CN108381078B - A kind of metal truss building system and method - Google Patents
A kind of metal truss building system and method Download PDFInfo
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- CN108381078B CN108381078B CN201810400030.XA CN201810400030A CN108381078B CN 108381078 B CN108381078 B CN 108381078B CN 201810400030 A CN201810400030 A CN 201810400030A CN 108381078 B CN108381078 B CN 108381078B
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- metal rod
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Robotics (AREA)
- Wire Processing (AREA)
Abstract
The present invention discloses a kind of metal truss building system, including can convey the feeding unit of metal rod, the robot building clamping positioning unit that metal rod can be clamped, can to the Robot Welding Cell that metal rod is welded, be capable of the tray unit and control unit of bearing metal rod piece, feeding unit, robot building clamping positioning unit and Robot Welding Cell are connected with control unit signal.The present invention also provides a kind of metal truss method of construction, operator obtains gridding methods by control unit, the rear motion path for generating robot building clamping positioning unit and Robot Welding Cell.Control unit control robot building clamping positioning unit positions after clamping metal rod according to motion path, control unit continues control Robot Welding Cell and welds according to set motion path to metal rod, it solves the problems, such as that the component position error of non-straight angular dependence is big, improves the welding forming precision and efficiency of metal truss construction.
Description
Technical field
The present invention relates to metal truss building technology fields, more particularly to a kind of metal truss building system and method.
Background technique
Metal truss is the space structure to be linked according to certain grid configuration by node by more metal rods,
Rack has many advantages, such as that space-load, light-weight, rigidity is big, anti-seismic performance is good, the disadvantage is that intersecting at the rod piece quantity on node
More, fabrication and installation are generally required compared with planar structure complexity by rapid prototyping technology and metal fusion welding technology.Current is quick
Forming technique cardinal principle is the profile that three data models in computer are carried out to each bed boundary obtained after hierarchy slicing
Data, computer control the dusty material formation one of laser (or nozzle) selectively sintering from level to level according to this information
Series has the sheet entity of a small thickness, then accumulates it successively integrally using means such as clinkering, polymerization, bondings,
Designed new product exemplar, model or mold can be produced.But process velocity is slow, one more than 20 centimeters of product
Easily more than ten hour process time was the generally existing situation of current various quickly shaping devices, meanwhile, it is machinable
Size is very limited.
The cardinal principle of metal fusion welding technology is that the workpiece that heating is intended to engage is allowed to be partially melting to form molten bath, and molten bath is cooling
It is just engaged after solidification, molten object of filling out can be added when necessary and assist.Metal fusion welding technology is suitble to the welding processing of various metals and alloy,
It is not required to pressure.Metal fusion welding technology in existing building industry can help to build it is fixed-type between building and building, but
It is that existing welding technology positions existing shortcoming for the forming of building building are as follows: the metal truss of traditional welding is often
At rectangular co-ordinate relationship, for nonlinear, there is difficult positioning in the construction of the building building of non-straight angular dependence, construction precision difference
Problem；Traditional artificial welding it is inefficient, speed is slow.
Therefore, how to change in the prior art, the metal truss of non-straight angular dependence building setting accuracy is poor, working efficiency
Low status is those skilled in the art's urgent problem to be solved.
Summary of the invention
The object of the present invention is to provide a kind of metal truss building system and methods, above-mentioned of the existing technology to solve
Problem improves the construction precision and efficiency of construction of the metal truss of non-straight angular dependence.
To achieve the above object, the present invention provides following schemes: the present invention provides a kind of metal truss building system, packet
Include can convey the feeding unit of metal rod, can clamp metal rod robot building clamping positioning unit, can be right
Robot Welding Cell that metal rod is welded, the tray unit and control unit for capableing of bearing metal rod piece, it is described to send
Material unit, the robot building clamping positioning unit and the Robot Welding Cell with described control unit signal phase
Even.
Preferably, the feeding unit include the coiled strip storage device set gradually, coil straightening device, transmitting device and
Rebar shearing device；
The coiled strip storage device includes spool and shaft, and metal rod raw material can be wound on said reel, described
Spool and the shaft are rotatablely connected, and the shaft passes through the spool and is fixed in the coil straightening device；
The coil straightening device can be by metal rod raw material straightening, the coil straightening device and the transmitting device
Transmission is connected；Metal rod raw material can be sent to the Rebar shearing device, the Rebar shearing dress by the transmitting device
Metal rod raw material can be cut by setting.
Preferably, the coil straightening device includes straightening drum and straightener cube, and the straightener cube is set to the straightening drum
Interior, the position of the straightener cube can be adjusted.
Preferably, the transmitting device includes roller bearing and stepper motor, and the roller bearing is connected with stepper motor transmission.
Preferably, the Rebar shearing device is by Driven by Hydraulic Cylinder.
Preferably, the robot building clamping positioning unit includes clamp device and the one or six shaft mechanical arm, the folder
Device is taken to be set on the one or the six shaft mechanical arm, the clamp device can pick up metal rod.
Preferably, the Robot Welding Cell includes welder and the two or six shaft mechanical arm, and the welder is solid
Due on the two or the six shaft mechanical arm.
Preferably, the tray unit is set to the robot building clamping positioning unit and the robot welding list
Between member.
The present invention also provides a kind of metal truss methods of construction, include the following steps:
Step 1: target body progress three dimensional network is formatted by control unit, gridding methods are obtained；
Step 2: passing through the motion path of Program Generating robot building clamping positioning unit and Robot Welding Cell；
Step 3: control unit, which controls feeding unit, is delivered to robot building clamping positioning unit, machine for metal rod
Device people constructs after clamping positioning unit clamps metal rod according to the motion path in step 2 and positions, and control unit continues to control
Robot Welding Cell welds metal rod according to set motion path, repeats aforesaid operations to completion forming work.
The present invention achieves following technical effect compared with the existing technology: metal truss building system of the invention, including
Can convey the feeding unit of metal rod, can clamp metal rod robot building clamping positioning unit, can be to gold
Belong to Robot Welding Cell that rod piece welded, be capable of the tray unit and control unit of bearing metal rod piece.Feeding unit,
Robot building clamping positioning unit and Robot Welding Cell are connected with control unit signal.The present invention also provides a kind of gold
Belong to rack method of construction, operator obtains gridding methods by the 3 d modeling software of control unit, and passes through Program Generating
The motion path of robot building clamping positioning unit and Robot Welding Cell.It is fixed that control unit controls robot building clamping
Bit location positions after clamping metal rod according to motion path, and control unit continues to control Robot Welding Cell according to set fortune
Metal rod is welded in dynamic path, and to forming work is completed, the component positioning for solving non-straight angular dependence is missed for repetitive operation
The big problem of difference, improves welding forming precision and efficiency.
Detailed description of the invention
It in order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the invention
Example, for those of ordinary skill in the art, without any creative labor, can also be according to these attached drawings
Obtain other attached drawings.
Fig. 1 is the overall structure diagram of metal truss building system；
Fig. 2 is the overall structure diagram of another angle of metal truss building system；
Wherein, 1 is feeding unit, and 2 be robot building clamping positioning unit, and 3 be Robot Welding Cell, and 4 be chassis
Unit, 5 be coiled strip storage device, and 6 be coil straightening device, and 7 be transmitting device, and 8 be Rebar shearing device.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
The object of the present invention is to provide a kind of metal truss building system and methods, above-mentioned of the existing technology to solve
Problem improves the metal truss construction precision and efficiency of construction of non-straight angular dependence.
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, with reference to the accompanying drawing and specific real
Applying mode, the present invention is described in further detail.
Please refer to Fig. 1-2, wherein Fig. 1 is the overall structure diagram of metal truss building system, and Fig. 2 is metal truss
The overall structure diagram of another angle of building system.
The present invention provides a kind of metal truss building system, including that can convey the feeding unit 1 of metal rod, can press from both sides
Take metal rod robot construct clamping positioning unit 2, can to the Robot Welding Cell 3 that metal rod is welded,
It is capable of the tray unit 4 and control unit of bearing metal rod piece, feeding unit 1, robot building clamping positioning unit 2 and machine
People's welding unit 3 is connected with control unit signal.
Operator obtains gridding methods by the 3 d modeling software of control unit, and passes through Program Generating robot structure
Build the motion path of clamping positioning unit 2 and Robot Welding Cell 3.Control unit controls robot building clamping positioning unit
2 after motion path clamping metal rod according to positioning, and control unit continues to control Robot Welding Cell 3 according to set movement road
Diameter welds metal rod, and to forming work is completed, the component position error for solving non-straight angular dependence is big for repetitive operation
The problem of, improve welding forming precision and efficiency.
Specifically, feeding unit 1 includes coiled strip storage device 5, coil straightening device 6,7 and of transmitting device set gradually
Rebar shearing device 8；
Wherein, coiled strip storage device 5 includes spool and shaft, and metal rod raw material can be wrapped on spool, spool with
Shaft rotation connection, shaft pass through spool and are fixed in coil straightening device 6；Coil straightening device 6 can be by metal rod
Raw material straightening, coil straightening device 6 are connected with the transmission of transmitting device 7；Metal rod can be sent to reinforcing bar pressure by transmitting device 7
Device 8 is cut, Rebar shearing device 8 can cut metal rod.
Coil straightening device 6 includes straightening drum and straightener cube, and straightener cube is set in straightening drum, and the position of straightener cube can
It adjusts.Transmitting device 7 includes roller bearing and stepper motor, and roller bearing is connected with stepper motor transmission.
The metal rod raw material straightening that coil straightening device 6 will be stored on coiled strip storage device 5, is realized by stepper motor
Accurate feeding, and the position that robot building clamping positioning unit 2 can clamp is sent to by transmitting device 7, in robot structure
It builds before the clamping clamping of positioning unit 2, metal rod raw material is cut by Rebar shearing device 8, in this specific real-time mode, steel
Muscle compression shear device 8 is by Driven by Hydraulic Cylinder.
More specifically, robot building clamping positioning unit 2 includes clamp device and the one or six shaft mechanical arm, clamp device
It is set on the one or six shaft mechanical arm, clamp device can pick up metal rod raw material.Clamp device is responsible for clamping or discharging gold
Belonging to rod piece raw material, clamp device keeps the state clamped in the position fixing process of metal rod raw material, after completing positioning and welding,
Clamp device unclamps, and goes to press from both sides another metal bridge.
Further, Robot Welding Cell 3 includes welder and the two or six shaft mechanical arm, and welder is fixed on the
On two or six shaft mechanical arms.Welder includes arc welding gun and gas shield device, and arc welding gun passes through produced by arc discharge
Heat welding rod and workpiece are melted mutually and form weld seam after condensation, to obtain secured connector.Gas shield device is logical
Inert gas shielding mask is crossed, guarantees the intensity and quality of welding.Clamping positioning unit 2 is constructed by metal rod original in robot
After feed collet takes the program for navigating to control unit to formulate position, around point of the Robot Welding Cell 3 along needs fixation
According to program setting, welded.
Further, tray unit 4 be set to robot building clamping positioning unit 2 and Robot Welding Cell 3 it
Between, tray unit clamps 2 positioning metal rod piece raw material of positioning unit and first layer rod piece in the initial state, for robot building
Welding provide positioning and welding platform.
In addition, control unit includes 3 d modeling software, robotic arm path output module and manipulator motion control module,
3 d modeling software is used to the gridding of target body generating gridding electronic model, and robotic arm path output module is used for
It is the motion path of mechanical arm by the model conversion after gridding, manipulator motion control module is single for controlling clamping positioning
Member 2 and Robot Welding Cell 3 carry out clamping positioning according to given route and complete specific welding.
The present invention also provides a kind of metal truss methods of construction, include the following steps:
Step 1: target body progress three dimensional network is formatted by control unit, gridding methods are obtained；
Step 2: passing through the movement road of Program Generating robot building clamping positioning unit 2 and Robot Welding Cell 3
Diameter；
Step 3: control unit, which controls feeding unit 1, constructs clamping positioning list for metal rod feedstock transportation to robot
Member 2, robot building clamping positioning unit 2 are positioned after clamping metal rod raw material according to the motion path in step 2, are controlled
Unit continues control Robot Welding Cell 3 and welds according to set motion path to metal rod raw material, repeats above-mentioned behaviour
Make to completion forming work.
The course of work of this system is divided into three parts: material extrusion-material positioning-material welding.Firstly, coil straightening
The metal rod raw material straightening that device 6 will be stored in coiled strip storage device 5, the length of accurate feeding is realized by transmitting device 7.
After the feeding for completing certain length, transmitting device 7 sends a signal to control unit, and control unit controls the one or six shaft mechanical arm
Carry out the operation of material positioning.After the metal rod raw material that clamp device clamps to submitting, signaling control unit, control are sent
Unit processed controls Rebar shearing device 8, cuts metal rod raw material, so as to complete material extrusion.In the process of material positioning
In, the one or six shaft mechanical arm of clamping positioning device is carried according to pre-determined path, and the metal rod raw material of clamping is sent
To the position of program setting, so as to complete material positioning.In the stage of material welding, in the one or six axis for carrying clamp device
Mechanical arm send material to setting position, sends a signal to control unit, and the of welder is carried in control unit control
Two or six shaft mechanical arms are welded along setting path (enclosing along solder joint one), so that it is former to fix the metal rod just positioned
Material completes material welding.A step is completed in whole system and then carries out next material extrusion-material positioning-material
The circulation of welding is expected, so that the increasing material for completing entire metal truss is built.
It can be arranged by this due to using grid type metal truss to increase material building equipment system and technique, the body needed
It is standby faster and be accurately performed forming work.
Specific examples are applied in the present invention, and principle and implementation of the present invention are described, above embodiments
Illustrate to be merely used to help understand method and its core concept of the invention；At the same time, for those skilled in the art, according to
According to thought of the invention, there will be changes in the specific implementation manner and application range.In conclusion the content of the present specification
It should not be construed as limiting the invention.
Claims (7)
1. a kind of metal truss building system, it is characterised in that: including that can convey the feeding unit of metal rod, can clamp
Metal rod robot building clamping positioning unit, can to the Robot Welding Cell that metal rod is welded, can
The tray unit and control unit of bearing metal rod piece；The feeding unit, robot building clamping positioning unit and institute
Robot Welding Cell is stated to be connected with described control unit signal；
The feeding unit includes the coiled strip storage device set gradually, coil straightening device, transmitting device and Rebar shearing dress
It sets；
The coiled strip storage device includes spool and shaft, and metal rod raw material can be wound on said reel, the spool
It is rotatablely connected with the shaft, the shaft passes through the spool and is fixed in the coil straightening device；
Metal rod raw material straightening, the coil straightening device and the transmitting device can be driven by the coil straightening device
It is connected；Metal rod can be sent to the Rebar shearing device by the transmitting device, and the Rebar shearing device can incite somebody to action
Metal rod is cut；
Using the metal truss building system, when being built to metal truss, include the following steps:
Step 1: target body progress three dimensional network is formatted by control unit, gridding methods are obtained；
Step 2: passing through the motion path of Program Generating robot building clamping positioning unit and Robot Welding Cell；
Step 3: control unit, which controls feeding unit, is delivered to robot building clamping positioning unit, robot for metal rod
Building clamping positioning unit positions after clamping metal rod according to the motion path in step 2, and control unit continues to control machine
People's welding unit welds metal rod according to set motion path, repeats aforesaid operations to completion forming work.
2. metal truss building system according to claim 1, it is characterised in that: the coil straightening device includes straightening
Cylinder and straightener cube, the straightener cube are set in the straightening drum, and the position of the straightener cube can be adjusted.
3. metal truss building system according to claim 1, it is characterised in that: the transmitting device includes roller bearing and step
Into motor, the roller bearing is connected with stepper motor transmission.
4. metal truss building system according to claim 1, it is characterised in that: the Rebar shearing device is by hydraulic cylinder
Driving.
5. metal truss building system according to claim 1, it is characterised in that: the robot building clamping positioning is single
Member includes clamp device and the one or six shaft mechanical arm, and the clamp device is set on the one or the six shaft mechanical arm, the folder
Take device that can pick up metal rod.
6. metal truss building system according to claim 1, it is characterised in that: the Robot Welding Cell includes weldering
Connection device and the two or six shaft mechanical arm, the welder are fixed on the two or the six shaft mechanical arm.
7. metal truss building system according to claim 1, it is characterised in that: the tray unit is set to the machine
Device people constructs between clamping positioning unit and the Robot Welding Cell.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810400030.XA CN108381078B (en) | 2018-04-28 | 2018-04-28 | A kind of metal truss building system and method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810400030.XA CN108381078B (en) | 2018-04-28 | 2018-04-28 | A kind of metal truss building system and method |
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| Publication Number | Publication Date |
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| CN108381078A CN108381078A (en) | 2018-08-10 |
| CN108381078B true CN108381078B (en) | 2019-06-28 |
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| CN201810400030.XA Active CN108381078B (en) | 2018-04-28 | 2018-04-28 | A kind of metal truss building system and method |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109175808A (en) * | 2018-10-19 | 2019-01-11 | 广东华岩建材有限公司 | A kind of feeding system for reinforcing bar cage seam welding |
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| CN201201123Y (en) * | 2008-04-22 | 2009-03-04 | 欧万和 | Electric resistor welder |
| CN104511679A (en) * | 2014-11-27 | 2015-04-15 | 苏州紫金港智能制造装备有限公司 | Vertical flexible compression welding device of metal conveying wire belt |
| CN105269191A (en) * | 2015-10-31 | 2016-01-27 | 济南华信自动化工程有限公司 | Multi-specification reinforcing bar mesh welding device |
| CN205835300U (en) * | 2016-06-08 | 2016-12-28 | 同济大学 | A kind of monorail double mechanical arms Combined process system |
| CN107253053A (en) * | 2017-06-16 | 2017-10-17 | 建科机械（天津）股份有限公司 | Monoblock type welding machine of mesh |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7993387B2 (en) * | 2004-05-14 | 2011-08-09 | Boston Scientific Scimed, Inc. | Stent with reduced weld profiles and a closed-end wire configuration |
-
2018
- 2018-04-28 CN CN201810400030.XA patent/CN108381078B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201201123Y (en) * | 2008-04-22 | 2009-03-04 | 欧万和 | Electric resistor welder |
| CN104511679A (en) * | 2014-11-27 | 2015-04-15 | 苏州紫金港智能制造装备有限公司 | Vertical flexible compression welding device of metal conveying wire belt |
| CN105269191A (en) * | 2015-10-31 | 2016-01-27 | 济南华信自动化工程有限公司 | Multi-specification reinforcing bar mesh welding device |
| CN205835300U (en) * | 2016-06-08 | 2016-12-28 | 同济大学 | A kind of monorail double mechanical arms Combined process system |
| CN107253053A (en) * | 2017-06-16 | 2017-10-17 | 建科机械（天津）股份有限公司 | Monoblock type welding machine of mesh |
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| CN108381078A (en) | 2018-08-10 |
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Address after: No. 1239 Siping Road, Yangpu District, Shanghai 200082 Patentee after: TONGJI University Patentee after: Shanghai yizao Technology Co., Ltd Address before: No. 1239 Siping Road, Yangpu District, Shanghai 200082 Patentee before: TONGJI University Patentee before: Shanghai yizao Building Intelligent Engineering Co., Ltd |