Automatic reinforcing steel bar detection method and system

Abstract

The invention discloses an automatic reinforcing steel bar detection method. The method comprises the following steps: S1, placing a test piece and a label stack in a predetermined detection area; s2, the control system judges whether the test piece meets the standard type, if yes, the next step is executed, and if not, the step S5 is executed; s3, the control system obtains steel bar detection information; s4, the control system obtains weight deviation detection data of the test piece through operation; s5, a grabbing mechanical arm grabs the test piece; s6, the grabbing mechanical arm puts the test piece into a tensile testing machine to be subjected to a tensile test, and tensile test data are obtained and sent to the control system; and S7, the tensile test is finished, and the grabbing mechanical arm puts the test piece into the test piece sample reserving area. According to the invention, identification of raw material pieces or welding pieces can be completed, subsequent detection work is automatically completed according to the types of test pieces, the working efficiency of operators is greatly improved, and the workload is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of steel bar detection, and in particular to an automatic steel bar detection method and system. Background Art

[0002] In the construction industry, engineering projects need to send the steel bars used on site to the testing center in batches for multiple times to conduct steel bar weight deviation and tensile test inspections. Traditional inspections are mostly manually operated equipment inspections. However, with the development of the construction industry, the inspection workload of the testing center is increasing, and the inspection work has begun to transition to automated inspections. Publication No. CN117388066 A discloses an automated steel bar inspection device and a dimension measurement method. A weight inspection mechanism is set on the conveying path of the steel bar sample to automatically weigh the weight of the steel bar sample; a mechanical arm is used to grab the steel bar sample on the workstation and convey the steel bar sample to the inspection workstation on the horizontal universal testing machine; the horizontal universal testing machine is used to perform tensile performance inspection on the steel bar sample, thereby completing the automated inspection of the steel bar sample.

[0003] However, in actual operation, such automated detection equipment can only perform automated detection on raw materials that have not undergone welding processing. In actual production, the detection center receives not only raw materials, but also some welded parts that have undergone welding processing in accordance with construction industry specifications. Due to the presence of irregularly shaped welding points in the middle of the welded parts, the current automated detection equipment cannot complete the detection. Summary of the invention

[0004] The purpose of the present invention is to provide an automated steel bar detection method and system, which obtains shape parameter information of a test piece by setting an infrared detection pen, and then determines by a control system whether the test piece meets the standard type based on the shape parameter information. If it meets the standard type, it is determined to be a raw material, and the subsequent weight deviation and tensile test related tests are directly completed; if it does not meet the standard type, it is determined to be a welded part, and the tensile test related tests are directly carried out according to the relevant specifications of the detection requirements. The detection method and system can complete the identification of raw materials or welded parts, and automatically complete the subsequent detection work according to the type of test piece, which greatly improves the work efficiency of operators and reduces workload.

[0005] In order to achieve the purpose of the present invention, the present invention provides an automatic steel bar detection method, comprising the following steps: S1. Place the test piece and the code in order on the test piece rack, and move the test piece rack to the predetermined detection area of ​​the weight deviation detection machine. The code information includes but is not limited to the type and specification of the steel bar; S2, the infrared detection pen obtains the length information and shape parameter information of the test piece through the difference of the infrared signal reflected by the test piece and uploads it to the control system. The control system determines whether the test piece meets the standard type according to the shape parameter information. If it meets the standard, the next step is executed. If it does not meet the standard, the next step is executed. Step S5 is executed; S3, the control system scans the code with a barcode scanner to obtain the steel bar type and steel bar specification information of the test piece, as well as the actual weight value of the test piece weighed by a weighing instrument; S4, the control system obtains the theoretical weight value of the test piece through calculation based on the length information, the type of steel bar and the specification information of the steel bar, compares the theoretical weight value with the actual weight value, and obtains the weight deviation detection data of the test piece; S5, the grabbing robot arm grabs the test piece through the preset first grabbing trajectory or the second grabbing trajectory after deviation correction; S6, the grabbing robot arm places the specimen into the tensile testing machine through a preset trajectory to perform a tensile test, obtains the tensile test data and sends it to the control system; S7. After the tensile test is completed, the grabbing robot arm places the specimen after the tensile test into the specimen retention area.

[0006] As a preferred technical solution of the present invention, the information of the mark code and the position information of the predetermined detection area are pre-stored in the control system.

[0007] As a preferred technical solution of the present invention, the shape parameter information includes edge position coordinate information at two end points and a center of the specimen.

[0008] As a preferred technical solution of the present invention, in step S2, the specific steps of judging whether the test piece meets the standard type include: S21, the control system calculates the cross-sectional dimensions of the two end points of the specimen based on the edge position coordinate information at the end points of the specimen; S22, the control system calculates the cross-sectional dimensions of the center of the specimen based on the edge position coordinate information at the center of the specimen; S23. The control system calculates the difference between the cross-sectional dimensions of the specimen center and the cross-sectional dimensions of the specimen end points. The ratio of the difference to the cross-sectional dimensions of the specimen end points is the specimen anomaly coefficient. If the specimen anomaly coefficient is less than the set threshold, it meets the standard type.

[0009] As a preferred technical solution of the present invention, step S4 specifically includes: S41, the control system receives the length information, the type and specification information of the steel bar, and the actual weight value; S42, the control system calculates the theoretical weight value and the allowable deviation value of the test piece according to the length information of the test piece and the type and specification of the steel bar; S43, comparing the actual weight value with the theoretical weight value to obtain an actual deviation value, and comparing the actual deviation value with the allowable deviation value; If the actual deviation value is within the allowable deviation value, the weight deviation test data of the test piece is recorded as qualified; If the actual deviation value exceeds the allowable deviation value, the weight deviation test data of the specimen will be recorded as unqualified.

[0010] As a preferred technical solution of the present invention, the specific steps of step S5 include: S51, the control system calculates the pre-placement position of the test piece according to the position of the predetermined detection area, and presets the first grasping trajectory of the grasping robot arm according to the pre-placement position information of the test piece; S52, the control system compares the position coordinate information of the test piece with the pre-placement position information; If the position coordinates are consistent, the grabbing robot arm moves along the first grabbing trajectory; If the position coordinates are inconsistent, the position coordinate deviation information is determined to correct the deviation, and the grasping robot arm grasps along the second grasping trajectory after the deviation correction.

[0011] As a preferred technical solution of the present invention, the specific steps of step S6 include: S61, the tensile testing machine is provided with three sets of tensile clamping assemblies, the grabbing mechanical arm sends the specimen into the first set of tensile clamping assemblies, the first set of tensile clamping assemblies completes clamping of the specimen, and performs a tensile test; S62, the weight deviation detection machine and the grabbing robot arm repeat steps S1-S5 to perform detection of the second group of test pieces; S63, the grabbing robot arm sends the second group of test pieces into the second group of tensile clamping groups for tensile testing; S64, the grabbing mechanical arm takes out the test piece that has completed the test in the first set of tensile clamping assemblies and puts it into the test piece retention area, and the tensile testing machine sends the tensile test data of the first set of tensile clamping assemblies to the control system; S65. Repeat steps S61-S64 to test several groups of test pieces in sequence.

[0012] The present invention provides a system for an automated steel bar detection method, comprising: The specimen rack is provided with a number of placement stations for carrying specimens. The side ends of the placement stations are provided with code areas for placing the codes corresponding to the specimens. The information recorded by the codes includes: the type and specification of steel bars; The weight deviation detection machine includes a barcode scanner, an infrared detection pen and a weighing instrument. The barcode scanner is used to scan the code to obtain the code record information. The infrared detection pen obtains the length information and shape parameter information of the test piece through the difference of the infrared signal reflected by the test piece. The weighing instrument obtains the actual weight value of the test piece through weighing. A grabbing robot arm is used to grab the test piece and move it as needed; A tensile testing machine, the tensile testing machine is provided with three sets of tensile clamping assemblies, the tensile clamping assemblies are used to perform tensile tests on the specimens; The specimen retention area is used to place specimens that have completed the tensile test.

[0013] Compared with the prior art, the present invention provides an automated steel bar detection method and system, which has the following beneficial effects: The present invention obtains shape parameter information of the test piece by setting an infrared detection pen, and then the control system determines whether the test piece meets the standard type according to the shape parameter information. If it meets the standard type, it is determined to be a raw material part, and the subsequent weight deviation and tensile test related tests are directly completed; if it does not meet the standard type, it is determined to be a welded part, and according to the relevant specifications of the detection requirements, the tensile test related tests are directly performed, and the identification of the raw material part or the welded part can be completed. According to the type of the test piece, the subsequent detection work is automatically completed, which greatly improves the work efficiency of the operators and reduces the workload; The shape parameter information obtained by the infrared detection pen can be used by the control system to calculate the difference between the cross-sectional dimensions of the center of the specimen and the cross-sectional dimensions of the two end points of the specimen. The ratio of the difference to the cross-sectional dimensions of the end points of the specimen is the specimen anomaly coefficient, and the type of the specimen is determined by the size of the specimen anomaly coefficient; on the other hand, it can be used by the control system to compare the position coordinate information of the specimen with the pre-placed position information. If the position coordinates are inconsistent, the position coordinate deviation information is determined to correct the deviation, and the grasping robot arm grasps along the second grasping trajectory after the deviation correction; The tensile testing machine is equipped with three sets of tensile clamping assemblies. When the specimen is undergoing a tensile test in the first set of tensile clamping assemblies, the weight deviation detection machine and the mechanical grabbing arm can continue to detect the next set of specimens and place the next set of specimens in the second set of tensile clamping assemblies for tensile testing. Multiple sets of tensile clamping assemblies can work in a staggered manner without having to wait for the tensile testing machine's stretching process, which greatly reduces the time required for steel bar testing. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 is a flow chart of the method of the present invention; Figure 2 is a flow chart of step S5 of the present invention; Figure 3 It is a schematic diagram of the system composition of the present invention. DETAILED DESCRIPTION

[0015] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0016] See also Figure 1-Figure 3 The embodiment of the present invention provides an automatic steel bar detection method, comprising the following steps: S1. Place the test piece and the code in order on the test piece rack, and move the test piece rack to the predetermined detection area of ​​the weight deviation detection machine. The code information includes but is not limited to the type and specification of the steel bar; S2, the infrared detection pen obtains the length information and shape parameter information of the test piece through the difference of the infrared signal reflected by the test piece and uploads it to the control system. The control system determines whether the test piece meets the standard type according to the shape parameter information. If it meets the standard, the next step is executed. If it does not meet the standard, the next step is executed. Step S5 is executed; S3, the control system scans the code with a barcode scanner to obtain the steel bar type and steel bar specification information of the test piece, as well as the actual weight value of the test piece weighed by a weighing instrument; S4, the control system obtains the theoretical weight value of the test piece through calculation based on the length information, the type of steel bar and the specification information of the steel bar, compares the theoretical weight value with the actual weight value, and obtains the weight deviation detection data of the test piece; S5, the grabbing robot arm grabs the test piece through the preset first grabbing trajectory or the second grabbing trajectory after deviation correction; S6, the grabbing robot arm places the specimen into the tensile testing machine through a preset trajectory to perform a tensile test, obtains the tensile test data and sends it to the control system; S7. After the tensile test is completed, the grabbing robot arm places the specimen after the tensile test into the specimen retention area.

[0017] In one embodiment of the present invention, the information of the code and the position information of the predetermined detection area are pre-stored in the control system.

[0018] In one embodiment of the present invention, the shape parameter information includes edge position coordinate information at two end points and a center of the specimen.

[0019] In one embodiment of the present invention, in step S2, the specific steps of determining whether the test piece meets the standard type include: S21, the control system calculates the cross-sectional dimensions of the two end points of the specimen based on the edge position coordinate information at the end points of the specimen; S22, the control system calculates the cross-sectional dimensions of the center of the specimen based on the edge position coordinate information at the center of the specimen; S23. The control system calculates the difference between the cross-sectional dimensions of the specimen center and the cross-sectional dimensions of the specimen end points. The ratio of the difference to the cross-sectional dimensions of the specimen end points is the specimen anomaly coefficient. If the specimen anomaly coefficient is less than the set threshold, it meets the standard type.

[0020] In one embodiment of the present invention, step S4 specifically comprises: S41, the control system receives the length information, the type and specification information of the steel bar, and the actual weight value; S42, the control system calculates the theoretical weight value and the allowable deviation value of the test piece according to the length information of the test piece and the type and specification of the steel bar; S43, comparing the actual weight value with the theoretical weight value to obtain an actual deviation value, and comparing the actual deviation value with the allowable deviation value; If the actual deviation value is within the allowable deviation value, the weight deviation test data of the test piece is recorded as qualified; If the actual deviation value exceeds the allowable deviation value, the weight deviation test data of the specimen will be recorded as unqualified.

[0021] In one embodiment of the present invention, the specific steps of step S5 include: S51, the control system calculates the pre-placement position of the test piece according to the position of the predetermined detection area, and presets the first grasping trajectory of the grasping robot arm according to the pre-placement position information of the test piece; S52, the control system compares the position coordinate information of the test piece with the pre-placement position information; If the position coordinates are consistent, the grabbing robot arm moves along the first grabbing trajectory; If the position coordinates are inconsistent, the position coordinate deviation information is determined to correct the deviation, and the grasping robot arm grasps along the second grasping trajectory after the deviation correction.

[0022] In one embodiment of the present invention, the specific steps of step S6 include: S61, the tensile testing machine is provided with three sets of tensile clamping assemblies, the grabbing mechanical arm sends the specimen into the first set of tensile clamping assemblies, the first set of tensile clamping assemblies completes clamping of the specimen, and performs a tensile test; S62, the weight deviation detection machine and the grabbing robot arm repeat steps S1-S5 to perform detection of the second group of test pieces; S63, the grabbing robot arm sends the second group of test pieces into the second group of tensile clamping groups for tensile testing; S64, the grabbing mechanical arm takes out the test piece that has completed the test in the first set of tensile clamping assemblies and puts it into the test piece retention area, and the tensile testing machine sends the tensile test data of the first set of tensile clamping assemblies to the control system; S65. Repeat steps S61-S64 to test several groups of test pieces in sequence.

[0023] An embodiment of the present invention provides a system for an automated steel bar detection method, characterized in that it includes: The specimen rack is provided with a number of placement stations for carrying specimens. The side ends of the placement stations are provided with code areas for placing the codes corresponding to the specimens. The information recorded by the codes includes: the type and specification of steel bars; The weight deviation detection machine includes a barcode scanner, an infrared detection pen and a weighing instrument. The barcode scanner is used to scan the code to obtain the code record information. The infrared detection pen obtains the length information and shape parameter information of the test piece through the difference of the infrared signal reflected by the test piece. The weighing instrument obtains the actual weight value of the test piece through weighing. A grabbing robot arm is used to grab the test piece and move it as needed; A tensile testing machine, the tensile testing machine is provided with three sets of tensile clamping assemblies, the tensile clamping assemblies are used to perform tensile tests on the specimens; The specimen retention area is used to place specimens that have completed the tensile test.

[0024] The above are only preferred specific implementation modes of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical solutions and inventive concepts of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. An automated steel bar detection method comprising the following steps: S1. Place the test piece and the code in order on the test piece rack, and move the test piece rack to the predetermined detection area of ​​the weight deviation detection machine. The code information includes but is not limited to the type and specification of the steel bar; S2, the infrared detection pen obtains the length information and shape parameter information of the test piece through the difference of the infrared signal reflected by the test piece and uploads it to the control system. The control system determines whether the test piece meets the standard type according to the shape parameter information. If it meets the standard, the next step is executed. If it does not meet the standard, the next step is executed. Step S5 is executed; S3, the control system scans the code with a barcode scanner to obtain the steel bar type and steel bar specification information of the test piece, as well as the actual weight value of the test piece weighed by a weighing instrument; S4, the control system obtains the theoretical weight value of the test piece through calculation based on the length information, the type of steel bar and the specification information of the steel bar, compares the theoretical weight value with the actual weight value, and obtains the weight deviation detection data of the test piece; S5, the grabbing robot arm grabs the test piece through the preset first grabbing trajectory or the second grabbing trajectory after deviation correction; S6, the grabbing robot arm places the specimen into the tensile testing machine through a preset trajectory to perform a tensile test, obtains the tensile test data and sends it to the control system; S7. After the tensile test is completed, the grabbing robot arm places the specimen after the tensile test into the specimen retention area.

2. An automated steel bar detection method according to claim 1, characterized in that: The information of the mark code and the position information of the predetermined detection area are pre-stored in the control system.

3. An automated steel bar detection method according to claim 1, characterized in that: The shape parameter information includes edge position coordinate information at two end points and a center of the specimen.

4. An automated steel bar detection method according to claim 3, characterized in that: In step S2, the specific steps of determining whether the test piece meets the standard type include: S21, the control system calculates the cross-sectional dimensions of the two end points of the specimen based on the edge position coordinate information at the end points of the specimen; S22, the control system calculates the cross-sectional dimensions of the center of the specimen based on the edge position coordinate information at the center of the specimen; S23. The control system calculates the difference between the cross-sectional dimensions of the specimen center and the cross-sectional dimensions of the specimen end points. The ratio of the difference to the cross-sectional dimensions of the specimen end points is the specimen anomaly coefficient. If the specimen anomaly coefficient is less than the set threshold, it meets the standard type.

5. The automatic steel bar detection method according to claim 3, characterized in that: Step S4 specifically includes: S41, the control system receives the length information, the type and specification information of the steel bar, and the actual weight value; S42, the control system calculates the theoretical weight value and the allowable deviation value of the test piece according to the length information of the test piece and the type and specification of the steel bar; S43, comparing the actual weight value with the theoretical weight value to obtain an actual deviation value, and comparing the actual deviation value with the allowable deviation value; If the actual deviation value is within the allowable deviation value, the weight deviation test data of the test piece is recorded as qualified; If the actual deviation value exceeds the allowable deviation value, the weight deviation test data of the specimen will be recorded as unqualified.

6. An automated steel bar detection method according to claim 3, characterized in that: The specific steps of step S5 include: S51, the control system calculates the pre-placement position of the test piece according to the position of the predetermined detection area, and presets the first grasping trajectory of the grasping robot arm according to the pre-placement position information of the test piece; S52, the control system compares the position coordinate information of the test piece with the pre-placement position information; If the position coordinates are consistent, the grabbing robot arm moves along the first grabbing trajectory; If the position coordinates are inconsistent, the position coordinate deviation information is determined to correct the deviation, and the grasping robot arm grasps along the second grasping trajectory after the deviation correction.

7. An automated steel bar detection method according to claim 2, characterized in that: The specific steps of step S6 include: S61, the tensile testing machine is provided with three sets of tensile clamping assemblies, the grabbing mechanical arm sends the specimen into the first set of tensile clamping assemblies, the first set of tensile clamping assemblies completes clamping of the specimen, and performs a tensile test; S62, the weight deviation detection machine and the grabbing robot arm repeat steps S1-S5 to perform detection of the second group of test pieces; S63, the grabbing robot arm sends the second group of test pieces into the second group of tensile clamping groups for tensile testing; S64, the grabbing mechanical arm takes out the test piece that has completed the test in the first set of tensile clamping assemblies and puts it into the test piece retention area, and the tensile testing machine sends the tensile test data of the first set of tensile clamping assemblies to the control system; S65. Repeat steps S61-S64 to test several groups of test pieces in sequence.

8. A system for automated steel bar detection method, characterized in that: include: The specimen rack is provided with a number of placement stations for carrying specimens. The side ends of the placement stations are provided with code areas for placing the codes corresponding to the specimens. The information recorded by the codes includes: the type and specification of steel bars; The weight deviation detection machine includes a barcode scanner, an infrared detection pen and a weighing instrument. The barcode scanner is used to scan the code to obtain the code record information. The infrared detection pen obtains the length information and shape parameter information of the test piece through the difference of the infrared signal reflected by the test piece. The weighing instrument obtains the actual weight value of the test piece through weighing. A grabbing robot arm is used to grab the test piece and move it as needed; A tensile testing machine, the tensile testing machine is provided with three sets of tensile clamping assemblies, the tensile clamping assemblies are used to perform tensile tests on the specimens; The specimen retention area is used to place specimens that have completed the tensile test.

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