代志健 1章展 1谢曦轮 1祝可平 1袁君奇 2裴康杰 2张国良 2谢梦莹3
作者信息
- 1. 湖南胜利湘钢钢管有限公司,湖南 湘潭 411101
- 2. 湘潭华菱云创数智科技有限公司,湖南 湘潭 411103
- 3. 天津大学,天津 300072
- 折叠
摘要
Abstract
Addressing the problems as staying the manual random inspection to the end of the longitudinal welded pipe,i.e.,low efficiency,limited coverage,difficulty in quantifying complex features,and lack of online residual magnetism detection,an intelligent inspection and marking system integrating the industrial robot,the tracking 3D laser scanner,the gaussmeter,and the compliant marking is developed.The inspection system is capable of multi-view 3D point cloud acquisition,and automatic acquisition of such parameters as diameter,ovality,wall thickness,end squareness,bevel angle,root face,weld reinforcement,and grinding length via point-cloud denoising,registration,segmentation,and geometric fitting.Furthermore,it can perform quantitative residual magnetism measurement,and automatic marking of the major and minor axes.Actual industrial application result shows that the system possesses such advantages as measu-rement accuracy of±0.05 mm,repeatability of±0.03 mm,taking just about 4 min10 s for inspection,evaluation,mark-ing,and data archiving of a single Φ1 422 mm pipe.The system enables full inspection and data traceability of the pipe-end quality,providing an engineering solution for intelligent quality control of the longitudinal welded pipe end.关键词
直缝焊管/管端检测/工业机器人/三维扫描/自动标志Key words
longitudinal welded pipe/pipe end inspection/industrial robot/3D scanning/automatic marking
