CN111136413A - Automatic welding production method for steel structure - Google Patents
Automatic welding production method for steel structure Download PDFInfo
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- CN111136413A CN111136413A CN201911137675.XA CN201911137675A CN111136413A CN 111136413 A CN111136413 A CN 111136413A CN 201911137675 A CN201911137675 A CN 201911137675A CN 111136413 A CN111136413 A CN 111136413A
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- section steel
- plate parts
- conveying roller
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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
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/0426—Fixtures for other work
- B23K37/0435—Clamps
- B23K37/0443—Jigs
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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
- B23K10/00—Welding or cutting by means of a plasma
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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
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0252—Steering means
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Abstract
The invention discloses an automatic welding production method of a steel structure, which is characterized in that a section is conveyed to an automatic cutting machine for fixed-length cutting, and cut excess materials and waste materials are respectively conveyed to an excess material cache region and a waste material cache region; the structural steel is conveyed to an automatic drilling device for drilling, then conveyed to a positioner for automatic welding, the angle of the structural steel is changed according to welding requirements in the welding process, meanwhile, the automatic feeding of plate parts is realized by a feeding robot, and finally, the welded steel structure is conveyed out. The automatic welding production method for the steel structure can realize the automatic welding of the steel structure, thereby improving the welding efficiency and the stability of the welding quality.
Description
Technical Field
The invention relates to an automatic welding production method for a steel structure, which can automatically weld profile steel and plate parts and belongs to the field of automatic welding.
Background
Steel structures are commonly used support components in various mechanical industries, and a three-dimensional garage is one of typical representatives of assembled steel structure buildings, is also called mechanical parking equipment and a mechanical three-dimensional parking garage, and is a general name for various non-planar vehicle parking facilities. And more particularly to a mechanical or mechanical equipment system for maximizing access to stored vehicles. The mechanical stereo garage is a parking device assembled by using a steel structure as a main frame and matching with a lifting and transverse moving device and a control system, and is an effective method for solving the problem of actual parking, guiding parking to develop to a space and promoting parking spaces to be built to the space and underground. The steel structure of the existing stereo garage is produced in a mode of manual welding and installation, so that the construction period is long and the efficiency is low. The construction workload is mostly that the construction work such as assembling and welding is carried out on site, the welding and assembling are mainly carried out by manual operation welding, equipment such as a crane is used for assisting, the technical requirements of workers are high by the site operation, and meanwhile, factors such as errors generated by the site welding need to be considered when joint rings such as joints are processed.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the automatic welding production method for the steel structure can realize automatic welding of the steel structure, so that the welding efficiency and the stability of the welding quality are improved.
In order to solve the technical problems, the technical scheme of the invention is as follows: an automatic welding production method for a steel structure comprises the following steps:
s1, placing the section steel on the cache lifting conveying roller line at the highest position;
s2, descending the buffer lifting conveying roller line to enable the section steel to fall onto a first transverse conveyor, and transversely conveying the section steel to the position above the first lifting conveying roller line 2 at the lowest position by the first transverse conveyor;
s3, the first lifting conveying roller line rises to support the section steel, and the section steel is conveyed to the automatic cutting machine by the fixed-length cutting and feeding mechanism to be cut in a fixed length manner;
s4, conveying the section steel cut to a fixed length by a second lifting conveying roller line; the excess materials and the waste materials are respectively sent to an excess material cache region and a waste material cache region by a first truss robot;
s5, the second transverse conveyor conveys the section steel to a third lifting conveying roller line from a second lifting conveying roller line;
s6, the drilling and feeding mechanism longitudinally conveys the section steel on the third lifting conveying roller line to an automatic drilling device for drilling;
s7, the section steel after being received by the fourth lifting conveying roller line and drilled is conveyed to a fifth lifting conveying roller line by a third transverse conveyor;
s8, the second truss robot sends the section steel to the positioner from a fifth lifting conveying roller line;
s9, the feeding robot sends the processed plate parts to the position, corresponding to the welding position, of the section steel on the positioner, the welding robot automatically welds the plate parts and the section steel, when the position needs to be changed, the positioner changes the position of the section steel, and finally the welding robot welds all the plate parts needing to be welded with the section steel;
and S10, removing the section steel.
Preferably, in step S9, the method for processing the plate part includes:
s91) the board cutting machine automatically performs layout and cutting processing according to the technological parameters of the technological order to form various board parts in the technological order;
s92) picking up the cut plate parts by using a robot and placing the plate parts on a conveyor for conveying;
s93) the conveyor conveys the plate parts to a visual detection station, and the visual identification device performs appearance identification, the visual identification device sends the information of the identified plate parts to a central control machine, and the central control machine classifies the plate parts according to the appearance of the plate parts and controls the movement of the moving-out robot;
s94) the plate parts are conveyed to a first moving-out station by a conveyor, the moving-out robot picks up the plate parts on the first moving-out station according to the instruction of the central control machine and sends the plate parts to a corresponding classified moving-out AGV, and the classified moving-out AGV moves between the first moving-out station and the feeding robot according to a set route.
Preferably, when the plate parts received by the vision recognition device in the central control machine are special plate parts needing to be subjected to assembly welding in advance, the special plate parts are conveyed to the second moving-out station by the conveying belt, the special plate parts are conveyed to the automatic assembly welding machine by the welding transfer robot to be subjected to assembly welding, the welded assembly parts are transferred to the assembly part moving-out AGV trolley by the welding transfer robot after the assembly welding is completed, and the assembly part moving-out AGV trolley moves between the second moving-out station and the feeding robot according to a set route.
Preferably, in the step S93), in the process of performing appearance recognition by the visual recognition device, the method further includes the step of actively positioning the plate part; when the plate parts are conveyed to the position near the visual detection station by the conveyor, the conveyor stops conveying, and the plate parts are accurately positioned at the visual detection station by respectively utilizing the upstream positioning mechanism and the downstream positioning mechanism in upstream and downstream matching.
Preferably, the specific method for converting the position of the section steel by the position converting machine in the step S9 is as follows:
s911, transferring the section steel to a clamping device, and supporting and clamping the section steel by the clamping device;
s912, conveying the plate parts to be welded to the designated position of the section steel and completing welding;
s913, when the position is switched, the first displacement clamp and the second displacement clamp are used for clamping two ends of the section steel from two ends respectively,
s914, the clamping device loosens the section steel, and the first displacement clamp and the second displacement clamp respectively ascend to positions convenient to rotate;
s915, driving the first displacement clamp and the second displacement clamp by a first displacement rotary power device and a second displacement rotary power device respectively to convert the section steel into an angle, and then placing the section steel on a clamping device to support and clamp the section steel;
s916, sending other plate parts to be welded to the designated position of the section steel and completing welding;
s917, repeating the steps S913-S916 until the parts of the plates to be welded in all directions on the section steel are welded.
Preferably, in the step S10, the shaped steel is subjected to shot blasting surface treatment by a shot blasting machine in the process of being removed.
Preferably, the automatic drilling device in step S6 uses a three-dimensional drilling machine and a plasma special-shaped hole cutting machine to complete drilling work of different shapes.
After the technical scheme is adopted, the invention has the effects that: the automatic welding production method comprises the steps of conveying and sawing the profile steel, then conveying the profile steel to an automatic drilling device for drilling, and then conveying the profile steel to a positioner for welding, wherein during welding, a feeding robot is used for feeding plate parts, meanwhile, the welding robot is used for welding the profile steel and the plate parts, and when the position which is convenient to weld is welded, the position of the profile steel can be changed through the positioner and then the profile steel is welded, so that the welding process is simpler, and the welding quality is better; the welded steel structure is sent out, automatic welding can be achieved in the whole process, labor is reduced, and efficiency is improved.
In addition, when the plate parts received by the vision recognition device in the central control machine are special plate parts needing to be subjected to assembly welding in advance, the special plate parts are conveyed to the second moving-out station by the conveying belt, the special plates are conveyed to the automatic assembly welding machine by the welding transfer robot to be subjected to assembly welding, and the welded assembly parts are transferred to the assembly part moving-out platform by the welding transfer robot to be sent out after the assembly welding is finished, so that the special plate parts are subjected to the assembly welding by the automatic assembly welding machine, and the subsequent welding time is further saved.
In the process of identifying the appearance of the visual identification device, the visual identification device also comprises the step of actively positioning the plate parts; when the plate parts are conveyed to the position near the visual detection station by the conveyor, the conveyor stops conveying, the plate parts are accurately and definitely positioned at the visual detection station by respectively utilizing the upstream positioning mechanism and the downstream positioning mechanism in the upstream and downstream matching mode, and therefore the inaccuracy of detection results caused by the fact that the plate parts are not stopped at the visual detection station due to conveying faults of the conveyor can be avoided.
Due to the adoption of the processing method of the plate parts, the plate parts can be automatically processed, and meanwhile, the plate parts are identified and accurately sent out, so that the subsequent welding of a steel structure is facilitated, the automation degree is higher, and meanwhile, different AGV trolleys can be moved according to a set route, so that the transfer of the plate parts is facilitated.
And the specific method for converting the position of the profile steel by the positioner is adopted, so that the position conversion of the whole profile steel can be met only by placing the profile steel on the welding positioner, the welding at different positions is met, the welding displacement method can be centralized in a welding automatic production line, repeated clamping is not needed, the efficiency is improved, the welding quality is ensured, and the welding process difficulty of a welding robot is reduced.
Drawings
The invention is further illustrated with reference to the following figures and examples.
Fig. 1 is a schematic structural arrangement diagram of a buffer lifting conveying roller line, a first transverse conveyor and a fixed-length cutting and feeding mechanism in embodiment 2 of the invention;
fig. 2 is a schematic structural arrangement diagram of an automatic cutting machine, a second lifting conveying roller line, a first truss robot, a third lifting conveying roller line and a second transverse conveyor in embodiment 2 of the invention;
FIG. 3 is a schematic view of the structural arrangement of the automatic drilling device, the fourth lifting conveyor roll line, the fifth lifting conveyor roll line and the third cross conveyor;
FIG. 4 is a schematic view of the structural arrangement of the second truss robot, the fourth lifting conveyor roll line, the fifth lifting conveyor roll line, the positioner, the loading robot and the welding robot;
FIG. 5 is a schematic view of the structural arrangement of the shot blasting machine and a seventh elevating conveyor roll line;
FIG. 6 is a structural layout view of a plate part processing line according to embodiment 2 of the present invention;
fig. 7 is a schematic structural view of a visual recognition apparatus in embodiment 2 of the present invention;
FIG. 8 is a schematic structural diagram of a positioner in embodiment 2 of the present invention;
FIG. 9 is a main view of the index changer of embodiment 2 of the present invention;
in the drawings: in the drawings: 1. caching a lifting conveying roller line; 2. a first lifting conveying roller line; 3. a fixed-length cutting and feeding mechanism; 4. a first cross conveyor; 5. lifting the positioning plate; 6. an automatic cutting machine; 7. a first truss robot; 8. a second lifting conveying roller line; 9. a remainder buffer area; 10. a waste buffer area; 11. a second cross conveyor; 12. a third lifting conveying roller line; 13. a drilling and feeding mechanism; 14. a special-shaped hole processing device; 15. a three-dimensional drilling machine; 16. a fourth elevating conveyor roller line; 17. a fifth elevating conveyor roller line; 18. a third cross conveyor; 19. a position changing machine; 20. a feeding robot; 21. a welding robot; 22. a sixth lifting conveying roller line; 23. a second truss robot; 24. shot blasting machine; 25. a seventh elevating conveyor roller line; 26. cutting the platform; 27. a board cutting machine; 28. a third truss robot; 29. a conveyor; 30. a plate-like part; 31. a visual recognition device; 311. a frame; 312. detecting a camera; 313. an upstream lift cylinder; 314. an upstream lifting seat; 315. an upstream horizontal positioning cylinder; 316. an upstream locating block; 317. a downstream lift cylinder; 318. a downstream lifting seat; 319. a downstream horizontal positioning cylinder; 320. a downstream locating block; 32. moving out the robot; 33. moving out the AGV in a classified manner; 34. a welding transfer robot; 35. automatic assembly welding machine; 36. moving the assembly part out of the AGV trolley; 191. a machine base; 192. a first deflection base; 193. a second deflection base; 194. a third longitudinal adjustment mechanism; 195. a second lifting power device; 196. a first displacement support; 197. a second deflection support; 198. a first indexing fixture 198; 1981. a first displacement clamping base; 1982. a first displacement clamp body; 1983. a first rotating shaft; 1984. a first drive shaft; 1985. a first displacement rotary power device; 199. a second displacement clamp; 1910. a first clamping base; 1911. a second clamping base; 1912. a third lifting power device; 1913. a first clamping support; 1914. a fourth lifting power device; 1915. a second clamping support; 1916. supporting the table top; 1917. supporting the clamp; 1918. a first drive gear; 1919. a first drive motor; A. a visual inspection station; B. a first removal station; C. a second removal station.
Detailed Description
The present invention is described in further detail below with reference to specific examples.
Example 1
The embodiment discloses an automatic welding production method for a steel structure, which comprises the following steps:
s1, placing the section steel on the buffer lifting conveying roller line 1 at the highest position;
s2, descending the buffer lifting conveying roller line 1 to enable the section steel to fall onto the first transverse conveyor 4, and transversely conveying the section steel to the position above the first lifting conveying roller line 22 at the lowest position by the first transverse conveyor 4;
s3, the first lifting conveying roller line 2 rises to support the section steel, and the section steel is conveyed to the automatic cutting machine 6 by the fixed-length cutting and feeding mechanism to be cut in a fixed length;
s4, conveying the section steel cut to a fixed length by a second lifting conveying roller line 8; the excess materials and the waste materials are respectively sent to an excess material cache region 9 and a waste material cache region 10 by a first truss robot 7;
s5, the second cross conveyor 11 sends the section steel to a third lifting conveying roller line 12 from the second lifting conveying roller line 8; the conveying manner is the same as that in steps S1 and S2;
s6, the drilling and feeding mechanism longitudinally conveys the section steel on the third lifting conveying roller line 12 to an automatic drilling device for drilling;
s7, the section steel after being received by the drilled holes by the fourth lifting conveying roller line 16 is conveyed to the fifth lifting conveying roller line 17 by the third transverse conveyor 18; the conveying manner is the same as that in steps S1 and S2;
s8, the second truss robot 23 sends the section steel to the positioner 19 from the fifth lifting conveying roller line 17;
s9, the feeding robot 20 sends the processed plate parts to the position, corresponding to the welding position, of the section steel on the positioner 19, the welding robot 21 automatically welds the plate parts and the section steel, when the position needs to be switched, the positioner 19 switches the position of the section steel, and finally the welding robot 21 welds all the plate parts needing to be welded with the section steel;
and S10, removing the section steel.
In this embodiment, in the step S9, the processing method of the plate part is as follows:
s91) the board cutting machine automatically performs layout and cutting processing according to the technological parameters of the technological order to form various board parts in the technological order;
s92) picking up the cut plate parts by using a robot and placing the plate parts on a conveyor 29 for conveying, wherein the conveyor adopts a belt conveyor or a chain conveyor;
s93) the conveyor conveys the plate parts to a visual detection station, and the visual identification device performs appearance identification, the visual identification device sends the information of the identified plate parts to a central control machine, and the central control machine classifies the plate parts according to the appearance of the plate parts and controls the moving-out robot 32 to act;
and S94) the plate parts are conveyed to the first removal station by the conveyor, the removal robot 32 picks up the plate parts on the first removal station according to the instruction of the central control machine and sends the plate parts to the corresponding sorting removal AGV 33, and the sorting removal AGV 33 moves between the first removal station and the feeding robot 20 according to a set route.
Preferably, when the plate parts received by the vision recognition device in the central control machine are special plate parts needing to be subjected to assembly welding in advance, the special plate parts are conveyed to the second moving-out station by the conveying belt, the special plate parts are conveyed to the automatic assembly welding machine by the welding transfer robot 34 to be subjected to assembly welding, the welded assembly parts are transferred to the assembly part moving-out AGV trolley 36 by the welding transfer robot 34 after the assembly welding is completed, and the assembly part moving-out AGV trolley 36 moves between the second moving-out station and the feeding robot 20 according to a set route.
Preferably, in the step S93), in the process of performing appearance recognition by the visual recognition device, the method further includes the step of actively positioning the plate part; when the plate parts are conveyed to the position near the visual detection station by the conveyor, the conveyor stops conveying, and the plate parts are accurately positioned at the visual detection station by respectively utilizing the upstream positioning mechanism and the downstream positioning mechanism in upstream and downstream matching.
Preferably, in the step S9, the concrete method for converting the position of the section steel by the position converting machine 19 is as follows:
s911, transferring the section steel to a clamping device, and supporting and clamping the section steel by the clamping device;
s912, conveying the plate parts to be welded to the designated position of the section steel and completing welding;
s913, when the position is switched, the first position-changing clamp 198 and the second position-changing clamp are used for clamping two ends of the section steel from two ends respectively,
s914, the clamping device loosens the section steel, and the first displacement clamp 198 and the second displacement clamp respectively ascend to positions convenient to rotate;
s915, driving the first displacement clamp 198 and the second displacement clamp by a first displacement rotary power device and a second displacement rotary power device respectively to convert the section steel into an angle, and then placing the section steel on a clamping device to support and clamp the section steel;
s916, sending other plate parts to be welded to the designated position of the section steel and completing welding;
s917, repeating the steps S913-S916 until the parts of the plates to be welded in all directions on the section steel are welded.
Preferably, in the step S10, the section steel is subjected to shot blasting surface treatment by the shot blasting machine 24 in the process of being removed.
Preferably, the automatic drilling device in step S6 uses a three-dimensional drilling machine and a plasma special-shaped hole cutting machine to complete drilling work of different shapes.
Example 2
The embodiment discloses an automatic welding production line for realizing the automatic welding production method, and as shown in fig. 1 to 5, the automatic welding production line for the steel structure comprises a cache lifting conveying roller line 1 and a first lifting conveying roller line 2 which are parallel to each other, wherein a first transverse conveyor 4 is arranged between the cache lifting conveying roller line 1 and the first lifting conveying roller line 2; an automatic cutting machine 6 is arranged at the downstream of the first lifting conveying roller line 2, and a fixed-length cutting and feeding mechanism 3 is arranged on the side surface of the first lifting conveying roller line 2;
the lifting conveying roller groups (the buffer lifting conveying roller line 1 and the first to seventh lifting conveying roller lines 25) mentioned in the embodiment of the invention have the same specific structure, each lifting conveying roller group comprises a plurality of lifting conveying roller group units, each lifting conveying roller group unit is mutually arranged to form a conveying roller line, and the structure of each lifting conveying roller group unit is the conventional conveying roller at present and is controlled by a lifting servo motor to realize lifting; the first cross conveyor 4 and other cross conveyors mentioned below in this embodiment are chain plate conveyors, and each lifting conveying roller line can be switched to enable the section steel or the steel structure to fall onto the corresponding cross conveyor or the corresponding lifting conveying roller line in the lifting process; take the action process of buffer memory lift conveying roller line 1 and first lift conveying roller line 2 as an example, the steel construction includes that shaped steel and various board class parts 30 weld and form, and shaped steel places on the buffer memory lift conveying roller line 1 that risees after, buffer memory lift conveying roller line 1 descends, and shaped steel falls into first cross conveyor 4 this moment, transversely delivers to the position of first lift conveying roller line 2, thereby first lift conveying roller line 2 rises and supports the convenient transport of shaped steel afterwards.
In the embodiment, the automatic cutting machine 6 is commercially available, and an automatic saw cutting machine is used to cut the section steel.
The fixed-length cutting feeding mechanism 3 is also a feeding mechanism matched with the automatic cutting machine 6 and comprises a feeding push rod which can be driven by a feeding servo motor and can move longitudinally, a lifting positioning plate 5 driven by an air cylinder is arranged on one lifting conveying roller set unit of the first lifting conveying roller line 2, the distance between the feeding push rod and the lifting positioning plate 5 is a fixed value when the feeding push rod is at an initial position, the feeding push rod moves longitudinally to push the section steel, so that the end part of the section steel is contacted with the lifting positioning plate 5, an end can be positioned, and the moving distance of the feeding push rod can be calculated by a servo system of the feeding servo motor; thereby can measure the length of section bar to realize fixed length cutting.
A second lifting conveying roller line 8 is arranged at the downstream of the automatic cutting machine 6, a surplus material cache region 9 and a waste material cache region 10 are arranged on one side of the second lifting conveying roller line 8, and a first truss robot 7 for conveying surplus materials or waste materials to the surplus material cache region 9 and the waste material cache region 10 is transversely installed on the second lifting conveying roller line 8 in a spanning mode; the truss robot provided by the embodiment of the invention is also called a gantry type robot, is also commercially available, belongs to a rectangular coordinate robot, and is full-automatic industrial equipment which is established on the basis of a rectangular X, Y and Z coordinate system, adjusts the station of a workpiece, or realizes the functions of the workpiece such as track motion and the like.
A parallel third lifting conveying roller line 12 is arranged on the other side of the second lifting conveying roller line 8, and a second transverse conveyor 11 is arranged between the second lifting conveying roller line 8 and the third lifting conveying roller line 12; the second cross conveyor 11 sends the cut section steel to a third lifting conveying roller line 12;
an automatic drilling device is arranged at the downstream of the third lifting conveying roller line 12, and a drilling and feeding mechanism 13 is arranged at one side of the third lifting conveying roller line 12; the drilling feeding mechanism 13 and the fixed-length cutting feeding mechanism 3 of the automatic cutting machine 6 have the same structure, and are not described again. Wherein the automatic drilling device comprises a special-shaped hole processing device 14 arranged at one side of the third lifting conveying roller line 12 and a three-dimensional drilling machine 15 arranged at the tail end of the third lifting conveying roller line 12. The special-shaped hole processing device 14 is realized by a plasma special-shaped hole cutting machine, and a three-dimensional drilling machine 15 and the plasma special-shaped hole cutting machine are also commercially available.
A fourth lifting conveying roller line 16 and a fifth lifting conveying roller line 17 which are arranged side by side are arranged at the downstream of the automatic drilling device, the fourth lifting conveying roller line 16 and the third lifting conveying roller line 12 are arranged in a straight line, and a third transverse conveyor 18 is arranged between the fourth lifting conveying roller line 16 and the fifth lifting conveying roller line 17;
the downstream sections of the fifth lifting conveying roller lines are connected in parallel with a sixth lifting conveying roller line 22, two sides of the fifth lifting conveying roller line and the sixth lifting conveying roller line 22 are respectively provided with a positioner 19 for clamping and displacing a steel structure, and a second truss robot 23 is arranged between the two positioners 19;
a feeding robot 20 and a welding robot 21 are arranged on the side surface of the positioner 19, and the feeding robot 20 is used for conveying the plate parts 30 provided by the plate part 30 processing production line to the welding position of the steel structure on the positioner 19; the welding robot 21 is used to weld the plate-like part 30 to the section steel. The downstream end of the six lifting conveying roller lines is provided with a shot blasting machine 24, and the downstream of the shot blasting machine 24 is provided with a seventh lifting conveying roller line 25. The shot blasting machine 24 can perform shot blasting on the welded part, so that the surface quality of the welded part is better.
As shown in fig. 8 and 9, the position changing machine 19 includes a base 191, a clamping device for clamping the middle of the section bar is arranged on the base 191, a first position changing base 192 and a second position changing base 193 are respectively arranged on two sides of the clamping device on the base 191, a first position changing support 196 and a second position changing support 197 driven by a first lifting power device and a second lifting power device 195 are respectively arranged on the first position changing base 192 and the second position changing base 193, a first position changing clamp 198 driven by a first position changing rotary power device 1985 and a second position changing clamp 199 driven by a second position changing rotary power device are respectively rotatably arranged on the first position changing support 196 and the second position changing support 197, and the first position changing clamp 198 and the second position changing clamp 199 are mutually matched for clamping two ends of the section bar. The first displacement clamp 198 and the second displacement clamp 199 have the same structure, the first displacement clamp 198 comprises a first displacement clamping base 1981, and a first displacement clamp body 1982 is mounted on the first displacement clamping base 1981; the first shifting clamping base 1981 is arranged on a first shifting support 196 through a first rotating shaft 1983, a first driving shaft 1984 is rotatably arranged on the first shifting support 196, the first rotating shaft 1983 is in transmission connection with the first driving shaft 1984 through a transmission mechanism, and the first driving shaft 1984 is in transmission connection with a first shifting rotating power device 1985.
The first displacement base 192 and the second displacement base 193 are both mounted on the base 191 in a sliding mode along the length direction of the profile, and the first displacement base 192 and the second displacement base 193 are driven by a first longitudinal adjusting mechanism and a second longitudinal adjusting mechanism respectively.
The clamping device comprises a first clamping base 1910 and a second clamping base 1911 which are installed on the base 191, a first clamping support 1913 driven by a third lifting power device 1912 and a second clamping support 1915 driven by a fourth lifting power device 1914 are vertically and slidably installed on the first clamping base 1910 and the second clamping base 1911 respectively, a supporting table 1916 used for supporting the middle part of the section bar is arranged on the first clamping support 1913 and the second clamping support 1915, and supporting clamps 1917 used for clamping the section bar are arranged on two sides of the supporting table 1916 on the first clamping support 1913 and the second clamping support 1915. The first clamping base 1910 and the second clamping base 1911 are both mounted on the base 191 in a sliding manner along the length direction of the profile, and the first clamping base 1910 and the second clamping base 1911 are driven by the third longitudinal adjusting mechanism 194 and the fourth longitudinal adjusting mechanism respectively; the first longitudinal adjusting mechanism, the second longitudinal adjusting mechanism, the third longitudinal adjusting mechanism 194 and the fourth longitudinal adjusting mechanism have the same structure, wherein the first longitudinal adjusting mechanism includes a longitudinal rack disposed on the base 191, a first driving gear 1918 engaged with the longitudinal rack is rotatably mounted on the first shifting base 192, and the first driving gear 1918 is driven to rotate by a first driving motor 1919.
The first lifting power device, the second lifting power device 195, the third lifting power device 1912 and the fourth lifting power device 1914 have the same structure and are all hydraulic cylinders.
As further shown in fig. 6 and 7, the plate part 30 processing line includes a cutting platform 26 for placing a plate material;
a plate cutting machine 27, wherein the plate cutting machine 27 is used for cutting the plate on the cutting platform 26 to form a plate part 30; the plate cutting machine 27 is a plasma plate cutting machine 27. The plasma plate cutting machine 27 is a conventional machine commercially available at present, and the plasma plate cutting machine 27 of the present embodiment controls the plasma plate cutting machine through the equipment control system, and can automatically perform layout and layout according to the size parameters of the raw plate and perform machining production according to the requirements of the production process order.
The conveyor 29 is used for conveying the cut plate parts 30, and a visual detection station A and a first moving-out station B are sequentially arranged on a conveying path of the conveyor 29; the conveyor 29 is a belt conveyor or a plate link chain conveyor.
A third truss robot 28, the third truss robot 28 being installed between the cutting platform 26 and the conveyor 29 for transferring the cut plate-like parts 30 onto the conveyor;
the visual recognition device 31 is arranged on the visual detection station A, and the visual recognition device 31 is used for carrying out visual recognition and classification on the plate parts 30 on the visual detection station A; the visual recognition device 31 comprises a frame 311 stretching across the conveyor, a detection camera 312 for visually detecting the plate parts 30 on the conveyor is arranged at the top of the frame 311, and a positioning device for positioning the plate parts 30 on the conveyor belt at the visual detection station a is arranged on the frame 311. The positioning device comprises an upstream positioning mechanism and a downstream positioning mechanism which are arranged on a rack 311, the upstream positioning mechanism and the downstream positioning mechanism are identical in structure and are symmetrically arranged, the upstream positioning mechanism comprises an upstream lifting cylinder 313 fixed on the rack 311, an upstream lifting seat 314 is arranged on a piston rod of the upstream lifting cylinder 313, a horizontally arranged upstream horizontal positioning cylinder 315 is arranged on the upstream lifting seat 314, and an upstream positioning block 316 is horizontally arranged and fixed on the piston rod of the upstream horizontal positioning cylinder; the downstream positioning mechanism comprises a downstream lifting cylinder 317 fixed on the frame 311, a downstream lifting seat 318 is mounted on a piston rod of the downstream lifting cylinder 317, a horizontally arranged downstream horizontal positioning cylinder 319 is mounted on the downstream lifting seat 318, a downstream positioning block 320 is horizontally arranged and fixed on a piston rod of the downstream horizontal positioning cylinder, and the upstream positioning block 316 and the downstream positioning block 320 are oppositely arranged.
The moving-out robot 32 and the at least two classified moving-out AGV trolleys 33 are arranged on one side of the first moving-out station B of the conveyor, the moving-out robot 32 is used for transferring the plate parts 30 after being identified and classified to the corresponding classified moving-out AGV trolleys 33, and the classified moving-out AGV trolleys 33 move between the first moving-out station B and the feeding robot 20.
Wherein preferably, still be provided with the second on the conveying route of conveyer and shift out station C, shift out station C one side at the second of conveyer and be provided with welding transfer robot 34, automatic group to welding machine 35 and group and shift out AGV dolly 36 to the part, welding transfer robot 34 is used for shifting out the plate part 30 on the station C with the second and shifts to automatic group to welding machine 35 or shift out AGV dolly 36 to the part with the group that the welding is good to the part, and automatic group is used for forming the group to the part with plate part 30 group to the welding and is right the part, shifts out AGV dolly 36 and moves between second shift out station C and material loading robot 20 to the part. Foretell AGV dolly is the conventional structure in market, can carry according to the route of setting for, and degree of automation is higher.
The actuating devices such as the air cylinder, the servo motor and the like, the gear transmission mechanism and the screw-nut mechanism mentioned in the embodiment are the conventional technologies at present, the specific structures and principles of the air cylinder, the motor and other transmission mechanisms and other designs are disclosed in detail in the fifth edition of mechanical design manual printed in the fifth edition of Beijing at second eighteenth time in 4.2008, the structure of the actuating devices belongs to the prior art, the structure of the actuating devices is clear, a vacuum element, an air loop and program control are disclosed in detail in a modern practical pneumatic technology 3 rd edition SMC training teaching material published by mechanical industry publisher in 08.01.2008, the air path structure in the embodiment is also the prior art, the control and the travel switch of the motor are clearly disclosed in detail in a book of Motor drive and speed regulation published by chemical industry publisher in 07.01.2015, and therefore, the circuit, The pneumatic connections are clear.
Claims (7)
1. The automatic welding production method of the steel structure is characterized by comprising the following steps: the method comprises the following steps:
s1, placing the section steel on the cache lifting conveying roller line at the highest position;
s2, descending the buffer lifting conveying roller line to enable the section steel to fall onto a first transverse conveyor, and transversely conveying the section steel to the position above the first lifting conveying roller line 2 at the lowest position by the first transverse conveyor;
s3, the first lifting conveying roller line rises to support the section steel, and the section steel is conveyed to the automatic cutting machine by the fixed-length cutting and feeding mechanism to be cut in a fixed length manner;
s4, conveying the section steel cut to a fixed length by a second lifting conveying roller line; the excess materials and the waste materials are respectively sent to an excess material cache region and a waste material cache region by a first truss robot;
s5, the second transverse conveyor conveys the section steel to a third lifting conveying roller line from a second lifting conveying roller line;
s6, the drilling and feeding mechanism longitudinally conveys the section steel on the third lifting conveying roller line to an automatic drilling device for drilling;
s7, the section steel after being received by the fourth lifting conveying roller line and drilled is conveyed to a fifth lifting conveying roller line by a third transverse conveyor;
s8, the second truss robot sends the section steel to the positioner from a fifth lifting conveying roller line;
s9, the feeding robot sends the processed plate parts to the position, corresponding to the welding position, of the section steel on the positioner, the welding robot automatically welds the plate parts and the section steel, when the position needs to be changed, the positioner changes the position of the section steel, and finally the welding robot welds all the plate parts needing to be welded with the section steel;
and S10, removing the section steel.
2. The automatic welding production method of the steel structure as claimed in claim 1, characterized in that: in step S9, the method for processing the plate part includes:
s91) the board cutting machine automatically performs layout and cutting processing according to the technological parameters of the technological order to form various board parts in the technological order;
s92) picking up the cut plate parts by using a robot and placing the plate parts on a conveyor for conveying;
s93) the conveyor conveys the plate parts to a visual detection station, and the visual identification device performs appearance identification, the visual identification device sends the information of the identified plate parts to a central control machine, and the central control machine classifies the plate parts according to the appearance of the plate parts and controls the movement of the moving-out robot;
s94) the plate parts are conveyed to a first moving-out station by a conveyor, the moving-out robot picks up the plate parts on the first moving-out station according to the instruction of the central control machine and sends the plate parts to a corresponding classified moving-out AGV, and the classified moving-out AGV moves between the first moving-out station and the feeding robot according to a set route.
3. The automatic welding production method of the steel structure as claimed in claim 2, characterized in that: when the plate parts received by the vision recognition device in the central control machine are special plate parts needing to be assembled and welded in advance, the special plate parts are conveyed to the second moving-out station by the conveying belt, the special plate parts are conveyed to the automatic assembling and welding machine by the welding transfer robot to be assembled and welded, the welded assembly parts are transferred to the AGV trolley, and the AGV trolley is moved out of the assembly part according to a set route between the second moving-out station and the feeding robot.
4. The automatic welding production method of the steel structure as claimed in claim 3, characterized in that: in the step S93), in the process of performing appearance recognition by the visual recognition device, the method further includes the step of actively positioning the plate parts; when the plate parts are conveyed to the position near the visual detection station by the conveyor, the conveyor stops conveying, and the plate parts are accurately positioned at the visual detection station by respectively utilizing the upstream positioning mechanism and the downstream positioning mechanism in upstream and downstream matching.
5. The automatic welding production method of the steel structure as claimed in claim 4, characterized in that: the concrete method for converting the steel position by the position converting machine in the step S9 comprises the following steps:
s911, transferring the section steel to a clamping device, and supporting and clamping the section steel by the clamping device;
s912, conveying the plate parts to be welded to the designated position of the section steel and completing welding;
s913, when the position is switched, the first displacement clamp and the second displacement clamp are used for clamping two ends of the section steel from two ends respectively,
s914, the clamping device loosens the section steel, and the first displacement clamp and the second displacement clamp respectively ascend to positions convenient to rotate;
s915, driving the first displacement clamp and the second displacement clamp by a first displacement rotary power device and a second displacement rotary power device respectively to convert the section steel into an angle, and then placing the section steel on a clamping device to support and clamp the section steel;
s916, sending other plate parts to be welded to the designated position of the section steel and completing welding;
s917, repeating the steps S913-S916 until the parts of the plates to be welded in all directions on the section steel are welded.
6. The automatic welding production method of the steel structure as claimed in claim 5, characterized in that: in the step S10, shot blasting surface treatment is carried out on the section steel through a shot blasting machine in the moving-out process.
7. The automatic welding production method of the steel structure as claimed in claim 6, characterized in that: the automatic drilling device of the step S6 completes drilling work of different shapes by matching a three-dimensional drilling machine and a plasma special-shaped hole cutting machine.
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| CN111069826A (en) * | 2019-11-19 | 2020-04-28 | 哈工大机器人南昌智能制造研究院 | Automatic welding production line for steel structure |
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| CN112917012A (en) * | 2021-01-28 | 2021-06-08 | 欧瑞特(广州)汽车设备有限公司 | Intelligent production line for steel structure of stereo garage and machining process of intelligent production line |
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| CN116493955A (en) * | 2023-06-26 | 2023-07-28 | 中国核工业二三建设有限公司 | Rectangular flange production device |
| CN116493955B (en) * | 2023-06-26 | 2023-10-27 | 中国核工业二三建设有限公司 | Rectangular flange production device |
| CN117124092A (en) * | 2023-09-15 | 2023-11-28 | 华洋海纳(北京)科技有限公司 | Combined machining production system for sectional materials |
| CN117124092B (en) * | 2023-09-15 | 2024-05-07 | 华洋海纳(北京)科技有限公司 | Combined machining production system for sectional materials |
| CN117001256A (en) * | 2023-09-28 | 2023-11-07 | 济南城市建设集团有限公司 | Steel structure welding device |
| CN117001256B (en) * | 2023-09-28 | 2024-01-12 | 济南城市建设集团有限公司 | Steel structure welding device |
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