Device and method for automatically identifying lap joint and welding quality of reinforcing steel bars based on machine vision

Abstract

The invention discloses a machine vision-based reinforcing steel bar lap joint and welding quality automatic identification device and method, and relates to the technical field of reinforcing steel bar lap joint quality detection.The machine vision-based reinforcing steel bar lap joint and welding quality automatic identification device comprises a rack, and a lifting mechanism and a moving mechanism are arranged in the rack respectively. When the device is used, the double-shaft synchronous motor is started to drive the walking gear to rotate, so that the detection frame drives the fixing plate and the cross table to rotate circumferentially together, two-dimensional visual information of the lap joint or welding position of the reinforcing steel bars is obtained through the industrial camera, three-dimensional depth information is obtained through the laser contour sensor, and internal structure information is detected through the ultrasonic sensor. The metal magnetic memory sensor detects the stress concentration condition of the welding joint, and the intelligent control system identifies and analyzes the stress concentration condition to judge the quality of the lap joint and welding part of the reinforcing steel bars. Under the action of the recognition and detection mechanism, intelligent and accurate detection of the joint of the reinforcing steel bars is achieved, and quality recognition at different angles can be conducted in the circumferential direction and the axial direction.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of steel bar lap joint quality monitoring, in particular to a steel bar lap joint and welding quality automatic identification device and method based on machine vision. BACKGROUND

[0002] Steel bar refers to steel bar for reinforced concrete and prestressed reinforced concrete, which is mainly rolled from low carbon steel, ordinary alloy steel and the like, and is in the shape of a strip. In modern construction engineering, the safety and stability of steel bar as a load-bearing component of a concrete structure are of great importance. The quality of steel bar lap joint and welding directly affects the strength and reliability of steel bar connection. If there are defects, the connection part will become a weak point of the structure. Once extreme conditions are encountered, stress concentration and connection failure will easily occur, thereby causing local or even overall instability or collapse of the structure, which poses a serious threat to the life and property safety of people in the building.

[0003] In the prior art, the monitoring between traditional steel bar lap joint and welding mainly relies on manual visual inspection, which is not only inefficient and difficult to meet the needs of modern rapid construction, but also easily affected by individual subjective consciousness. The emotions, thoughts and reaction abilities of the same person are inconsistent at different times and in different working environments, which leads to unreliable detection results by manual visual inspection, and the quality of steel bar lap joint and welding cannot be accurately detected, which poses a safety risk.

[0004] Therefore, we propose a steel bar lap joint and welding quality automatic identification device and method based on machine vision to solve the problems raised in the background. SUMMARY

[0005] The present application aims to provide a steel bar lap joint and welding quality automatic identification device and method based on machine vision to solve the problem that the monitoring between traditional steel bar lap joint and welding mainly relies on manual visual inspection, which is not only inefficient, but also easily affected by individual subjective consciousness, resulting in unreliable detection results and inability to accurately detect the quality of steel bar lap joint and welding, which poses a safety risk.

[0006] To achieve the above-mentioned purpose, the present application provides the following technical solution: a steel bar lap joint and welding quality automatic identification device based on machine vision, comprising a rack, a lifting mechanism and a moving mechanism are arranged in the rack respectively, a recognition and detection mechanism for automatic detection of steel bar lap joint and welding quality is arranged at the bottom of the moving mechanism.

[0007] The identification detection mechanism comprises a detection frame, a fixed plate is fixedly installed at the bottom of the detection frame, a turnover rod is movably embedded in the inside of the fixed plate, a cross table is arranged at the bottom of the turnover rod, a laser contour sensor is fixedly installed at the center of the bottom of the cross table, an ultrasonic sensor is arranged at one side of the bottom of the cross table, a metal magnetic memory sensor is arranged at the other side of the bottom of the cross table, two industrial cameras are fixedly installed at the front surface and the rear surface of the bottom of the cross table.

[0008] The identification detection mechanism further comprises two track assemblies and a connecting assembly, each of the two track assemblies comprises an arc-shaped track, and an external gear is fixedly installed on the outer surface of each of the two arc-shaped tracks.

[0009] Preferably, a support rod is fixedly installed on the outer surface of each of the two sides of each of the two arc-shaped tracks, the inner wall of one of the arc-shaped tracks is fixedly installed with two first fixed blocks, three insertion holes are formed in the top of each of the two first fixed blocks, the top of the inner wall of the other arc-shaped track is fixedly installed with two second fixed blocks, and three insertion rods are fixedly installed on the top of each of the two second fixed blocks.

[0010] Preferably, a double-shaft synchronous motor is installed on the top surface in the inside of the detection frame through an auxiliary plate, a rotating shaft is fixedly installed on each of the two output ends of the double-shaft synchronous motor, a walking gear is fixedly installed on the outer surface of each of the two rotating shafts, and the outer surface of each of the two walking gears is engaged with the outer surface of one of the external gears.

[0011] Preferably, the connecting assembly comprises two connecting columns, an external protruding rod is movably embedded in the inside of each of the two connecting columns, a resistance rotating rod is arranged between the two connecting columns, a threaded rod is fixedly installed on each end of the resistance rotating rod, a limiting block is threadedly sleeved on the outer surface of each of the two threaded rods, two clamping rods are fixedly installed on the outer surface of one side of each of the two limiting blocks, and a rotating knob is fixedly installed on the center of the outer surface of the resistance rotating rod.

[0012] Preferably, a T-shaped sliding rod is fixedly installed on the top of each of the two limiting blocks, two clamping holes are formed in the outer surface of each of the two connecting columns, two clamping grooves are formed in the outer surface of each of the two external protruding rods, four clamping rods are movably embedded in the inside of the four clamping holes, respectively, and one end of each of the four clamping rods is movably embedded in the inside of each of the four clamping grooves.

[0013] Preferably, the bottom of the turnover rod is provided with two T-shaped sliding grooves, the bottoms of the two connecting columns are fixedly installed on the top of the cross table, the top ends of the two outer convex rods are fixedly installed on the bottom of the turnover rod, the outer surfaces of the both ends of the resistance rotating rod are movably sleeved with mounting plates, the top of the two mounting plates is installed on the bottom of the turnover rod near the T-shaped sliding grooves, and the top ends of the two T-shaped sliding rods are movably embedded in the interiors of the two T-shaped sliding grooves.

[0014] Preferably, the front surface of the fixed plate is fixedly installed with a turnover motor, one end of the turnover rod is movably penetrated through the front surface of the fixed plate, the other end of the turnover rod is movably embedded in one side in the interior of the fixed plate, the output end of the turnover motor is fixedly connected with one end of the turnover rod, the detection frame is movably sleeved on the outer surface of the arc-shaped rail, the interiors of the both sides of the detection frame are provided with arc-shaped grooves, the outer surfaces of the two supporting rods are movably embedded in the interiors of the two arc-shaped grooves, and one end of each of the two rotating shafts is movably embedded in the both sides in the interior of the detection frame.

[0015] Preferably, the lifting mechanism comprises a lifting table, a first moving sliding table is arranged at the center of the top of the lifting table, lifting supports are fixedly installed at the both sides of the top of the lifting table, supporting frames are fixedly installed on the front and back surfaces of the top of the lifting table, L-shaped sliding plates are movably sleeved on the outer surfaces of the two supporting frames, a U-shaped plate is arranged on the top of the first moving sliding table, a sliding hole is formed at the bottom of the outer surface of one side of the detection frame, the bottom of the lifting table is fixedly installed on the bottom surface in the interior of the rack, and the inner walls of the two L-shaped sliding plates and the U-shaped plate are fixedly installed on the inner wall of the other arc-shaped rail.

[0016] Preferably, the moving mechanism comprises two mounting frames, second moving sliding tables are fixedly installed in the interiors of the two mounting frames, two third moving sliding tables are fixedly installed on the tops of the two mounting frames, electric clamping jaws are arranged on the bottoms of the two third moving sliding tables, a moving block is arranged on the bottom of the second moving sliding table, a double-rail rod is fixedly installed on the bottom of the moving block, two C-shaped sliding blocks are fixedly installed on the top of the detection frame, the two C-shaped sliding blocks are movably sleeved on the outer surface of the double-rail rod, and the two mounting frames are installed on the top surface in the interior of the rack.

[0017] A use method of a steel bar lap joint and welding quality automatic identification device based on machine vision, comprising the following steps:

[0018] S1, the reinforcing steel is placed in two lifting supports, the two lifting supports are started, the reinforcing steel is pushed to move upwards to the center position of the arc-shaped track, then the lifting platform is started, the upper and lower track assemblies are pushed to splice into a circular track, then the two electric clamping jaws are started, the two ends of the reinforcing steel are clamped and fixed, the first moving slide table and the second moving slide table drive the two track assemblies to move synchronously, so that the cross table moves to the lap joint or the welding joint of the reinforcing steel;

[0019] S2, the double-shaft synchronous motor is started, the two walking gears are driven to rotate through the rotating shaft, so that the detection frame drives the fixed plate and the cross table to rotate circumferentially, and drives the industrial camera, the metal magnetic memory sensor, the laser profile sensor and the ultrasonic sensor to rotate, and the reinforcing steel connection is recognized and detected at 360 degrees in different angles;

[0020] S3, the industrial camera is started, two-dimensional visual information of the reinforcing steel lap joint or the welding joint is obtained, the laser profile sensor obtains three-dimensional depth information of the reinforcing steel connection or the welding joint, the ultrasonic sensor detects internal structure information, the metal magnetic memory sensor detects the stress concentration of the welding joint, and the signals transmitted are recognized and analyzed by the external intelligent control system to judge the quality of the reinforcing steel lap joint or the welding joint.

[0021] S4, by rotating the rotating knob, the resistance rotating rod is driven to rotate, and the two threaded rods are driven to rotate in opposite directions, thereby driving the two limiting blocks to move relatively, the four clamping rods are sequentially pulled out from the inside of the clamping grooves and clamping holes, then the cross table is pulled out downwards, and the cross table and the collector at the bottom can be taken out separately to become a handheld detection device.

[0022] Compared with the prior art, the beneficial effects of the present application are:

[0023] 1, when the present application is used, the double-shaft synchronous motor is started, the walking gears are driven to rotate, so that the detection frame drives the fixed plate and the cross table at the bottom to rotate circumferentially, and drives the industrial camera, the metal magnetic memory sensor, the laser profile sensor and the ultrasonic sensor to rotate, and the reinforcing steel connection is recognized and detected at different angles.

[0024] 2、The application is used, the reinforcing steel bar is put into two lifting supports through the track assembly, and the two lifting supports are started to push the reinforcing steel bar to move to the center position of the arc-shaped track. Then the lifting platform is started to push the two track assemblies to splice into a circular track. Then the two electric clamping jaws are started to clamp and fix the two ends of the reinforcing steel bar. Then the first and second moving slides are started to drive the two track assemblies to move synchronously, so that the cross table moves to the overlapping or welding position of the reinforcing steel bar for detection. The lifting mechanism realizes the separation and combination of the track assemblies, but after the track assemblies are separated, the reinforcing steel bar can be conveniently put in and taken out, so that the electronic equipment at the bottom of the cross table is prevented from being damaged by accidental collision of the reinforcing steel bar.

[0025] 3、The application is used, the rotating knob is rotated to drive the resistance rotating rod to rotate, so that the two threaded rods rotate in opposite directions to drive the two limiting blocks to move relative to each other, the four clamping rods are sequentially pulled out from the clamping grooves and clamping holes, and then the cross table is pulled out downward, so that the cross table and the collector at the bottom can be taken out separately to become a handheld detection device, and the collector can be held by the staff for detection. The connecting assembly can realize automatic recognition detection at different angles, and can also become a handheld automatic recognition detection device, so that the flexibility and convenience of the device are improved. BRIEF DESCRIPTION OF DRAWINGS

[0026] Figure 1 It is a first angle perspective view of the steel bar overlapping and welding quality automatic recognition device based on machine vision.

[0027] Figure 2 It is a second angle perspective view of the steel bar overlapping and welding quality automatic recognition device based on machine vision.

[0028] Figure 3 It is a structure expansion schematic view of the moving mechanism in the steel bar overlapping and welding quality automatic recognition device based on machine vision.

[0029] Figure 4 It is a structure schematic view of the track assembly in the steel bar overlapping and welding quality automatic recognition device based on machine vision.

[0030] Figure 5 It is a structure expansion schematic view of the double-track rod in the steel bar overlapping and welding quality automatic recognition device based on machine vision.

[0031] Figure 6 It is a structure expansion schematic view of the detection frame in the steel bar overlapping and welding quality automatic recognition device based on machine vision.

[0032] Figure 7 It is a structure schematic view of the cross table in the steel bar overlapping and welding quality automatic recognition device based on machine vision.

[0033] Figure 8 The structural expansion diagram of the connecting assembly in the steel bar lap joint and welding quality automatic recognition device based on machine vision of the application is shown in the figure.

[0034] Figure 9 The structural expansion diagram of the connecting column in the steel bar lap joint and welding quality automatic recognition device based on machine vision of the application is shown in the figure.

[0035] Figure 10 The structural diagram of the lifting mechanism in the steel bar lap joint and welding quality automatic recognition device based on machine vision of the application is shown in the figure.

[0036] Figure 11 The structural diagram of the arc-shaped rail in the steel bar lap joint and welding quality automatic recognition device based on machine vision of the application is shown in the figure.

[0037] Figure 12 The rotation diagram of the recognition and detection mechanism in the steel bar lap joint and welding quality automatic recognition device based on machine vision of the application is shown in the figure.

[0038] In the figure:

[0039] 1, rack; 2, lifting mechanism; 201, lifting table; 202, first moving slide table; 203, lifting support; 204, support frame; 205, L-shaped slide plate; 206, U-shaped plate; 3, moving mechanism; 301, mounting frame; 302, second moving slide table; 303, third moving slide table; 304, electric clamping jaw; 305, moving block; 306, double-rail rod; 4, recognition and detection mechanism; 41, rail assembly; 411, arc-shaped rail; 412, external gear; 413, support rod; 414, first fixed block; 415, insertion hole; 416, second fixed block; 417, insertion rod; 42, connecting assembly; 421, connecting column; 422, external protruding rod; 423, clamping hole; 424, clamping groove; 425, resistance rotating rod; 426, threaded rod; 427, limiting block; 428, clamping rod; 429, mounting plate; 4210, T-shaped slide rod; 4211, rotating knob; 401, detection frame; 402, C-shaped slide block; 403, sliding hole; 404, fixed plate; 405, double-shaft synchronous motor; 406, rotating shaft; 407, walking gear; 408, arc-shaped groove; 409, overturning motor; 4010, overturning rod; 4011, cross table; 4012, industrial camera; 4013, metal magnetic memory sensor; 4014, laser profile sensor; 4015, ultrasonic sensor; 4016, T-shaped slide groove. DETAILED DESCRIPTION

[0040] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all the other embodiments obtained by those skilled in the art without creative effort shall fall within the scope of the present application.

[0041] Embodiment one: please refer to Figures 1-12As shown, the present application provides a technical scheme: a steel lap, welding quality automatic identification device based on machine vision, including rack 1, the inner part of rack 1 is respectively arranged lifting mechanism 2 and moving mechanism 3, the bottom of moving mechanism 3 is provided for steel lap, welding quality automatic detection identification detection mechanism 4;Identification detection mechanism 4 includes detection frame 401, the bottom of detection frame 401 is fixedly installed with fixed plate 404, the inside of fixed plate 404 is movably embedded with turnover rod 4010, the bottom of turnover rod 4010 is provided with cross table 4011, the center of the bottom of cross table 4011 is fixedly installed with laser profile sensor 4014, one side of the bottom of cross table 4011 is provided with ultrasonic sensor 4015, the other side of the bottom of cross table 4011 is provided with metal magnetic memory sensor 4013, the front surface and the rear surface of the bottom of cross table 4011 are both fixedly installed with two industrial cameras 4012;The identification detection mechanism 4 further comprises two track assemblies 41 and a connecting assembly 42, each of the two track assemblies 41 comprises an arc-shaped rail 411, the outer surface of each of the two arc-shaped rails 411 is fixedly installed with an external gear 412, the outer surfaces of the two sides of each of the two arc-shaped rails 411 are fixedly installed with a support rod 413, the inner wall of one of the arc-shaped rails 411 is fixedly installed with two first fixed blocks 414, the top of each of the two first fixed blocks 414 is provided with three insertion holes 415, the top of the inner wall of the other arc-shaped rail 411 is fixedly installed with two second fixed blocks 416, the top of each of the two second fixed blocks 416 is fixedly installed with three insertion rods 417, the top surface inside the detection frame 401 is installed with a double-shaft synchronous motor 405 through an auxiliary plate, the two output ends of the double-shaft synchronous motor 405 are fixedly installed with two rotating shafts 406, the outer surfaces of the two rotating shafts 406 are fixedly installed with two walking gears 407, the outer surfaces of the two walking gears 407 are in meshing engagement with the outer surface of one of the external gears 412, the front surface of the fixed plate 404 is fixedly installed with a turnover motor 409, one end of a turnover rod 4010 movably penetrates through the front surface of the fixed plate 404, the other end of the turnover rod 4010 movably embeds in one side of the inside of the fixed plate 404, the output end of the turnover motor 409 is fixedly connected with one end of the turnover rod 4010, the detection frame 401 movably sheaths the outer surface of the arc-shaped rail 411, the two sides inside the detection frame 401 are provided with arc-shaped grooves 408, the outer surfaces of the two support rods 413 movably embed in the interiors of the two arc-shaped grooves 408 respectively, one end of each of the two rotating shafts 406 movably embeds in the two sides inside the detection frame 401, the lifting mechanism 2 comprises a lifting table 201, a first moving sliding table 202 is arranged at the center of the top of the lifting table 201, lifting supports 203 are fixedly installed at the two sides of the top of the lifting table 201, support frames 204 are fixedly installed on the front and rear surfaces of the top of the lifting table 201, L-shaped sliding plates 205 movably sheath the outer surfaces of the two support frames 204, a U-shaped plate 206 is arranged on the top of the first moving sliding table 202, a sliding hole 403 is arranged at the bottom of the outer surface of one side of the detection frame 401, the bottom of the lifting table 201 is fixedly installed on the bottom surface inside the rack 1, the inner walls of the two L-shaped sliding plates 205 and the U-shaped plate 206 are fixedly installed on the inner wall of the other arc-shaped rail 411.

[0042] In this embodiment, when in use, after moving the steel bar to the detection position by the lifting mechanism 2 and the moving mechanism 3, start the industrial camera 4012, the metal magnetic memory sensor 4013, the laser profile sensor 4014 and the ultrasonic sensor 4015. The industrial camera 4012 is mainly used to obtain two-dimensional visual information of the steel bar lap joint or welding joint, and capture surface texture, geometric profile, defect morphology and other details through high-resolution images. The laser profile sensor 4014 is mainly used to obtain three-dimensional depth information of the steel bar connection or welding joint, such as the protrusion height of the weld, the depth of the undercut, the overlap thickness of the lap joint, etc., and generate point cloud data by scanning to provide accurate depth reference for overall three-dimensional modeling. The ultrasonic sensor 4015 transmits high-frequency sound waves to the steel bar connection and receives reflected signals. The high-frequency sound waves can penetrate the surface of the steel bar connection and detect internal structural information, such as hidden cracks in the welding joint, bubbles or impurities inside the weld, etc. The metal magnetic memory sensor 4013 detects stress concentration areas of the welded joint and hidden deformations caused by uneven stress of the lap joint by capturing magnetic signal changes. The industrial camera 4012, the metal magnetic memory sensor 4013, the laser profile sensor 4014 and the ultrasonic sensor 4015 are connected to the external intelligent control system. The industrial camera 4012 cooperates with the laser profile sensor 4014 to collect two-dimensional images and three-dimensional point cloud data of the steel bar connection. The intelligent control system identifies and analyzes the signals transmitted by the signal collectors to judge the quality of the steel bar lap joint and welding joint. The ultrasonic sensor 4015 is complementary to the industrial camera 4012 and the laser profile sensor 4014 to realize overall quality detection of the "surface + internal" and identify internal stress concentration defects in cooperation with the metal magnetic memory sensor 4013 to find high-risk parts with "no surface defects but internal stress abnormalities" in advance, avoid sudden failure of the structure under long-term load, improve the comprehensiveness of detection, and thus improve the accuracy of detection and identification. Start the double-shaft synchronous motor 405 to drive the two walking gears 407 to rotate on the outer surface of the external gear 412, drive the detection frame 401 to rotate on the outer surface of the arc rail 411, and drive the C-shaped slider 402 to rotate together with the steel bar as the axis. At the same time, the C-shaped slider 402 gradually slides off the outer surface of the double-rail rod 306 and loses connection with the moving mechanism 3. With the continuous rotation of the walking gears 407, the detection frame 401 continues to rotate on the outer surface of the arc rail 411 which forms a circular track, and drives the fixed plate 404 and the cross table 4011 at the bottom to rotate together. Through the sliding hole 403, the detection frame 401 can pass through the outer surface of the L-shaped sliding plate 205 and the U-shaped plate 206 without affecting the rotation of the detection frame 401. The rotation of the cross table 4011 drives the industrial camera 4012, the metal magnetic memory sensor 4013, the laser profile sensor 4014 and the ultrasonic sensor 4015 to rotate together, so as to identify and detect the steel bar connection at different angles of 360 degrees, and improve the accuracy of the detection results.When the detection frame 401 rotates to the original position, the C-shaped slider 402 will slide again on the outer surface of the double rail rod 306. By driving the turnover rod 4010 to rotate through the turnover motor 409, the connecting assembly 42 and each collector will be rotated together, thereby detecting the steel bar connection at different angles in the axial direction. Under the action of the identification detection mechanism 4, intelligent and accurate detection of the steel bar connection is realized, and quality identification at different angles in the circumferential and axial directions is also realized, which is more diverse and is not affected by human subjective factors. The problem of relying mainly on manual visual inspection for monitoring the traditional steel bar lap joint and welding quality is solved. Not only is the efficiency low, but also the detection result is unreliable and cannot accurately detect the quality of the steel bar lap joint and welding, which poses a safety risk.

[0043] Embodiment two: as shown in Figure 5 and Figures 7-9 , the inner part of the rack 1 is respectively provided with a lifting mechanism 2 and a moving mechanism 3, the bottom of the moving mechanism 3 is provided with an identification detection mechanism 4 for automatic detection of the quality of the steel bar lap joint and welding, and the identification detection mechanism 4 further includes two rail assemblies 41 and a connecting assembly 42. Each of the two rail assemblies 41 includes an arc-shaped rail 411, and the outer surface of each of the two arc-shaped rails 411 is fixedly installed with an external gear 412. The connecting assembly 42 includes two connecting columns 421, the inner part of each of the two connecting columns 421 is movably embedded with an external protruding rod 422, a resistance rotating rod 425 is arranged between the two connecting columns 421, the two ends of the resistance rotating rod 425 are fixedly installed with threaded rods 426, the outer surfaces of the two threaded rods 426 are threadedly sleeved with limit blocks 427, the outer surfaces of one side of the two limit blocks 427 are fixedly installed with two clamping rods 428, a rotating knob 4211 is fixedly installed at the center of the outer surface of the resistance rotating rod 425, T-shaped sliding rods 4210 are fixedly installed at the top of the two limit blocks 427, two clamping holes 423 are formed in the outer surfaces of the two connecting columns 421, two clamping grooves 424 are formed in the outer surfaces of the two external protruding rods 422, the outer surfaces of the four clamping rods 428 are movably embedded in the inner parts of the four clamping holes 423, one end of each of the four clamping rods 428 is movably embedded in the inner part of each of the four clamping grooves 424, two T-shaped sliding grooves 4016 are formed in the bottom of the turnover rod 4010, the bottoms of the two connecting columns 421 are fixedly installed at the top of a cross table 4011, the top ends of the two external protruding rods 422 are fixedly installed at the bottom of the turnover rod 4010, the outer surfaces of the two ends of the resistance rotating rod 425 are movably sleeved with mounting plates 429, the tops of the two mounting plates 429 are mounted at the bottom of the turnover rod 4010 near the T-shaped sliding grooves 4016, the two threaded rods 426 are symmetrically arranged, and the top ends of the two T-shaped sliding rods 4210 are movably embedded in the inner parts of the two T-shaped sliding grooves 4016.

[0044] In this embodiment, when in use, there is a large resistance between the resistance rotating rod 425 and the mounting plate 429, the resistance rotating rod 425 cannot rotate by itself, and external rotating force is needed to make the resistance rotating rod 425 rotate. Two threaded rods 426 and the resistance rotating rod 425 form a bidirectional screw rod, as shown in Figure 9 By rotating the rotating knob 4211, the resistance rotating rod 425 can be rotated, and the two threaded rods 426 with opposite rotation directions can be rotated, and then the two limiting blocks 427 are relatively moved, and the four clamping rods 428 are sequentially pulled out from the inside of the clamping groove 424 and the clamping hole 423. At this time, the cross table 4011 is disconnected from the turnover rod 4010, and then the cross table 4011 is pulled out downward, so that the outer protruding rod 422 is separated from the connecting column 421, that is, the cross table 4011 and the collector at the bottom are taken out separately, becoming a handheld detection device. The worker can hold the collector to detect the steel bar connection that is curved, inconvenient to detect, or needs to be identified in a specific place. Through the connecting assembly 42, automatic identification detection of different angles can be realized, and it can also become a handheld automatic identification detection with a specific purpose, which expands the flexibility and convenience of the use of the device.

[0045] Embodiment three: Figures 1-5 and Figure 10 As shown in the figures, the identification and detection mechanism 4 further comprises two track assemblies 41 and a connecting assembly 42. The two track assemblies 41 each comprise an arc-shaped track 411, and the outer surface of the two arc-shaped tracks 411 is fixedly installed with an external gear 412. The lifting mechanism 2 comprises a lifting table 201, and the center of the top of the lifting table 201 is provided with a first moving sliding table 202. The two sides of the top of the lifting table 201 are each fixedly installed with a lifting support 203, and the front and rear surfaces of the top of the lifting table 201 are each fixedly installed with a support frame 204. The outer surfaces of the two support frames 204 are each movably sleeved with an L-shaped sliding plate 205. The top of the first moving sliding table 202 is provided with a U-shaped plate 206. The bottom of one side of the outer surface of the detection frame 401 is provided with a sliding hole 403. The bottom of the lifting table 201 is fixedly installed on the bottom surface inside the rack 1. The inner walls of the two L-shaped sliding plates 205 and the U-shaped plate 206 are each fixedly installed on the inner wall of the other arc-shaped track 411. The moving mechanism 3 comprises two mounting frames 301, and the interiors of the two mounting frames 301 are each fixedly installed with a second moving sliding table 302. The tops of the two mounting frames 301 are each fixedly installed with two third moving sliding tables 303. The bottoms of the two third moving sliding tables 303 are each provided with an electric clamping jaw 304. The bottom of the second moving sliding table 302 is provided with a moving block 305. The bottom of the moving block 305 is fixedly installed with a double-track rod 306. The top of the detection frame 401 is fixedly installed with two C-shaped sliding blocks 402. The two C-shaped sliding blocks 402 are each movably sleeved on the outer surface of the double-track rod 306. The two mounting frames 301 are each installed on the top surface inside the rack 1.

[0046] In this embodiment, two track assemblies 41 are provided during use, and the two track assemblies 41 can form a complete circular track. The bottom track assembly 41 is installed on the top of the lifting mechanism 2 through the U-shaped plate 206. The reinforcing steel bar is passed through the bottom track assembly 41 from one side and placed in the two lifting supports 203, and then the two lifting supports 203 are started to push the reinforcing steel bar upward to the center position inside the arc-shaped rail 411, that is, the center position of the spliced circular center track. Then the lifting platform 201 is started to move upward, driving the lifting supports 203, the first moving slide table 202 and the placed reinforcing steel bar to move upward, and when the lifting platform 201 automatically stops, the upper and lower track assemblies 41 are in contact and spliced into a circular track, and the top end of the insertion rod 417 is inserted into the insertion hole 415 for limiting, as shown in Figure 12 Then the two third moving slide tables 303 are started to drive the two electric clamps 304 to move to the appropriate position, and then the two electric clamps 304 are started to clamp and fix the two ends of the reinforcing steel bar, preventing the reinforcing steel bar from rotating during the subsequent detection process and affecting the detection accuracy. Then the first moving slide table 202 and the second moving slide table 302 are started at the same time to drive the identification detection mechanism 4, the track assembly 41 and the connecting assembly 42 to move synchronously, so that the cross table 4011 moves to the overlapping or welded position of the reinforcing steel bar, and then the identification detection mechanism 4 is started to intelligently rotate and detect the overlapping or welded position of the reinforcing steel bar. Through the lifting mechanism 2, the separation and combination of the track assembly 41 are realized, but after the track assembly 41 is separated, it is convenient to put in and take out the reinforcing steel bar, so as to avoid the reinforcing steel bar accidentally colliding with the electronic equipment at the bottom of the cross table 4011 and causing damage to the equipment.

[0047] The working principle and method of use of the present application are as follows: the reinforcing steel bar is inserted from one side through the bottom track assembly 41 and placed in the two lifting supports 203, then the two lifting supports 203 are started to push the reinforcing steel bar upwards to the center position inside the arc-shaped rail 411. Then the lifting platform 201 is started to move upwards to push the upper and lower two track assemblies 41 to splice into a circular track, while the top of the inserting rod 417 is inserted into the inserting hole 415. Then the two third moving slides 303 are started to drive the two electric clamping jaws 304 to move to the appropriate position, then the two electric clamping jaws 304 are started to clamp and fix the two ends of the reinforcing steel bar. At the same time, the first moving slide 202 and the second moving slide 302 are started to drive the two track assemblies 41 to move synchronously, so that the cross table 4011 moves to the position of the reinforcing steel bar lap joint or welding joint. The double-shaft synchronous motor 405 is started to drive the two walking gears 407 to rotate through the rotating shaft 406, so that the detection frame 401 rotates on the outer surface of the arc-shaped rail 411, and drives the C-shaped sliding block 402 to gradually slide away from the outer surface of the double-rail rod 306, while driving the fixed plate 404 and the bottom cross table 4011 to rotate together, through the sliding hole 403, to facilitate the detection frame 401 to pass through the outer surface of the L-shaped sliding plate 205 and the U-shaped plate 206. The rotation of the cross table 4011 drives the industrial camera 4012, the metal magnetic memory sensor 4013, the laser profile sensor 4014 and the ultrasonic sensor 4015 to rotate together to identify and detect the reinforcing steel bar joint at different angles of 360 degrees. The industrial camera 4012 is started to obtain two-dimensional visual information of the reinforcing steel bar lap joint or welding joint, the laser profile sensor 4014 obtains three-dimensional depth information of the reinforcing steel bar joint or welding joint, the ultrasonic sensor 4015 detects internal structure information, and the metal magnetic memory sensor 4013 detects stress concentration of the welding joint. Through the external intelligent control system, the signals transmitted are identified and analyzed to judge the quality of the reinforcing steel bar lap joint or welding joint. By rotating the rotary knob 4211, the resistance rotating rod 425 is rotated, and the two screw rods 426 rotating in opposite directions are rotated, thereby driving the two limiting blocks 427 to move relatively, and the four clamping rods 428 are sequentially pulled out from the clamping grooves 424 and the clamping holes 423, then the cross table 4011 is pulled out downwards, so that the outer protruding rod 422 is separated from the connecting column 421, and the cross table 4011 and the bottom collector can be taken down separately to become a handheld detection device, and the staff can hold the collector to detect the reinforcing steel bar joint which is curved, inconvenient to detect or needs targeted identification.

[0048] Among them, the lifting platform 201, the first mobile sliding platform 202, the lifting support 203, the second mobile sliding platform 302, the third mobile sliding platform 303, the electric clamping jaw 304, the double-shaft synchronous motor 405, the overturning motor 409, the industrial camera 4012, the metal magnetic memory sensor 4013, the laser profile sensor 4014 and the ultrasonic sensor 4015 are all prior art, and their components and use principles are all disclosed technologies, which will not be explained in detail here.

[0049] Although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art can make modifications to the technical solutions recorded in the foregoing embodiments, or make equivalent replacements to part of the technical features, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A machine vision-based automatic identification device for steel bar lap joint and welding quality, comprising a rack (1), characterized in that: The inner part of the rack (1) is respectively provided with a lifting mechanism (2) and a moving mechanism (3), the bottom of the moving mechanism (3) is provided with a recognition detection mechanism (4) for automatic detection of steel bar lap joint and welding quality; The recognition detection mechanism (4) comprises a detection frame (401), a fixed plate (404) is fixedly installed at the bottom of the detection frame (401), a turnover rod (4010) is movably embedded in the inner part of the fixed plate (404), a cross table (4011) is arranged at the bottom of the turnover rod (4010), a laser contour sensor (4014) is fixedly installed at the center of the bottom of the cross table (4011), an ultrasonic sensor (4015) is arranged at one side of the bottom of the cross table (4011), a metal magnetic memory sensor (4013) is arranged at the other side of the bottom of the cross table (4011), two industrial cameras (4012) are fixedly installed at the front surface and the rear surface of the bottom of the cross table (4011); The recognition detection mechanism (4) further comprises two track assemblies (41) and a connecting assembly (42), each of the two track assemblies (41) comprises an arc-shaped rail (411), and an external gear (412) is fixedly installed on the outer surface of each of the two arc-shaped rails (411).

2. The automatic machine vision-based steel bar lapping and welding quality identification device according to claim 1, characterized in that: Support rods (413) are fixedly installed on the outer surfaces of the two sides of each of the two arc-shaped rails (411), a first fixed block (414) is fixedly installed on the inner wall of each of the two arc-shaped rails (411), three insertion holes (415) are formed in the top of each of the two first fixed blocks (414), a second fixed block (416) is fixedly installed on the top of the inner wall of each of the two arc-shaped rails (411), and three insertion rods (417) are fixedly installed on the top of each of the two second fixed blocks (416).

3. The automatic machine vision-based steel bar lap and welding quality identification device according to claim 2, characterized in that: A double-shaft synchronous motor (405) is installed on the top surface in the inner part of the detection frame (401) through an auxiliary plate, shafts (406) are fixedly installed on the two output ends of the double-shaft synchronous motor (405), walking gears (407) are fixedly installed on the outer surfaces of the two shafts (406), and the outer surfaces of the two walking gears (407) are engaged with the outer surface of each of the two external gears (412).

4. The automatic machine vision-based steel bar lap and welding quality identification device according to claim 3, characterized in that: The connecting assembly (42) comprises two connecting columns (421), external convex rods (422) are movably embedded in the inner parts of the two connecting columns (421), a resistance rotating rod (425) is arranged between the two connecting columns (421), threaded rods (426) are fixedly installed at the two ends of the resistance rotating rod (425), limit blocks (427) are threadedly sleeved on the outer surfaces of the two threaded rods (426), two clamping rods (428) are fixedly installed on the outer surfaces of one side of the two limit blocks (427), and a rotating knob (4211) is fixedly installed at the center of the outer surface of the resistance rotating rod (425).

5. The automatic machine vision-based steel bar lapping and welding quality identification device according to claim 4, characterized in that: The top of two limiting blocks (427) is fixedly installed with a T-shaped sliding rod (4210), the outer surface of two connecting columns (421) is provided with two clamping holes (423), the outer surface of two outer protruding rods (422) is provided with two clamping grooves (424), the outer surface of four clamping rods (428) is movably embedded in the inner part of four clamping holes (423) respectively, and one end of four clamping rods (428) is movably embedded in the inner part of four clamping grooves (424) respectively.

6. The machine vision-based automatic recognition device for steel bar lap joint and welding quality according to claim 5, characterized in that: The bottom of the turnover rod (4010) is provided with two T-shaped sliding grooves (4016), the top of two connecting columns (421) is fixedly installed on the top of the cross table (4011), the top of two outer protruding rods (422) is fixedly installed on the bottom of the turnover rod (4010), the outer surface of both ends of the resistance rotating rod (425) is movably sleeved with a mounting plate (429), the top of two mounting plates (429) is installed on the bottom of the turnover rod (4010) near the T-shaped sliding groove (4016), two threaded rods (426) are symmetrically arranged, and the top of two T-shaped sliding rods (4210) is movably embedded in the inner part of two T-shaped sliding grooves (4016) respectively.

7. The machine vision-based automatic recognition device for steel bar lap and weld quality according to claim 6, characterized in that: The front surface of the fixed plate (404) is fixedly installed with a turnover motor (409), one end of the turnover rod (4010) is movably penetrated through the front surface of the fixed plate (404), the other end of the turnover rod (4010) is movably embedded on one side in the fixed plate (404), the output end of the turnover motor (409) is fixedly connected with one end of the turnover rod (4010), the detection frame (401) is movably sleeved on the outer surface of the arc-shaped rail (411), two arc-shaped grooves (408) are formed in the inner sides of the detection frame (401), and the outer surfaces of two supporting rods (413) are movably embedded in the inner parts of two arc-shaped grooves (408) respectively.

8. The machine vision-based automatic recognition device for steel bar lap and weld quality according to claim 7, characterized in that: The lifting mechanism (2) comprises a lifting table (201), a first moving sliding table (202) is arranged at the center of the top of the lifting table (201), lifting supports (203) are fixedly installed at the two sides of the top of the lifting table (201), support frames (204) are fixedly installed on the front surface and the rear surface of the top of the lifting table (201), L-shaped sliding plates (205) are movably sleeved on the outer surfaces of two support frames (204), a U-shaped plate (206) is arranged on the top of the first moving sliding table (202), a sliding hole (403) is formed in the bottom of the outer surface of one side of the detection frame (401), and the bottom of the lifting table (201) is fixedly installed on the bottom surface in the inner part of the rack (1). The inner walls of two L-shaped sliding plates (205) and the U-shaped plate (206) are fixedly installed on the inner wall of the other arc-shaped rail (411).

9. The machine vision-based automatic recognition device for steel bar lap and weld quality according to claim 8, characterized in that: The moving mechanism (3) comprises two mounting racks (301), a second moving slide table (302) is fixedly installed inside the two mounting racks (301), two third moving slide tables (303) are fixedly installed at the top of the two mounting racks (301), electric clamping jaws (304) are arranged at the bottom of the two third moving slide tables (303), a moving block (305) is arranged at the bottom of the second moving slide table (302), a double-rail rod (306) is fixedly installed at the bottom of the moving block (305), two C-shaped sliding blocks (402) are fixedly installed at the top of the detection frame (401), the two C-shaped sliding blocks (402) are movably sleeved on the outer surface of the double-rail rod (306), and the two mounting racks (301) are installed on the top surface inside the rack (1).

10. A method for using a machine vision-based automatic identification device for steel bar lap joint and welding quality, characterized in that, The machine vision-based automatic identification device for steel bar lap joint and welding quality of claim 9 is used, comprising the following steps: S1, place the steel bars into the two lifting supports (203), start the two lifting supports (203), push the steel bars upwards to the center position of the arc-shaped rail (411), then start the lifting table (201), push the two track assemblies (41) to splice into a circular track, then start the two electric clamping jaws (304) to clamp and fix the two ends of the steel bars, drive the two track assemblies (41) to move synchronously through the first moving slide table (202) and the second moving slide table (302), so that the cross table (4011) moves to the steel bar lap joint or welding position; S2, start the double-shaft synchronous motor (405), drive the two walking gears (407) to rotate through the rotating shaft (406), so that the detection frame (401) drives the fixed plate (404) and the cross table (4011) to rotate circumferentially, and drives the industrial camera (4012), the metal magnetic memory sensor (4013), the laser profile sensor (4014) and the ultrasonic sensor (4015) to rotate, to identify and detect the steel bar connection at different angles of 360 degrees; S3, start the industrial camera (4012) to obtain two-dimensional visual information of the steel bar lap joint or welding position, the laser profile sensor (4014) obtains three-dimensional depth information of the steel bar connection or welding position, the ultrasonic sensor (4015) detects internal structure information, and the metal magnetic memory sensor (4013) detects stress concentration of the welding joint; the signals transmitted are identified and analyzed through an external intelligent control system to judge the steel bar lap joint and welding quality; S4, rotate the resistance rotating rod (425) by turning the rotary knob (4211), drive the two threaded rods (426) to rotate in opposite directions, and then drive the two limiting blocks (427) to move relatively, so that the four clamping rods (428) are sequentially pulled out from the inside of the clamping grooves (424) and the clamping holes (423), then the cross table (4011) is pulled out downwards, and the cross table (4011) and the collector at the bottom can be taken out separately to become a handheld detection device.

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