularly, to a bending pipe inspection device that inspects a finished product by scanning an external shape of a pipe that has been bent.

Of course, various modifications are possible by those skilled in the art within the scope of the basic technical idea of the present invention, and therefore, the scope of the present invention should be interpreted within the scope of the patent claims prepared to include various modifications. will be.

100: base panel
200: y-axis transfer rail
300: y-axis transfer truck
400: x-axis transfer rail
500: x-axis transfer truck
600: z-axis actuator
700: shape scanner
800: control unit
P: bending pipe

Claims (5)

In the device for inspecting the shape of the bending pipe in which the xy plane is formed in the x, y, z coordinate axis space parallel to the ground,
A base panel placed horizontally on the xy plane;
a pair of y-axis transfer rails disposed parallel to the upper side of the base panel in the y-axis direction;
A 'П'-shaped y-axis transfer truck having both ends coupled to the y-axis transfer rail and transported in the y-axis direction;
a pair of x-axis transfer rails arranged in parallel in the x-axis direction on the upper side of the y-axis transfer bogie;
an x-axis transfer truck that is coupled to the x-axis transfer rail and transferred in the x-axis direction;
a z-axis actuator that is fixedly coupled to the x-axis transfer cart and transported in the z-axis direction;
a shape scanner that is fixedly coupled to the end of the z-axis actuator and scans the outer shape of the bending pipe;
a control unit that performs position calculation and driving control of the y-axis transfer cart, the x-axis transfer cart, and the z-axis actuator according to the coordinate position of the bending pipe, drives the shape scanner, and calculates and outputs a resultant value;
It consists of,
The shape scanner scans the bending pipe in one direction to obtain one-side shape information, moves the shape scanner to obtain the other-side shape information of the bending pipe, and then combines and calculates the one-side shape information and the other-side shape information. A bending pipe inspection device characterized in that for outputting an image. According to claim 1,
The control unit,
Bending pipe inspection apparatus characterized in that by calculating the optimal scanning coordinates according to the shape of the bending pipe and controlling the position of the shape scanner to acquire the entire shape image of the bending pipe. According to claim 1,
The control unit,
Bending pipe inspection apparatus, characterized in that for calculating the entire bending pipe image by performing scanning while moving the shape scanner a unit distance in the y-axis direction. According to claim 1,
The shape scanner,
A bending pipe inspection apparatus comprising a 3D broadband laser scanner. According to claim 1,
The control unit,
Bending pipe inspection apparatus, characterized in that for outputting a 3D modeling image by collecting and matching the image information of the polygonal composition collected by the shape scanner.

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