Equipment and method for overturning and quality inspection of multi-specification rectangular pipes

Abstract

The invention discloses a device and method for overturning and quality inspection of multi-specification rectangular tubes, and the method comprises the steps: constructing a complete square tube precise positioning and overturning detection system through the cooperative work of a square tube automatic grabbing workstation, an overturning device, an end part limiting device, a jacking centering device, a laser detection system and a visual detection system; according to the system, full-automatic grabbing, precise positioning and posture adjustment of the square pipes of multiple specifications can be achieved, meanwhile, comprehensive collection and analysis of product data are completed, and therefore the quality inspection efficiency and the detection precision are remarkably improved, and a scientific basis is provided for production process optimization. The technical bottleneck of existing equipment in square tube quality inspection and production is overcome, the universality, the automation level and the detection capacity of the equipment are improved, and the high-standard requirement of the building manufacturing industry for the quality of components can be met.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of automatic production equipment, and particularly relates to a device and method for overturning and quality inspection of multi-specification rectangular pipes. BACKGROUND

[0002] In the building manufacturing industry, rectangular pipes, as an important steel structure profile, are widely used due to their simple structure, strong load-bearing capacity, and low cost. With the acceleration of urbanization and the continuous progress of modern building technology, steel structure buildings have been widely used in high-rise buildings, industrial plants, stadiums, exhibition centers and other large public buildings due to their high efficiency, environmental protection and assembly type characteristics. As one of the core components of steel structures, the quality of the raw materials of rectangular pipes not only provides reliable processing data for production process optimization, but also directly affects the safety and durability of the project. In the promotion of prefabricated buildings, the demand for rectangular pipes has increased significantly, and the quality inspection of raw materials and finished products before delivery is particularly important.

[0003] In industrialized production, the requirements for raw material quality are increasingly stringent, and enterprises need to conduct comprehensive and accurate quality inspection on rectangular pipes to provide reliable raw material data for production process optimization. The quality inspection process not only needs to ensure that the key indicators such as the dimensional accuracy, surface quality and weld integrity of the rectangular pipe meet the standards, but also needs to comprehensively evaluate the geometric tolerance, mechanical properties and other aspects of the pipe.

[0004] However, the existing rectangular tube overturning and quality inspection equipment still has many technical limitations, mainly in the following aspects: 1. The structure design of the traditional overturning equipment is relatively single, usually adopting rigid connection or fixed support mode, which is difficult to adapt to the overturning needs of rectangular tubes of different specifications. This lack of versatility problem leads to poor adaptability of the equipment when facing multiple varieties and specifications of pipes, requiring frequent replacement or adjustment of tooling fixtures, which greatly reduces production efficiency. 2. The drive system of the automatic overturning equipment generally uses a single drive source, lacks intelligent linkage control function, and is expensive. During the overturning process, the operator needs to manually adjust the equipment parameters, which limits the overturning precision and positioning efficiency, is prone to human error, and affects the reliability of the detection results. 3. The existing quality inspection equipment relies mainly on contact positioning or simple sensor detection, lacking high-precision three-dimensional measurement and data analysis capabilities. In complex industrial production environments, this low-precision detection method cannot meet the high standards of pipe quality required by modern building manufacturing, especially in terms of pipe surface defects, internal weld quality, and geometric tolerance detection. The performance of traditional equipment is particularly insufficient. Traditional overturning and quality inspection equipment has obvious defects in safety and automation level. For example, the equipment lacks real-time monitoring and emergency braking functions, making it difficult to effectively control the stability of the pipe during overturning. At the same time, the dependence on manual operation also increases the risk of personal safety during production, limiting the application of the equipment in modern industrial scenarios with high efficiency and high safety.

[0005] In summary, the existing technology for rectangular tube overturning and quality inspection has obvious shortcomings in versatility, precision, efficiency, and safety, making it difficult to meet the increasingly stringent requirements of building industrial production for raw material and finished product quality. Therefore, developing a set of overturning and quality inspection equipment that can adapt to multiple specifications, is easy to operate, has accurate positioning, and is safe and reliable is not only an important direction for technological innovation in the building manufacturing industry, but also an urgent need to improve the quality control level of industrial production. SUMMARY

[0006] The purpose of the present application is to provide a device and method for overturning and quality inspection of rectangular tubes of multiple specifications, aiming to solve the problem that the existing technology cannot achieve efficient and accurate handling and positioning adjustment when dealing with rectangular tubes of different lengths and specifications, and the versatility, automation level, and detection accuracy of the equipment cannot meet the high-quality requirements of modern industrialization.

[0007] In a first aspect, the present application provides a device for overturning and quality inspection of rectangular tubes of multiple specifications, comprising a rectangular tube automatic grabbing workstation, an overturning device, an end limiting device, a jacking centering device, a rectangular tube lifting drive mechanism, a laser detection system, and a visual detection system. The square tube automatic grabbing station is used for grabbing the square tube to the turnover device and taking the square tube off the turnover device; The turnover device comprises a right-angle bearing table, a clamping mechanism and a turnover traction mechanism, the right-angle bearing table is used for bearing the square tube, the clamping mechanism is used for clamping the square tube, and the turnover traction mechanism is in driving connection with the right-angle bearing table and is used for pulling the right-angle bearing table to turn over; The end limiting device is used for pushing the end of the square tube to complete the longitudinal positioning; The jacking centering device is used for jacking up the square tube and transversely clamping the square tube to complete the transverse positioning of the square tube; The square tube lifting driving mechanism is used for jacking up the square tube upward or lowering the square tube to the right-angle bearing table; The laser detection system is used for collecting square tube topographic data information and processing the data information to obtain the flatness detection result of the square tube; The visual detection system is used for collecting square tube image information and processing the image information to obtain the detection result of the square tube.

[0008] In some implementations, the square tube automatic grabbing station comprises a truss mechanism and two sets of truss mechanical arms, the two sets of truss mechanical arms are slidingly installed on the truss mechanism, and a large-load electromagnet is installed at the end of the truss mechanical arm; two sets of the truss mechanical arms are respectively moved to a rack position fixed point, different grabbing programs are executed according to the feeding type to control the two sets of truss mechanical arms to be respectively moved to the two ends of the square tube to be adsorbed and fixed by the electromagnet, and then the square tube is placed in a horizontal posture on the right-angle bearing table.

[0009] In some implementations, a plurality of cow eye bearings for reducing the friction between the square tube and the right-angle bearing table are arranged on the right-angle bearing table, the right-angle bearing table is initially horizontally placed, and after the square tube is naturally placed, the square tube can be moved to the position of being attached to the vertical back plate under the synergistic action of the cow eye bearings and the clamping mechanism.

[0010] In some implementations, the clamping mechanism comprises a clamping mechanism mounting frame, a vertical driving module, a pulling plate and a clamping clamp, the vertical driving module is fixed on the clamping mechanism mounting frame, the bottom end of the pulling plate is fixedly connected with the power output end of the vertical driving module, the other end is hingedly connected with the clamping clamp, the clamping clamp is rotatably installed on the clamping mechanism mounting frame, and the vertical driving module can drive the pulling plate to be pulled down when working, and the clamping clamp swings downward to press the square tube after being pulled down.

[0011] In some implementations, the turnover device includes a turnover machine, the turnover traction mechanism includes a telescopic cylinder and a pair of pull link assemblies, the pair of pull link assemblies are hinged on the turnover machine, the right-angle bearing table is hinged on the pair of pull link assemblies, the telescopic rod of the telescopic cylinder is fixedly connected with the pair of pull link assemblies, and the telescopic cylinder can pull the pair of pull link assemblies when working, so that the right-angle bearing table is turned over.

[0012] In some implementations, the end limiting device includes a pushing cylinder and a pushing plate, the pushing cylinder is horizontally placed, and the pushing plate is fixed on the power output end of the pushing cylinder.

[0013] In some implementations, the jacking and centering device includes a centering component mounting rack, a jacking cylinder, a jacking support plate, a centering component mounting plate, a centering clamping cylinder, a transmission gear, a centering upper sliding module, a centering lower sliding module, an upper rack, a lower rack, a front clamping jaw, and a rear clamping jaw; the jacking cylinder and the centering component mounting plate are fixed on the centering component mounting rack, and the jacking support plate is fixedly connected with the power output end of the jacking cylinder; the centering clamping cylinder, the centering upper sliding module, and the centering lower sliding module are fixed on the centering component mounting plate, the transmission gear is rotatably installed on the centering component mounting plate; the upper rack and the rear clamping jaw are fixedly connected with the sliding block of the centering upper sliding module, the lower rack and the front clamping jaw are fixedly connected with the sliding block of the centering lower sliding module, and the upper rack and the lower rack are respectively located above and below the transmission gear and are in mesh with the transmission gear.

[0014] In some implementations, the laser detection system is integrated on the jacking and centering device, and includes a plurality of laser sensors, the plurality of laser sensors are evenly divided into four groups, and the four groups of laser sensors are arranged at the corner regions of the jacking support plate and the centering component mounting rack.

[0015] In some implementations, the visual detection system includes a 3D industrial camera, a ground rail, a ground rail mechanical arm, a 2D camera, and an end camera mounting rack; the ground rail mechanical arm is slidingly installed on the ground rail, the 3D industrial camera is installed at the end of the ground rail mechanical arm, the ground rail mechanical arm carries the 3D industrial camera to slide along the length direction of the ground rail, and the square tube is segmented scanned to realize comprehensive detection of the square tube; the 2D camera is installed on the end camera mounting rack, and is used for scanning the end of the square tube to detect the end size of the square tube.

[0016] In some implementations, the device further includes a marking machine, the square tube is encoded by the marking machine after the turnover and detection of the square tube are completed, and then the unloading action is completed.

[0017] In a second aspect, the application also provides a method for turning over and quality inspecting a multi-specification rectangular tube by using the above-mentioned device, which comprises the following steps: According to the type of the feeding, the square tube automatic grabbing station executes different grabbing procedures to grab the square tube and then places the square tube on the right-angle bearing table in a horizontal posture; After the square tube is attached to the right-angle bearing table, the end limiting device at the end side pushes the square tube to a longitudinal specified limiting point, thereby completing the longitudinal positioning of the square tube. After the longitudinal positioning of the square tube is completed, the square tube is horizontally positioned by the multiple sets of lifting centering devices arranged at different positions of the tube body. After the horizontal positioning and the longitudinal positioning are completed, the square tube body is lifted by the square tube lifting drive mechanism, the end part of the square tube is scanned by the visual detection system, the end part detection is completed, the laser detection system completes the shape and flatness detection of the side, and the right-angle bearing table is turned to the other side. After the detection is completed, the square tube lifting drive mechanism carries the square tube to descend and return to the right-angle bearing table, and the multiple sets of clamping mechanisms push the clamping jaws to clamp the square tube body according to the cross-sectional dimensions of different square tubes, so as to fix the square tube to prevent the square tube from deviating and falling during the turning over process. After the clamping mechanism fixes the square tube, the turning over step is started, and the turning over process is completed by the synchronous operation of the two sets of turning over traction mechanisms, and the clamping mechanism is loosened after each 90-degree turning over is completed. After the square tube is turned over by one side and the second positioning is completed, the square tube body is lifted by the square tube lifting drive mechanism, the tube body and the end part of the square tube are scanned by the visual detection system, and the single-side detection is completed. After the square tube is turned over by one side and the second positioning is completed, the square tube body is lifted by the square tube lifting drive mechanism, the tube body and the end part of the square tube are scanned by the visual detection system, and the single-side detection is completed. After the turning over and the detection are completed, the square tube is encoded by the marking machine, and the unloading action is completed by the automatic grabbing station.

[0018] Compared with the prior art, the application has the following beneficial effects: The application provides a device and a method for turning over and quality inspecting a multi-specification rectangular tube, and a complete square tube precise positioning and turning over detection system is constructed by the collaborative work of the square tube automatic grabbing station, the turning over device, the end limiting device, the lifting centering device, the laser detection system and the visual detection system.

[0019] The present application overcomes the technical bottleneck of existing equipment in square tube quality inspection and production, improves the versatility, automation level and detection capacity of the equipment, and can meet the high standard demand of the construction manufacturing industry on component quality. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 is a top view structural schematic diagram of a turnover and quality inspection equipment for multi-specification rectangular tubes provided by an embodiment of the present application; Figure 2 is Figure 1 a partial structural schematic diagram of the turnover and quality inspection equipment shown in FIG. 1; Figure 3 is a schematic diagram of a square tube being grabbed onto a right-angle bearing table of the equipment; Figure 4 is Figure 2 a structural schematic diagram of a turnover device in the equipment shown in FIG. 1; Figure 5 is Figure 2 a structural schematic diagram of the turnover device in the equipment shown in FIG. 1 from another perspective; Figure 6 is Figure 2 a structural schematic diagram of a jacking centering device in the equipment shown in FIG. 1; Figure 7 is Figure 2 a structural schematic diagram of the jacking centering device in the equipment shown in FIG. 1 from another perspective.

[0021] FIG. 1 is a structural schematic diagram of a square tube automatic grabbing work station according to the present application; Square tube automatic grabbing work station 1, truss mechanism 11, truss mechanical arm 12, turnover device 2, turnover machine table 21, right-angle bearing table 22, clamping mechanism 23, turnover traction mechanism 24, bullseye bearing 25, end position limiting device 3, jacking centering device 4, centering component mounting rack 41, jacking cylinder 42, jacking support plate 43, centering component mounting plate 44, centering clamping cylinder 45, transmission gear 46, centering upper sliding module 47, centering lower sliding module 48, upper rack 49, lower rack 4a, front clamping jaw 4b, rear clamping jaw 4c, square tube lifting driving mechanism 5, code marking machine 6, 2D camera 7, end camera mounting rack 8, ground rail mechanical arm 9a, ground rail 9b, laser sensor 10, square tube 200. DETAILED DESCRIPTION

[0022] In order to make the inventive purposes, features and advantages of the present application more obvious and easy to understand, the technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the embodiments described below are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0023] In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "front", "back", "vertical", "horizontal", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application; the terms "first", "second", "third" are only for the purpose of description, and cannot be understood as indicating or implying relative importance; in addition, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting" should be understood in a broad sense, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be directly connected, or indirectly connected through an intermediate medium, or the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to the specific circumstances.

[0024] The technical solutions of the present application will be further described below in conjunction with the drawings and specific embodiments.

[0025] Please refer to Figure 1 and Figure 2 , which show a kind of turnover and quality inspection equipment for multi-specification rectangular tube provided by the embodiment, including square tube automatic grabbing work station 1, turnover device 2, end limiting device 3, jacking centering device 4, square tube lifting driving mechanism 5, visual detection system, laser detection system and coding machine 6.

[0026] Specifically, square tube automatic grabbing work station 1 is used to grab square tube to turnover device 2 (as shown in Figure 3 ) and take down square tube 200 from turnover device 2. Square tube automatic grabbing work station 1 includes truss mechanism 11 and two sets of truss mechanical arms 12, two sets of truss mechanical arms 12 are installed on truss mechanism 11, and large load electromagnet is installed at the end of truss mechanical arm 12; two sets of truss mechanical arms 12 are respectively moved to the material rack position fixed point, different grabbing program is executed according to the feeding type to control two sets of truss mechanical arms 12 to move to the two ends of square tube 200 to be adsorbed and fixed by electromagnet, and then square tube 200 is placed in horizontal posture on turnover device 2.

[0027] Please refer to Figure 4 and Figure 5, the turnover device 2 includes a turnover machine table 21, a right-angle bearing table 22, a clamping mechanism 23 and a turnover traction mechanism 24. The right-angle bearing table 22 is used for placing the square tube 200, and a plurality of bull's eye bearings 25 for reducing the friction between the square tube and the right-angle bearing table 22 are arranged on the right-angle bearing table 22. The right-angle bearing table 22 is initially horizontally placed, and after the square tube 200 is naturally placed, the square tube 200 can be moved to the position of being attached to the vertical back plate under the synergistic action of the bull's eye bearings 25 and the clamping mechanism 23.

[0028] The clamping mechanism 23 is used for clamping the square tube 200, and the clamping mechanism 23 includes a clamping mechanism mounting frame, a vertical driving module, a pulling plate and a clamping clamp. The vertical driving module is fixed on the clamping mechanism mounting frame, the bottom end of the pulling plate is fixedly connected with the power output end of the vertical driving module, the other end is hingedly connected with the clamping clamp, the clamping clamp is rotatably installed on the clamping mechanism mounting frame, and the vertical driving module can drive the pulling plate to be pulled down when working. After the clamping clamp is pulled down, it swings downward to press the square tube 200.

[0029] The turnover traction mechanism 24 is in transmission connection with the right-angle bearing table 22 and is used for pulling the right-angle bearing table 22 to turn over. The turnover traction mechanism 24 includes a telescopic cylinder and a pull-link assembly, the pull-link assembly is hingedly connected to the turnover machine table 21, the right-angle bearing table 22 is hingedly connected to the pull-link assembly, the telescopic rod of the telescopic cylinder is fixedly connected with the pull-link assembly, and the telescopic cylinder can pull the pull-link assembly to make the right-angle bearing table 22 turn over when working.

[0030] The end limiting device 3 is used for pushing the end of the square tube 200 to complete the longitudinal positioning. The end limiting device 3 includes a pushing cylinder and a pushing plate, and the pushing cylinder is horizontally placed, and the pushing plate is fixed on the power output end of the pushing cylinder.

[0031] The jacking centering device 4 is used for jacking up the square tube 200 and transversely clamping the square tube 200 to complete the transverse centering positioning of the square tube 200. Please refer to Figure 6 and Figure 7The jacking and centering device 4 comprises a centering component mounting frame 41, a jacking cylinder 42, a jacking support plate 43, a centering component mounting plate 44, a centering clamping cylinder 45, a transmission gear 46, a centering upper sliding module 47, a centering lower sliding module 48, an upper rack 49, a lower rack 4a, a front clamping jaw 4b and a rear clamping jaw 4c. The jacking cylinder 42 and the centering component mounting plate 44 are fixed on the centering component mounting frame 41, and the jacking support plate 43 is fixedly connected with the power output end of the jacking cylinder 42. The centering clamping cylinder 45, the centering upper sliding module 47 and the centering lower sliding module 48 are fixed on the centering component mounting plate 44, and the transmission gear 46 is rotatably mounted on the centering component mounting plate 44. The upper rack 49 and the rear clamping jaw 4c are fixedly connected with the sliding block of the centering upper sliding module 47, and the lower rack 4a and the front clamping jaw 4b are fixedly connected with the sliding block of the centering lower sliding module 48. The upper rack 49 and the lower rack 4a are respectively located above and below the transmission gear 46 and are engaged with the transmission gear 46.

[0032] The square tube lifting driving mechanism 5 is used for lifting the square tube 200 upward or lowering the square tube 200 to the right-angle bearing table 22.

[0033] The laser detection system is integrated on the jacking and centering device 4, and the laser detection system comprises a plurality of laser sensors 10. The plurality of laser sensors 10 are evenly divided into four groups, and the four groups of laser sensors 10 are arranged at the corner regions of the jacking support plate 43 and the centering component mounting frame 41.

[0034] The visual detection system is used for collecting image information of the square tube 200 and processing the image information to obtain a detection result of the square tube. As shown in Figure 2 The visual detection system comprises a 3D industrial camera, a 2D camera 7, an end camera mounting frame 8, a ground rail mechanical arm 9a and a ground rail 9b. The ground rail mechanical arm 9a is slidingly mounted on the ground rail 9b, and the 3D industrial camera is mounted at the end of the ground rail mechanical arm 9a. The ground rail mechanical arm 9a carrying the 3D industrial camera slides along the length direction of the ground rail 9b to segmentally scan the square tube 200, so as to realize comprehensive detection of the square tube 200. The 2D camera 7 is mounted on the end camera mounting frame 8 and is used for scanning the end of the square tube 200 to detect the end size of the square tube.

[0035] The marking machine 6 is located directly below the square tube 200. After the square tube 200 is turned over and detected, the square tube 200 is encoded by the marking machine 6, and then the unloading action is completed.

[0036] The embodiment also provides a method for realizing turning over and quality inspection of square tubes of multiple specifications by using the above device, which comprises the following steps: According to the loading type, the square tube 200 automatic grabbing workstation is controlled to execute different grabbing programs, grab the square tube 200, and then place the square tube 200 in a horizontal posture on the right-angle bearing table 22. After the square tube 200 is attached to the right-angle bearing table 22, the end limiting device 3 at the end side pushes the square tube 200 to the specified limiting point in the longitudinal direction, thereby completing the longitudinal positioning of the square tube 200; After the longitudinal positioning of the square tube 200 is completed, the square tube 200 is positioned in the transverse direction by the multiple sets of lifting and centering devices 4 arranged at different positions of the tube body; After the transverse positioning and longitudinal positioning are completed, the square tube body is lifted by the square tube lifting drive mechanism 5, the end part of the square tube 200 is scanned by the visual detection system, the end part detection is completed, the profile and flatness detection of the side is completed by the laser detection system, and the right-angle bearing table 22 is turned to the other side; After the detection is completed, the square tube lifting drive mechanism 5 carries the square tube to descend and return to the right-angle bearing table 22, and the multiple sets of clamping mechanisms 23 push the clamping jaws to clamp the square tube body 200 according to the cross-sectional dimensions of different square tubes 200, so as to fix the square tube 200 to prevent the square tube 200 from deviating and falling during the turning process; After the square tube is fixed by the clamping mechanism 23, the turning step is started, and the turning process is completed by the synchronous operation of the two sets of turning traction mechanisms 24. After each 90-degree turning is completed, the clamping mechanism 23 is loosened; After the square tube 200 is turned by one side and the second positioning is completed, the square tube body is lifted by the square tube lifting drive mechanism 5, the tube body and the end part of the square tube 200 are scanned by the visual detection system, and the single-side detection is completed; After the square tube is turned by 90 degrees and the second positioning is completed, the right-angle bearing table 22 below is turned to the other side during the lifting stage. After the single detection is completed, the square tube lifting drive mechanism 5 carries the square tube 200 to descend and return to the right-angle bearing table 22, and the clamping action is completed to drive the square tube 200 to turn by 90 degrees. The above steps are repeated three times until the four sides of the square tube 200 are all detected and scanned; After the turning and detection are completed, the square tube 200 is encoded by the marking machine 6, and the discharging action is completed by the square tube automatic grabbing work station 1.

[0037] In summary, the embodiment provides a turning and quality inspection equipment for square tubes of multiple specifications. Through the cooperative work of the square tube automatic grabbing work station 1, the turning device 2, the end limiting device 3, the lifting and centering device 4, the laser detection system and the visual detection system, a complete square tube precise positioning and turning detection system is constructed. The system can realize the full-automatic grabbing, accurate positioning and attitude adjustment of square tubes 200 of multiple specifications, and complete the comprehensive collection and analysis of product data, thereby significantly improving the quality inspection efficiency and detection accuracy and providing a scientific basis for production process optimization.

[0038] The embodiment overcomes the technical bottleneck of existing equipment in square tube quality inspection and production, improves the universality, automation level and detection capability of the equipment, and can meet the high-standard demand of the building manufacturing industry for component quality.

[0039] The above description is only the preferred embodiment of the present application, and is not intended to limit the present application. Any modification, equivalent replacement and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. An apparatus for turning over and quality inspection of rectangular tubes of various specifications, characterized in that, The square tube automatic grabbing station, the turnover device, the end limiting device, the jacking centering device, the square tube lifting driving mechanism, the laser detection system and the visual detection system; The square tube automatic grabbing station is used for grabbing the square tube to the turnover device and taking the square tube off the turnover device; The turnover device includes a right-angle bearing table, a clamping mechanism and a turnover traction mechanism, the right-angle bearing table is used for bearing the square tube, the clamping mechanism is used for clamping the square tube, and the turnover traction mechanism is in transmission connection with the right-angle bearing table and is used for pulling the right-angle bearing table to turn over; The end limiting device is used for pushing the end of the square tube to complete longitudinal positioning. The jacking centering device is used for jacking up the square tube and transversely clamping the square tube to complete transverse centering positioning of the square tube. The square tube lifting driving mechanism is used for jacking up the square tube upward or making the square tube descend to the right-angle bearing table. The laser detection system is used for collecting square tube topographic data information and processing the data information to obtain square tube flatness detection results. The visual detection system is used for collecting square tube image information and processing the image information to obtain square tube detection results.

2. The apparatus of claim 1, wherein, The square tube automatic grabbing station includes a truss mechanism and two sets of truss mechanical arms, the two sets of truss mechanical arms are slidingly installed on the truss mechanism, and a large-load electromagnet is installed at the end of the truss mechanical arm; two sets of the truss mechanical arms are respectively moved to a rack position fixed point, different grabbing programs are executed according to the feeding type to control the two sets of truss mechanical arms to be respectively moved to the two ends of the square tube to be adsorbed and fixed by the electromagnet, and then the square tube is placed in a horizontal posture on the right-angle bearing table.

3. The apparatus of claim 1, wherein, A plurality of eye bearings for reducing the friction between the square tube and the right-angle bearing table are arranged on the right-angle bearing table, the right-angle bearing table is initially horizontally placed, and after the square tube is naturally placed, the square tube can be moved to the position of being attached to the vertical back plate under the synergistic action of the eye bearings and the clamping mechanism.

4. The apparatus of claim 1, wherein, The clamping mechanism includes a clamping mechanism mounting frame, a vertical driving module, a pulling plate and a clamping clamp, the vertical driving module is fixed on the clamping mechanism mounting frame, the bottom end of the pulling plate is fixedly connected with the power output end of the vertical driving module, the other end is hinged with the clamping clamp, the clamping clamp is rotatably installed on the clamping mechanism mounting frame, and the vertical driving module can drive the pulling plate to be pulled down when working.

5. The apparatus of claim 1, wherein, The turnover device includes a turnover machine table, the turnover traction mechanism includes a telescopic cylinder and a pull-and-pull linkage assembly, the pull-and-pull linkage assembly is hinged on the turnover machine table, the right-angle bearing table is hinged on the pull-and-pull linkage assembly, the telescopic rod of the telescopic cylinder is fixedly connected with the pull-and-pull linkage assembly, and the telescopic cylinder can pull the pull-and-pull linkage assembly to make the right-angle bearing table turn over when working.

6. The apparatus of claim 1, wherein, The end limiting device includes a pushing cylinder and a push plate, the pushing cylinder is horizontally placed, and the push plate is fixed on the power output end of the pushing cylinder.

7. The apparatus of claim 1, wherein, The jacking centering device comprises a centering component mounting rack, a jacking cylinder, a jacking support plate, a centering component mounting plate, a centering clamping cylinder, a transmission gear, a centering upper sliding module, a centering lower sliding module, an upper rack, a lower rack, a front clamping jaw and a rear clamping jaw; the jacking cylinder and the centering component mounting plate are fixed on the centering component mounting rack, and the jacking support plate is fixedly connected with the power output end of the jacking cylinder; the centering clamping cylinder, the centering upper sliding module and the centering lower sliding module are fixed on the centering component mounting plate, and the transmission gear is rotatably mounted on the centering component mounting plate; the upper rack and the rear clamping jaw are fixedly connected with the sliding block of the centering upper sliding module, the lower rack and the front clamping jaw are fixedly connected with the sliding block of the centering lower sliding module, and the upper rack and the lower rack are located above and below the transmission gear respectively and are engaged with the transmission gear.

8. The apparatus of claim 7, wherein, The laser detection system is integrated on the jacking centering device, and the laser detection system comprises a plurality of laser sensors, which are evenly divided into four groups, and the four groups of laser sensors are arranged at the corner regions of the jacking support plate and the centering component mounting rack.

9. The apparatus of claim 2, wherein, The visual detection system comprises a 3D industrial camera, a ground rail, a ground rail mechanical arm, a 2D camera and an end camera mounting rack; the ground rail mechanical arm is slidingly installed on the ground rail, the 3D industrial camera is installed at the end of the ground rail mechanical arm, the ground rail mechanical arm carries the 3D industrial camera to slide along the length direction of the ground rail, and the opposite pipes are segmented scanned to realize comprehensive detection of the square pipes; the 2D camera is installed on the camera mounting rack, and is used for scanning the end of the square pipe to detect the size of the end of the square pipe.

10. The apparatus of claim 1, wherein, A code marking machine is further included, and the square pipe is coded by the code marking machine after the square pipe is turned over and detected, and then the unloading action is completed.

11. A method for turning over and inspecting a multi-specification rectangular tube by using the apparatus according to any one of claims 1 to 10, wherein The method comprises the following steps: According to the type of the feeding, the square pipe automatic grabbing workstation executes different grabbing procedures, grabs the square pipe, and then places the square pipe in a horizontal posture on the right-angle bearing table; After the square pipe is attached to the right-angle bearing table, the end limiting device at the end side pushes the square pipe to a longitudinal specified limiting point, thereby completing the longitudinal positioning of the square pipe; After the longitudinal positioning of the square pipe is completed, the jacking centering devices arranged at different positions of the pipe body complete the transverse centering positioning of the square pipe; After the transverse positioning and the longitudinal positioning are completed, the square pipe body is jacked up by the square pipe lifting driving mechanism, the visual detection system scans the end of the square pipe, the end detection is completed, the laser detection system completes the shape and flatness detection of the side, and the right-angle bearing table is turned to the other side; After the detection is completed, the square pipe lifting driving mechanism carries the square pipe to descend and return to the right-angle bearing table, and the multiple clamping mechanisms push the clamping jaws to clamp the square pipe body according to the cross-sectional size of the different square pipes, so as to fix the square pipe to prevent the square pipe from deviating and falling off during the turning over process; After the clamping mechanism fixes the square pipe, the turning over step is started, and the turning over process is completed by the synchronous operation of the two sets of turning over traction mechanisms, and the clamping mechanism is loosened after completing a 90-degree turning over each time. After each side of the square tube is turned over and the second positioning is completed, the square tube body is lifted by the square tube lifting drive mechanism, and the vision detection system scans the tube body and the end of the square tube, completing single-side detection; After the square tube is turned over by 90° and the second positioning is completed, the straight bearing table below is turned to the other side during the lifting stage. After the single detection is completed, the square tube lifting drive mechanism carries the square tube to descend and return to the straight bearing table, and completes the clamping action to turn the square tube over by 90°. The above steps are repeated 3 times until the four sides of the square tube are detected and scanned; After the turning and detection are completed, the square tube is encoded by the marking machine, and the automatic grabbing workstation completes the unloading action.

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