Automatic detection device for weld defect of steel structure assembly member

Abstract

An automatic detection device for weld defects of a steel structure assembly component comprises a moving mechanism, a detection mechanism, a classification mechanism and an industrial control host. The moving mechanism is located in front of the detection mechanism, the classification mechanism is located behind the detection mechanism, and the moving mechanism, the detection mechanism and the classification mechanism are electrically connected to the industrial control host in a wired or wireless mode; the moving mechanism is used for moving the steel structure assembly component to the detection mechanism; the detection mechanism is used for performing weld defect detection on the steel structure assembly component; the classification mechanism is used for classifying the steel structure assembly components according to the welding seam defect detection result; the industrial control host is used for controlling the weld defect detection process. According to the utility model, the automatic production of the steel structure assembly type component can be continuously promoted while the welding seam defect detection precision is improved, and the effect of improving the production efficiency of the steel structure assembly type component is realized.

Description

Technical Field

[0001] The utility model relates to the technical field of welding, in particular to an automatic detection device for weld defects of steel structure assembly components. Background Art

[0002] In the development of my country's construction industry, prefabricated buildings are increasingly occupying an important position. However, it should be noted that due to factors such as the instability of welding technology, differences in the level of welders, and changes in the welding environment, welding defects such as pores, undercuts, slag inclusions, and incomplete penetration are often introduced during the welding construction process. These defects will directly affect the stress performance of the components, and in severe cases will cause fatigue damage to the nodes of steel structure buildings under the action of strong winds, downbursts, earthquakes, etc. Therefore, steel structure assembly components usually need to be inspected for welds before leaving the factory. If they do not meet the acceptance standards, repair welding, re-welding, and other steps will be performed to ensure the quality of the welds.

[0003] In the process of detecting a large number of weld defects, manual detection is easily affected by subjective factors, and is prone to problems such as missed detection and false detection, resulting in low accuracy of detection results, thereby causing waste of materials and labor. Existing technologies mostly focus on the diversification of recognition technologies, and most of them are not suitable for steel structure assembly component plates, and there is no mention of automated batch detection. In construction projects, some high-rise buildings, bridge buildings and special buildings often use steel structure assembly components with a thickness of 25mm to 100mm, and the number of them used is also large. In the welding process of steel structure assembly components, there are special processes such as upper and lower bevels, multi-layer and multi-pass welding, etc. The existing single detection technology has a low recognition accuracy rate for weld defects of steel structure assembly components, and there are missed detections and false detections. Utility Model Content

[0004] In order to solve the above problems, the utility model provides an automatic detection device for weld defects of steel structure assembly components, comprising a moving mechanism, a detection mechanism, a classification mechanism and an industrial control host; the moving mechanism is located in front of the detection mechanism, the classification mechanism is located behind the detection mechanism, and the moving mechanism, the detection mechanism and the classification mechanism are all electrically connected to the industrial control host by wired and / or wireless means;

[0005] The moving mechanism is used to move the steel structure assembly components to the inspection mechanism; the inspection mechanism is used to perform weld defect inspection on the steel structure assembly components; the classification mechanism is used to classify the steel structure assembly components according to the weld defect inspection results; and the industrial control host is used to control the weld defect inspection process.

[0006] Furthermore, the moving mechanism includes a first robotic arm, a first component slot, a first industrial camera and a first motor; the first component slot is located in front of the first robotic arm, the first industrial camera is installed on the top of the first robotic arm, and the first robotic arm is installed on the top of the first motor; the first motor is electrically connected to the industrial control host via wired and / or wireless means.

[0007] Furthermore, the detection mechanism includes a ray module, an imaging module, a unidirectional track and a second motor; the second motor is electrically connected to the unidirectional track, the ray module and the imaging module are arranged in pairs on the upper and lower sides of the unidirectional track respectively, and the imaging module is electrically connected to the industrial control host.

[0008] Furthermore, the classification mechanism includes a second industrial camera, a second robotic arm, a second component slot and a third motor; the second component slot is located in front of the second robotic arm, the second industrial camera is installed on the top of the second robotic arm, and the second robotic arm is installed on the top of the third motor; the third motor is electrically connected to the industrial control host via wired and / or wireless means.

[0009] Optionally, the radiation module includes a first X-ray machine and a second X-ray machine, and the imaging module includes a first linear array imager and a second linear array imager; the first X-ray machine is arranged on the front lower side of the unidirectional track, and the first linear array imager is arranged on the front upper side of the unidirectional track; the second X-ray machine is arranged on the rear upper side of the unidirectional track, and the second linear array imager is arranged on the rear lower side of the unidirectional track.

[0010] Furthermore, the unidirectional crawler includes a first crawler and a second crawler, and the first crawler and the second crawler are both electrically connected to the second motor.

[0011] Furthermore, a detection gap is provided between the first crawler track and the second crawler track.

[0012] Furthermore, the detection gap is larger than the weld width.

[0013] Particularly, the first robotic arm is a four-axis robotic arm.

[0014] Furthermore, there are multiple second component grooves.

[0015] Compared with the existing technology, the beneficial effects of the utility model are:

[0016] The utility model controls the weld defect detection process through the industrial control host. First, the moving mechanism moves the steel structure assembly component to the detection mechanism, and then the detection mechanism performs weld defect detection on the steel structure assembly component. Finally, the classification mechanism classifies the steel structure assembly component according to the weld defect detection result, thereby automatically completing the automatic detection process of weld defects of the steel structure assembly component, and improving the weld defect detection efficiency of the steel structure assembly component; the detection mechanism performs weld defect detection through two pairs of ray modules and imaging modules arranged on the upper and lower sides of the unidirectional crawler, and can collect weld images at different times. Through the comparison and correction of the two images, the weld rating is more accurate, which can greatly reduce the probability of false detection and missed detection. Through the weld detection device of the utility model, it is possible to continue to promote the automated production of steel structure assembly components while improving the accuracy of weld defect detection, and achieve the effect of improving the production efficiency of steel structure assembly components. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the structure of the utility model;

[0018] Figure numerals: 1. moving mechanism; 2. detection mechanism; 3. classification mechanism; 4. industrial control host; 5. steel structure assembly component; 11. first robotic arm; 12. first component slot; 13. first industrial camera; 14. first motor; 21. first X-ray machine; 22. first linear array imager; 23. second X-ray machine; 24. second linear array imager; 25. unidirectional track; 26. second motor; 31. second industrial camera; 32. second robotic arm; 33. second component slot; 34. third motor. DETAILED DESCRIPTION

[0019] The present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0020] According to the first aspect of the present invention, Figure 1 As shown, an automatic detection device for weld defects of steel structure assembly components includes a moving mechanism 1, a detection mechanism 2, a classification mechanism 3 and an industrial control host 4; the moving mechanism 1 is located in front of the detection mechanism 2, the classification mechanism 3 is located behind the detection mechanism 2, and the moving mechanism 1, the detection mechanism 2 and the classification mechanism 3 are all electrically connected to the industrial control host 4 by wired and / or wireless means;

[0021] The moving mechanism 1 is used to move the steel structure assembly component 5 to the detection mechanism 2; the detection mechanism 2 is used to perform weld defect detection on the steel structure assembly component 5; the classification mechanism 3 is used to classify the steel structure assembly component 5 according to the weld defect detection result; the industrial control host 4 is used to control the weld defect detection process.

[0022] An automatic detection device for weld defects of steel structure assembly components includes a moving mechanism 1, a detection mechanism 2, a classification mechanism 3 and an industrial control host 4. The moving mechanism 1 is used to move the steel structure assembly component 5 to the detection mechanism 2; the detection mechanism 2 is used to perform weld defect detection on the steel structure assembly component 5; the classification mechanism 3 is used to classify the steel structure assembly component 5 according to the weld defect detection result; and the industrial control host 4 is used to control the weld defect detection process. The industrial control host 4 is used to control the weld defect detection process, and can start the moving mechanism 1 to start the weld defect detection process. The moving mechanism 1 is used to move the steel structure assembly component 5 to the detection mechanism 2, and can move the steel structure assembly component 5 placed in advance at a specified position onto the detection mechanism 2. The detection mechanism 2 is used to perform weld defect detection on the steel structure assembly component 5, obtain the weld detection result, and transmit the detection result to the industrial control host 4. The classification mechanism 3 is used to classify the steel structure assembly components 5 according to the weld defect detection results. The industrial control host 4 sends the weld detection results to the classification mechanism 3. The classification mechanism 3 classifies the steel structure assembly components 5 according to the weld detection results and places them in the specified position, thereby completing the entire process of automatic detection of weld defects of steel structure assembly components. The mobile mechanism 1 is located in front of the detection mechanism 2, and the classification mechanism 3 is located behind the detection mechanism 2, so that the mobile mechanism 1, the detection mechanism 2 and the classification mechanism 3 form an assembly line for weld defect detection of steel structure assembly components, thereby improving the efficiency of weld defect detection of steel structure assembly components. The mobile mechanism 1, the detection mechanism 2 and the classification mechanism 3 are all electrically connected to the industrial control host 4 through wired and / or wireless means. The industrial control host 4 can issue instructions to the mobile mechanism 1, the detection mechanism 2 and the classification mechanism 3 to start or stop the weld defect detection process of the steel structure assembly component, and can also obtain detection data, process and / or forward detection data, and store detection data and / or detection results in the detection process, thereby ensuring the smooth progress of the weld defect detection process of the steel structure assembly component.

[0023] The utility model controls the weld defect detection process through the industrial control host 4. First, the moving mechanism 1 moves the steel structure assembly component 5 to the detection mechanism 2, and then the detection mechanism 2 performs weld defect detection on the steel structure assembly component 5. Finally, the classification mechanism 3 classifies the steel structure assembly component 5 according to the weld defect detection result, thereby automatically completing the automatic detection process of weld defects of the steel structure assembly component and improving the efficiency of weld defect detection of the steel structure assembly component.

[0024] Furthermore, the mobile mechanism 1 includes a first robotic arm 11, a first component slot 12, a first industrial camera and a first motor 14; the first component slot 12 is located in front of the first robotic arm 11, the first industrial camera 13 is installed on the top of the first robotic arm 11, and the first robotic arm 11 is installed on the top of the first motor 14; the first motor 14 is electrically connected to the industrial control host 4 via wired and / or wireless means.

[0025] The mobile mechanism 1 includes a first mechanical arm 11, a first component slot 12, a first industrial camera 13 and a first motor 14; the first component slot 12 is located in front of the first mechanical arm 11, and the first component slot 12 is used to place the steel structure assembly component 5, and is located in front of the first mechanical arm 11 to facilitate the operation of the first mechanical arm 11; the first industrial camera 13 is installed on the top of the first mechanical arm 11, and is used to obtain the image of the steel structure assembly component 5, and is installed on the top of the first mechanical arm 11 to obtain a larger field of view. The first industrial camera 13 is electrically connected to the first motor 14, and can transmit the image of the steel structure assembly component 5 to the industrial control host 4 for weld position recognition. The first mechanical arm 11 is installed on the top of the first motor 14, and the first mechanical arm 11 is electrically connected to the first motor 14. The first motor 14 is used to provide power for the first mechanical arm 11. The first mechanical arm 11 is installed on the top of the first motor 14 to save the space occupied by the mobile mechanism 1, and facilitate the overall planning and deployment of the automatic detection assembly line. The first motor 14 is electrically connected to the industrial control host 4 by wired and / or wireless means. The first motor 14 also includes a processor and a memory. The processor is used to process data and execute methods, and the memory is used to store data and executable methods. It can also include a wired and / or wireless communication module, which is electrically connected to the industrial control host 4 by wired and / or wireless means for data interaction. The mobile mechanism 1 can use the first mechanical arm 11 to move the steel structure assembly component 5 to be tested to a specified position according to the image of the steel structure assembly component 5 obtained by the first industrial camera 13 according to a pre-planned moving path, generally on the unidirectional crawler 25 of the detection mechanism 2, and place the weld in the crawler gap, which is convenient for the detection mechanism 2 to perform subsequent operations, thereby improving the efficiency of weld defect detection of steel structure assembly components.

[0026] Furthermore, the detection mechanism 2 includes a radiation module, an imaging module, a unidirectional track 25 and a second motor 26; the second motor 26 is electrically connected to the unidirectional track 25, the radiation module and the imaging module are respectively arranged in pairs on the upper and lower sides of the unidirectional track 25, and the imaging module is electrically connected to the industrial control host 4.

[0027] The detection mechanism 2 includes a ray module, an imaging module, a unidirectional crawler 25 and a second motor 26. The second motor 26 is electrically connected to the unidirectional crawler 25 to provide power for the unidirectional crawler 25. The ray module and the imaging module are arranged in pairs on the upper and lower sides of the unidirectional crawler 25, respectively. The ray module can be arranged on the upper side of the unidirectional crawler 25 and the imaging module can be arranged on the lower side of the unidirectional crawler 25, or the ray module can be arranged on the lower side of the unidirectional crawler 25 and the imaging module can be arranged on the upper side of the unidirectional crawler 25; the ray module is used to emit special rays to the component to be tested, and the utility model is preferably X-rays. The imaging module is used to form an image of the weld of the component to be tested under special rays, and the utility model is preferably an image under X-rays. Since the ray module and the imaging module need to be used in conjunction, the ray module and the imaging module are arranged in pairs on the upper and lower sides of the unidirectional crawler 25. The imaging module is electrically connected to the industrial control host 4. The imaging module is used to form an X-ray image of the weld of the component to be tested and transmit the image to the industrial control host 4, so as to facilitate subsequent operations of the industrial control host 4 and improve the efficiency of weld defect detection of steel structure assembly components.

[0028] Furthermore, the classification mechanism 3 includes a second industrial camera 31, a second robotic arm 32, a second component slot 33 and a third motor 34; the second component slot 33 is located in front of the second robotic arm 32, the second industrial camera 31 is installed on the top of the second robotic arm 32, and the second robotic arm 32 is installed on the top of the third motor 34; the third motor 34 is electrically connected to the industrial control host 4 via wired and / or wireless means.

[0029] The classification mechanism 3 includes a second industrial camera 31, a second mechanical arm 32, a second component slot 33 and a third motor 34; the second component slot 33 is located in front of the second mechanical arm 32, which is convenient for the second mechanical arm 32 to operate; the second industrial camera 31 is installed on the top of the second mechanical arm 32, which can obtain a larger field of view; the second industrial camera 31 is electrically connected to the third motor 34, and the image of the steel structure assembly component 5 can be transmitted to the industrial control host 4 for component spatial position confirmation; the second mechanical arm 32 is installed on the top of the third motor 34, and the third motor 34 is used to provide power for the second mechanical arm 32. The second mechanical arm 32 is installed on the top of the third motor 34 to save the space occupied by the mobile mechanism 1, which is convenient for the overall planning and deployment of the automatic detection assembly line. The third motor 34 is electrically connected to the industrial control host 4 by wired and / or wireless means, and the third motor 34 also includes a processor and a memory, the processor is used to process data and execute methods, and the memory is used to store data and executable methods. It can also include a wired and / or wireless communication module, which is electrically connected to the industrial control host 4 by wired and / or wireless means for data interaction. The industrial control host 4 determines the target classification slot of the component according to the component classification result, and sends the component spatial position and the target classification slot information to the second robotic arm 32. The second robotic arm 32 moves the component to be tested to the target classification slot according to the pre-set moving route, thereby completing the automatic detection process of weld defects of steel structure assembly components and improving the efficiency of weld defect detection of steel structure assembly components.

[0030] Optionally, the radiation module includes a first X-ray machine 21 and a second X-ray machine 23, and the imaging module includes a first linear array imager 22 and a second linear array imager 24; the first X-ray machine 21 is arranged on the front lower side of the unidirectional track 25, and the first linear array imager 22 is arranged on the front upper side of the unidirectional track 25; the second X-ray machine 23 is arranged on the rear upper side of the unidirectional track 25, and the second linear array imager 24 is arranged on the rear lower side of the unidirectional track 25.

[0031] The ray module includes a first X-ray machine 21 and a second X-ray machine 23, and the imaging module includes a first linear array imager 22 and a second linear array imager 24; the first X-ray machine 21 is arranged on the front lower side of the unidirectional track 25, and the first linear array imager 22 is arranged on the front upper side of the unidirectional track 25. The first ray machine emits X-rays from bottom to top, which pass through the component to be tested to reach the first linear array imager 22, and the first linear array imager 22 forms an image and transmits it to the industrial control host 4; the second X-ray machine 23 is arranged on the rear upper side of the unidirectional track 25, and the second linear array imager 24 is arranged on the rear lower side of the unidirectional track 25; the second ray machine emits X-rays from top to bottom, which pass through the component to be tested to reach the first linear array imager 22, and the second linear array imager 24 forms an image and transmits it to the industrial control host 4; in this way, the industrial control host 4 obtains the time-difference image of the component to be tested, and can process and correct the detection results by comparing the images at different times, thereby improving the efficiency and accuracy of weld defect detection of steel structure assembly components.

[0032] Furthermore, the unidirectional crawler 25 includes a first crawler and a second crawler, and the first crawler and the second crawler are both electrically connected to the second motor 26 .

[0033] The unidirectional track 25 includes a first track and a second track, which are used to cooperate with the transmission components to make the component transmission smoother. The first track and the second track are electrically connected to the second motor 26, and the second motor 26 provides power for the first track and the second track; the first track and the second track can also be connected to different motors respectively to improve the transmission capacity of the unidirectional track 25.

[0034] Furthermore, a detection gap is provided between the first crawler track and the second crawler track.

[0035] A detection gap is set between the first track and the second track. The detection gap is used to suspend the weld of the component, so that the detection mechanism 2 can simultaneously obtain time-difference images of the weld in different directions, provide data support for the subsequent correction of the detection results, and improve the detection accuracy.

[0036] Furthermore, the width of the detection gap is greater than the width of the weld.

[0037] The width of the detection gap is larger than the width of the weld. Obviously, the width of the detection gap must be larger than the width of the weld so that both sides of the weld can be directly irradiated by X-rays. The width of the weld is generally between 3 and 10 cm, and the width of the detection gap is generally between 10 and 20 cm.

[0038] Particularly, the first robot arm 11 is a four-axis robot arm.

[0039] The first robotic arm 11 is a four-axis robotic arm, which is a common type of robotic arm, which not only ensures that the robotic arm has sufficient flexibility, but also takes into account the economic cost of the robotic arm.

[0040] Furthermore, there are multiple second component grooves 33.

[0041] There are multiple second component slots 33. Since there are multiple weld detection results, there should also be multiple second component slots 33, corresponding to the components to be tested with different classification results.

[0042] According to a second aspect of the present invention, an automatic detection device for weld defects of steel structure assembly components includes a mobile mechanism 1, a detection mechanism 2, a classification mechanism 3 and an industrial control host 4; the mobile mechanism 1 is located in front of the detection mechanism 2, the classification mechanism 3 is located behind the detection mechanism 2, and the mobile mechanism 1, the detection mechanism 2 and the classification mechanism 3 are all electrically connected to the industrial control host 4 by wired and / or wireless means; the industrial control host 4 includes a processor and a memory, and the processor is configured to execute the following automatic detection method for weld defects of steel structure assembly components based on instructions stored in the memory:

[0043] Step S1, identifying the weld area position of the steel structure assembly component 5, and moving the steel structure assembly component 5 to the detection mechanism 2 through the moving mechanism 1;

[0044] Step S2, acquiring a weld image through the detection mechanism 2, wherein the weld image is acquired by time difference through the image acquisition module;

[0045] Step S3, preprocessing the weld image, performing median filtering and image enhancement on the weld image to obtain the weld image to be extracted;

[0046] Step S4, performing edge detection on the weld image to be extracted to generate a weld area image, performing defect detection on the weld area image, including OTSU (Otsu binarization method) binarization and ROI (region of interest) extraction, to generate a defect image to be identified.

[0047] Step S5, constructing an intelligent training module based on a convolutional neural network, screening defect cases through big data, generating a training set, and improving the accuracy of defect detection and identification through intelligent learning of the training set;

[0048] Step S6, extracting geometric feature data including perimeter, length, width and area from the defect image to be identified, comparing and correcting the two weld images, locating the defect in the defect image to be identified and marking the location;

[0049] Step S7, inputting the geometric feature data into a weld defect database, and identifying the weld defects through an intelligent identification module;

[0050] Step S8, according to the weld rating requirements in the "Code for Acceptance of Construction Quality of Steel Structure Engineering" (GB 50205-2020), the weld rating requirements are dimensionless, and a defect discrimination result is generated by discriminating the geometric feature data and the defect location. The component welds are intelligently rated according to the defect discrimination result. If the actual weld defects exceed the requirements of the specification, including the weld defect area, length, perimeter, spacing of multiple defects, etc., the grade of the weld is judged accordingly;

[0051] Step S9, according to the weld grade determined by the detection mechanism 2, the classification mechanism 3 moves the inspected component to a corresponding position.

[0052] In the description of this specification, the description with reference to the terms "one embodiment", "example", "specific example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0053] In the description of the present invention, it should be understood that the terms "top", "bottom", "upper", "lower" (if any), etc., indicating orientations or positional relationships are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0054] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood by specific circumstances.

[0055] The terms "first" and "second" in the specification and claims of the present application and the above-mentioned figure descriptions are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the terms used in this way can be interchanged where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein.

[0056] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the utility model, rather than to limit it. Although the utility model has been described in detail with reference to the aforementioned embodiments, ordinary technicians in this field should understand that they can still modify the technical solutions recorded in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not make the essence of the corresponding technical solution deviate from the scope of the technical solution of the embodiments of the utility model.

Claims

1. An automatic detection device for weld defects of steel structure assembly components, characterized by: The invention comprises a moving mechanism (1), a detection mechanism (2), a classification mechanism (3) and an industrial control host (4); the moving mechanism (1) is located in front of the detection mechanism (2), the classification mechanism (3) is located behind the detection mechanism (2), and the moving mechanism (1), the detection mechanism (2) and the classification mechanism (3) are all electrically connected to the industrial control host (4) via wired and / or wireless means; The moving mechanism (1) is used to move the steel structure assembly component (5) to the detection mechanism (2); the detection mechanism (2) is used to perform weld defect detection on the steel structure assembly component (5); the classification mechanism (3) is used to classify the steel structure assembly component (5) according to the weld defect detection result; and the industrial control host (4) is used to control the weld defect detection process.

2. The automatic detection device for weld defects of steel structure assembly components according to claim 1 is characterized in that: The mobile mechanism (1) comprises a first mechanical arm (11), a first component slot (12), a first industrial camera (13) and a first motor (14); the first component slot (12) is located in front of the first mechanical arm (11), the first industrial camera (13) is installed on the top of the first mechanical arm (11), and the first mechanical arm (11) is installed on the top of the first motor (14); the first motor (14) is electrically connected to the industrial control host (4) via a wired and / or wireless manner.

3. The automatic detection device for weld defects of steel structure assembly components according to claim 1 is characterized in that: The detection mechanism (2) comprises a ray module, an imaging module, a one-way crawler (25) and a second motor (26); the second motor (26) is electrically connected to the one-way crawler (25); the ray module and the imaging module are arranged in pairs on the upper and lower sides of the one-way crawler (25); and the imaging module is electrically connected to the industrial control host (4).

4. The automatic detection device for weld defects of steel structure assembly components according to claim 1 is characterized in that: The classification mechanism (3) includes a second industrial camera (31), a second robotic arm (32), a second component slot (33) and a third motor (34); the second component slot (33) is located in front of the second robotic arm (32), the second industrial camera (31) is installed on the top of the second robotic arm (32), and the second robotic arm (32) is installed on the top of the third motor (34); the third motor (34) is electrically connected to the industrial control host (4) via a wired and / or wireless manner.

5. The automatic detection device for weld defects of steel structure assembly components according to claim 3 is characterized by: The ray module includes a first X-ray machine (21) and a second X-ray machine (23), and the imaging module includes a first linear array imager (22) and a second linear array imager (24); the first X-ray machine (21) is arranged on the front lower side of the one-way track (25), and the first linear array imager (22) is arranged on the front upper side of the one-way track (25); the second X-ray machine (23) is arranged on the rear upper side of the one-way track (25), and the second linear array imager (24) is arranged on the rear lower side of the one-way track (25).

6. The automatic detection device for weld defects of steel structure assembly components according to claim 3 is characterized by: The one-way crawler (25) includes a first crawler and a second crawler, and the first crawler and the second crawler are both electrically connected to a second motor (26).

7. The automatic detection device for weld defects of steel structure assembly components according to claim 6, characterized in that: A detection gap is provided between the first crawler track and the second crawler track.

8. The automatic detection device for weld defects of steel structure assembly components according to claim 7, characterized in that: The detection gap is larger than the weld width.

9. The automatic detection device for weld defects of steel structure assembly components according to claim 2, characterized in that: The first robotic arm (11) is a four-axis robotic arm.

10. The automatic detection device for weld defects of steel structure assembly components according to claim 4, characterized in that: There are a plurality of second component grooves (33).

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