CN112222684A - Welding manufacturing system and welding manufacturing method for structural member, and storage medium - Google Patents
Welding manufacturing system and welding manufacturing method for structural member, and storage medium Download PDFInfo
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- CN112222684A CN112222684A CN202010995936.8A CN202010995936A CN112222684A CN 112222684 A CN112222684 A CN 112222684A CN 202010995936 A CN202010995936 A CN 202010995936A CN 112222684 A CN112222684 A CN 112222684A
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- 238000003466 welding Methods 0.000 title claims abstract description 283
- 238000004519 manufacturing process Methods 0.000 title claims abstract description 188
- 238000003860 storage Methods 0.000 title claims description 9
- 238000012546 transfer Methods 0.000 claims description 53
- 238000000034 method Methods 0.000 claims description 35
- 238000005498 polishing Methods 0.000 claims description 28
- 239000002131 composite material Substances 0.000 claims description 7
- 230000004927 fusion Effects 0.000 claims description 6
- 238000004590 computer program Methods 0.000 claims description 3
- 238000007599 discharging Methods 0.000 claims description 2
- 230000008569 process Effects 0.000 description 10
- 230000008901 benefit Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 230000008439 repair process Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 1
- 229910052799 carbon Inorganic materials 0.000 description 1
- 125000004122 cyclic group Chemical group 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P23/00—Machines or arrangements of machines for performing specified combinations of different metal-working operations not covered by a single other subclass
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Abstract
The invention discloses a welding manufacturing system of a structural member, which comprises: the control system is electrically connected with the operation station and the carrying robot and is used for generating and sending corresponding welding manufacturing instructions and carrying instructions after the production plan is obtained; the operation stations are arranged in a preset welding manufacturing area and used for executing corresponding welding manufacturing operation based on the welding manufacturing instruction; the operation track is used for sequentially connecting each operation station to form a closed loop, and a cache station is arranged between every two adjacent operation stations on the operation track; and the carrying robot is arranged in one-to-one correspondence with the cache stations and used for inquiring the working state of the operation station corresponding to the carrying instruction under the condition of receiving the carrying instruction, executing reciprocating carrying operation or pause operation based on the carrying instruction and the working state, and temporarily stopping at the cache stations when the carrying robot executes the pause operation. The invention also discloses a welding manufacturing method of the structural member.
Description
Technical Field
The invention relates to the technical field of automatic welding manufacturing, in particular to a welding manufacturing system of a structural member, a welding manufacturing method of the structural member and a computer readable storage medium.
Background
Along with the continuous increase of production demand, the scale of factory is also continuously increasing, and in traditional structure processing, because the condition such as size inconsistency, shape variation, the form of putting is different and the welding requirement inconsistency that the structure exists, in the installation of traditional structure, concatenation and welding process, often through manual operation going on.
In the practical application process, on one hand, the structural part is hoisted and transported by adopting a travelling crane, so that the efficiency is low and the transportation precision is poor; on the other hand, in the process of manual installation, splicing and welding, the problems of inconsistent splicing shape, inconsistent welding seam, large deformation after welding, low welding efficiency and the like easily occur, the welding efficiency of the structural member is greatly reduced, the repair rate of the structural member is greatly improved, the operation and maintenance cost of an enterprise is increased, and great troubles are caused for the enterprise.
Disclosure of Invention
In order to solve the technical problems of low welding efficiency and low welding quality of structural members in the prior art, the embodiment of the invention provides the welding manufacturing system of the structural member, which realizes automatic and accurate welding manufacturing of the structural member by optimizing and improving the welding manufacturing environment and flow of the traditional structural member, greatly improves the welding manufacturing efficiency of enterprises, improves the welding quality of the structural members and improves the enterprise benefits.
In order to achieve the above object, an embodiment of the present invention provides a welding manufacturing system for a structural member, including: the control system is electrically connected with the operation station and the carrying robot and is used for generating and sending corresponding welding manufacturing instructions and carrying instructions after the production plan is obtained; the operation stations are arranged in a preset welding manufacturing area and used for executing corresponding welding manufacturing operation based on the welding manufacturing instruction; the operation track is used for sequentially connecting each operation station to form a closed loop, and a cache station is arranged between every two adjacent operation stations on the operation track; and the carrying robot is arranged in one-to-one correspondence with the cache stations and used for inquiring the working state of the operation station corresponding to the carrying instruction under the condition of receiving the carrying instruction, executing reciprocating carrying operation or pause operation based on the carrying instruction and the working state, and temporarily stopping at the cache stations when the carrying robot executes the pause operation.
Preferably, the welding manufacturing system further comprises an automatic guiding robot, wherein the automatic guiding robot is used for distributing the structural member to the feeding cache region, the structural member sequentially passes through the plurality of operation stations from the feeding cache region to perform welding manufacturing operation, is welded and manufactured into a polished structural member, and then enters the blanking cache region; the automatic guiding robot is further used for moving the ground structural part placed in the blanking cache area away.
Preferably, the weld manufacturing system includes a transfer platform; the operation stations comprise a pre-splicing station, a spot welding station, a welding station and a polishing station; the operation station performs a corresponding weld manufacturing operation based on the weld manufacturing, including: placing the structural part on the moving platform at the pre-assembly station and executing pre-assembly operation to obtain a pre-assembled structural part; performing position fine adjustment operation on the pre-assembled structural part placed on the moving platform at the spot welding station to obtain a fine-adjusted structural part, and performing spot welding operation on the fine-adjusted structural part to obtain a spot-welded structural part; performing welding operation on the spot-welded structural part placed on the moving platform at the welding station to obtain a welded structural part; and carrying out grinding operation on the welded structural part placed on the moving and loading platform at the grinding station to obtain the ground structural part.
Preferably, the carrier robot performs a reciprocating transfer operation between the operation stations along the operation rail, including: if the working state of the pre-assembly station is that the pre-assembly operation is finished, the pre-assembly station is operated to obtain the transfer platform, and the transfer platform is carried to the spot welding station; or if the working state of the spot welding station is that the spot welding operation is finished, the spot welding station is operated to obtain the moving and loading platform, and the moving and loading platform is carried to the welding station; or if the working state of the welding station is that the welding operation is finished, the welding station is operated to obtain the transfer platform, and the transfer platform is carried to the polishing station; or if the working state of the polishing station is that the polishing operation is finished, taking down the polished structural part from the moving and loading platform, and carrying the moving and loading platform to the pre-splicing station.
Preferably, the placing the structural member on the moving platform at the pre-assembly station and performing a pre-assembly operation includes: acquiring size information of the structural part; adjusting the moving platform based on the size information to obtain a moving platform matched with the structural part; and sequentially grabbing the structural parts according to a preset grabbing rule and splicing the structural parts on a moving platform matched with the structural parts to obtain the pre-spliced structural parts.
Preferably, the pre-assembly station includes an electromagnetic clamp or an image acquisition device, snatch in proper order the structure includes: sequentially grabbing the structural parts through the electromagnetic clamp; or acquiring the image information of the structural part through the image acquisition device, acquiring the positioning information of the structural part based on the image information, and sequentially grabbing the structural part based on the positioning information.
Preferably, the welding operation performed on the spot-welded structural component at the welding station to obtain a welded structural component includes: and performing welding operation on the spot-welded structural part according to a plasma arc composite welding method or a deep fusion welding method to obtain the welded structural part.
Correspondingly, the invention also provides a welding manufacturing method of the structural member, which is applied to a welding manufacturing system, wherein the welding manufacturing system comprises a control system, a plurality of operation stations and a plurality of carrying robots, and the welding manufacturing method comprises the following steps: acquiring production plan information through the control system, generating corresponding welding manufacturing instructions and carrying instructions based on the production plan information, sending the welding manufacturing instructions to the corresponding operation stations, and sending the carrying instructions to the corresponding carrying robots; executing, by the operating station, a corresponding weld manufacturing operation based on the weld manufacturing instruction; and under the condition that the carrying instruction is acquired, inquiring the working state of an operation station corresponding to the carrying instruction through the carrying robot, and executing reciprocating carrying operation or suspending operation based on the carrying instruction and the working state.
Preferably, the welding manufacturing system includes an automated guided robot, and before the control system generates the corresponding welding manufacturing instructions and delivery instructions based on the production plan information, the welding manufacturing method further includes: judging whether the structural part is placed in a feeding cache region or not, generating a feeding control instruction and sending the feeding control instruction to the automatic guiding robot under the condition that the structural part is not placed in the feeding cache region, and distributing the structural part to the feeding cache region through the automatic guiding robot; after the structural member is welded and manufactured into a polished structural member by performing welding manufacturing operations through the plurality of operation stations in sequence, the welding manufacturing method further comprises the following steps: and generating a blanking control instruction, sending the blanking control instruction to the automatic guide robot, and removing the polished structural part placed in the blanking cache region through the automatic guide robot.
Preferably, the weld manufacturing system further comprises a transfer platform; the operation stations comprise a pre-splicing station, a spot welding station, a welding station and a polishing station; the operation station performs a corresponding weld manufacturing operation based on the weld manufacturing instruction, including: placing the structural part on the moving platform at the pre-assembly station and executing pre-assembly operation to obtain a pre-assembled structural part; performing position fine adjustment operation on the pre-assembled structural part placed on the moving platform at the spot welding station to obtain a fine-adjusted structural part, and performing spot welding operation on the fine-adjusted structural part to obtain a spot-welded structural part; performing welding operation on the spot-welded structural part placed on the moving platform at the welding station to obtain a welded structural part; and carrying out grinding operation on the welded structural part placed on the moving and loading platform at the grinding station to obtain the ground structural part.
Preferably, said performing reciprocating carrying operation based on said carrying instruction and said working state comprises: if the working state of the pre-assembly station is that the pre-assembly operation is finished, the pre-assembly station is operated to obtain the transfer platform, and the transfer platform is carried to the spot welding station; or if the working state of the spot welding station is that the spot welding operation is finished, the spot welding station is operated to obtain the moving and loading platform, and the moving and loading platform is carried to the welding station; or if the working state of the welding station is that the welding operation is finished, the welding station is operated to obtain the transfer platform, and the transfer platform is carried to the polishing station; or if the working state of the polishing station is that the polishing operation is finished, taking down the polished structural part from the moving and loading platform, and carrying the moving and loading platform to the pre-splicing station.
Preferably, the placing the structural member on the moving platform at the pre-assembly station and performing a pre-assembly operation includes: acquiring size information of the structural part; adjusting the moving platform based on the size information to obtain a moving platform matched with the structural part; and sequentially grabbing the structural parts according to a preset grabbing rule and splicing the structural parts on a moving platform matched with the structural parts to obtain the pre-spliced structural parts.
Preferably, said sequentially grabbing said structure comprises: sequentially grabbing the structural parts in an electromagnetic grabbing manner; or acquiring image information of the structural part, acquiring positioning information of the structural part based on the image information, and sequentially grabbing the structural part based on the positioning information.
Preferably, the welding operation performed on the spot-welded structural component to obtain a welded structural component includes: and performing welding operation on the spot-welded structural part according to a plasma arc composite welding method or a deep fusion welding method to obtain the welded structural part.
In another aspect, the present invention also provides a computer-readable storage medium, on which a computer program is stored, which when executed by a processor implements the method provided by the present invention.
Through the technical scheme provided by the invention, the invention at least has the following technical effects:
by improving the traditional structural member welding manufacturing mode, on one hand, the carrying operation of the intermediate member is carried out by adopting a carrying robot instead of manual carrying, so that the damage to the splicing quality of the intermediate member in the carrying process is effectively avoided, and the splicing consistency and reliability are ensured; on the other hand, the automatic welding mode is adopted for different procedures, so that the welding manufacturing efficiency is greatly improved, and the welding quality is improved.
Additional features and advantages of embodiments of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the embodiments of the invention without limiting the embodiments of the invention. In the drawings:
FIG. 1 is a schematic structural diagram of a welding manufacturing system for structural members provided by an embodiment of the present invention;
FIG. 2 is a schematic structural view of a welding manufacturing system for structural members according to another embodiment of the present invention;
FIG. 3 is a schematic diagram of a welding manufacturing system configured with an automated guided robot for structural members, according to an embodiment of the present invention;
FIG. 4 is a schematic illustration of an operating station in a welding manufacturing system for structural members provided in accordance with an embodiment of the present invention;
FIG. 5 is a schematic structural diagram of a carrier robot in a welding manufacturing system for structural members according to an embodiment of the present invention;
fig. 6 is a flowchart of a specific implementation of a method for manufacturing a structural member by welding according to an embodiment of the present invention.
Description of the reference numerals
10 operating station 101 pre-splicing station
102 spot welding station and 103 welding station
104 grinding station 20 running track
201 buffer station 30 carrying robot
40 control system 50 automatic guided robot
501 feeding buffer area 502 blanking buffer area
60 move dress platform
Detailed Description
In order to solve the technical problems of low welding efficiency and low welding quality of structural members in the prior art, the embodiment of the invention provides the welding manufacturing system of the structural member, which realizes automatic and accurate welding manufacturing of the structural members by optimizing and improving the welding environment and the welding process of the traditional structural member, greatly improves the welding manufacturing efficiency of enterprises, improves the welding quality of the structural members and improves the enterprise benefits.
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating embodiments of the invention, are given by way of illustration and explanation only, not limitation.
The terms "system" and "network" in embodiments of the present invention may be used interchangeably. The "plurality" means two or more, and in view of this, the "plurality" may also be understood as "at least two" in the embodiments of the present invention. "and/or" describes the association relationship of the associated objects, meaning that there may be three relationships, e.g., a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" generally indicates that the preceding and following related objects are in an "or" relationship, unless otherwise specified. In addition, it should be understood that the terms first, second, etc. in the description of the embodiments of the invention are used for distinguishing between the descriptions and are not intended to indicate or imply relative importance or order to be construed.
Referring to fig. 1, an embodiment of the present invention provides a welding manufacturing system for a structural member, the welding manufacturing system including: the control system 40 is electrically connected with the operation station 10 and the carrying robot 30 and is used for generating and sending corresponding welding manufacturing instructions and carrying instructions after obtaining the production plan; a plurality of operation stations 10, which are arranged in a preset welding manufacturing area and are used for executing corresponding welding manufacturing operations based on the welding manufacturing instructions; the operation track 20 is used for sequentially connecting each operation station 10 to form a closed loop, and a cache station 201 is arranged between two adjacent operation stations 10 on the operation track; and the carrying robot 30 is arranged in one-to-one correspondence with the buffer work stations 201, and is used for inquiring the working state of the operation work station 10 corresponding to the carrying instruction under the condition that the carrying instruction is received, executing reciprocating carrying operation or pause operation based on the carrying instruction and the working state, and temporarily stopping at the buffer work stations when the carrying robot 30 executes the pause operation.
Referring to fig. 2, in a possible embodiment, in order to improve the welding manufacturing work of the structural member in the prior art, the embodiment of the present invention provides a welding manufacturing system of the structural member, which includes 4 operation stations 10, wherein each operation station 10 can represent a different process in the welding manufacturing process of the structural member, and a running track 20 is sequentially arranged between the 4 operation stations 10. In the actual application process, the structural member to be welded and manufactured may be manually placed near the first operation station, and at this time, the technician sends the production plan information to the control system 40, or of course, may send other control instructions to the control system 40 to control the welding and manufacturing system to perform the corresponding welding and manufacturing operation. The control system 40 generates a corresponding operation instruction according to the production plan information, and sends the operation instruction to each operation station 10 and each carrier robot 30 to control the operation station and the carrier robot to start the welding action or the carrying action.
For example, in the embodiment of the present invention, after obtaining the operation instruction, each operation station 10 first determines whether the current operation station has enough welding-manufacturing components, for example, the welding components are structural members to be welded or structural members in welding manufacturing, for example, the first operation station has enough structural members to be welded and manufactured, and then the first operation station directly performs the corresponding welding-manufacturing operation; the welding manufacturing parts are absent on the second operation station, so corresponding feedback information is fed back to the control system 40, the carrier robot 30 acquires that the working state of the second operation station is in an idle state through the control system 40, the required structural member in welding manufacturing is immediately carried to the second operation station, and the carrier robot 30 immediately carries the corresponding structural member in welding manufacturing and then immediately starts to perform the corresponding welding manufacturing operation.
After obtaining the carrying instruction, the carrying robot 30 determines whether to go to the operation station to be carried to perform the corresponding carrying operation according to whether the current welding manufacturing operation is completed on the operation station to be carried. For example, in the embodiment of the present invention, the carrier robot 30 between the first operation station and the second operation station receives the carrying instruction, so that it is first determined whether the first operation station completes the welding manufacturing operation, for example, the first operation station completes the welding manufacturing operation on the structural component in advance, so that the carrier robot 30 may directly go to the first operation station to perform the corresponding carrying operation, after the structural component in the welding manufacturing is obtained at the first operation station, the carrier robot 30 further determines whether the second operation station completes the current welding manufacturing operation, and determines that the second operation station has completed the current welding manufacturing operation, so that the obtained structural component in the welding manufacturing is immediately carried to the second operation station.
In another possible embodiment, the carrier robot 30 performs a reciprocating carrying operation between the second operation station and the third operation station. After acquiring the structural member in the welding manufacture at the second operation station, the carrier robot 30 further determines whether the welding manufacture operation is completed at the third operation station, and determines that the third operation station has not completed the welding manufacturing operation, thus moves to the buffer station 201 and temporarily stops to perform the pause operation, during the waiting period, the carrier robot 30 may send an inquiry command to the third operating station in real time, or after the third operating station completes the welding manufacturing operation, the control system 40 sends a carrying instruction to the carrying robot 30, when the working state of the third operating station is determined as the welding manufacturing operation, the carrier robot 30 immediately carries the acquired structural component under weld fabrication to the third operation station to continue the subsequent weld fabrication operation, and after the completion of the shipment, returns to the corresponding buffer station 201 to wait for the next shipment instruction.
In the embodiment of the invention, on one hand, a set of welding manufacturing system is designed, and different welding manufacturing processes are executed on different operation stations, so that assembly line welding manufacturing operation of the structural member is formed, automatic welding manufacturing or efficient welding manufacturing of the structural member is realized, and compared with the traditional manual splicing welding, the welding quality of the structural member can be greatly improved; on the other hand, by arranging the buffer storage station 201 between the adjacent operation stations 10, when the operation station to be carried has not completed the welding manufacture operation or is executing the welding manufacture operation, the carrying robot 30 can temporarily wait, so that on one hand, the normal work of the operation station to be carried is not affected, and accidents are avoided, and on the other hand, once the operation station to be carried completes the welding manufacture operation, the carrying operation can be immediately executed, thereby further improving the welding manufacture efficiency.
Furthermore, in the embodiment of the invention, the carrying robot is configured between the operation stations to carry out carrying work of the structural part in welding manufacture, instead of manual transfer, so that positioning errors or structural disturbance to the welded structural part in the manual transfer process can be effectively avoided, the welding quality of the structural part can be further improved, the repair rate is effectively reduced, and the operational benefits of enterprises are improved.
Referring to fig. 3, in the embodiment of the present invention, the welding manufacturing system further includes an automatic guided robot 50, wherein the automatic guided robot 50 is configured to deliver the structural member to the feeding buffer 501; the structural part is welded and manufactured into a polished structural part from the feeding cache region through a plurality of operation stations 10 in sequence and then enters the discharging cache region; the automated guided robot 50 is also used to remove the ground structure placed in the blanking buffer 502.
In a possible embodiment, in order to further improve the welding efficiency of welding the structural member, a feeding buffer 501 and a blanking buffer 502 are provided in a preset welding manufacturing area, for example, in the embodiment of the present invention, the feeding buffer 501 is provided near the first operation station, the blanking buffer 502 is provided near the last operation station, for example, when there are 4 operation stations, the blanking buffer 502 is provided near the fourth operation station.
Meanwhile, in the embodiment of the present invention, the automatic guided robot 50 is used to transport the structural member or the welded and polished structural member. When the structural member needs to be welded and manufactured, the technician places the stored structural member in the automatic guided robot 50, and at this time, the technician may send a corresponding carrying instruction to the automatic guided robot 50, or the control system 40 sends a corresponding carrying instruction to the automatic guided robot 50, and the automatic guided robot 50 automatically runs to the vicinity of the first operation station and places the structural member in the feeding buffer area 501 and then automatically leaves. On the other hand, after the last operation station finishes the polishing operation on the structural member, the control system 40 may send a corresponding carrying instruction to the automatic guided robot 50, and the automatic guided robot 50 operates to the vicinity of the last operation station according to the carrying instruction and obtains the polished structural member placed in the blanking buffer area 502 to automatically carry the polished structural member to a corresponding destination position.
In the embodiment of the invention, the feeding buffer area 501 and the blanking buffer area 502 are arranged in the preset welding manufacturing area, and the automatic guide robot 50 is adopted to automatically carry out the transportation operation of the structural component and the ground structural component, so that the manual transportation or the manual forklift transportation in the traditional welding manufacturing process is replaced, the seamless connection of production and transportation can be realized, and the welding manufacturing efficiency of the structural component is further improved.
Referring to fig. 4 and 5, in an embodiment of the present invention, the welding manufacturing system includes a transfer platform 60, the operation station 10 includes a pre-splicing station 101, a spot welding station 102, a welding station 103, and a grinding station 104, and the operation station 10 performs a corresponding welding manufacturing operation based on a welding manufacturing instruction, including: placing the structural part on a moving platform 60 at a pre-assembly station 101 and performing pre-assembly operation to obtain a pre-assembled structural part; performing position fine adjustment operation on the pre-assembled structural part placed on the movable platform 60 at a spot welding station 102 to obtain a fine-adjusted structural part, and performing spot welding operation on the fine-adjusted structural part to obtain a spot-welded structural part; performing welding operation on the spot-welded structural part placed on the moving platform 60 at a welding station 103 to obtain a welded structural part; and carrying out grinding operation on the welded structural part placed on the moving and loading platform 60 at a grinding station 104 to obtain the ground structural part.
Further, in the present embodiment, the carrier robot 30 performs reciprocating transfer operations between the operation stations 10 along the operation rail 20, including: if the working state of the pre-assembly station 101 is that the pre-assembly operation is completed, the pre-assembly station 101 is moved to obtain the transfer platform 60, and the transfer platform 60 is carried to the spot welding station 102; or if the working state of the spot welding station 102 is that the spot welding operation is completed, the spot welding station 102 is moved to obtain the transfer platform 60, and the transfer platform 60 is carried to the welding station 103; or if the working state of the welding station 103 is that the welding operation is completed, the welding station 103 is moved to obtain the transferring platform 60, and the transferring platform 60 is carried to the polishing station 104; or if the working state of the polishing station 104 is to finish the polishing operation, taking down the polished structural part from the third moving and loading platform, and carrying the moving and loading platform 60 to the pre-assembly station 101.
In one possible embodiment, after obtaining the production plan information, the control system 40 sends an operation instruction to each operation station 10, and each operation station 10 starts to independently perform the welding manufacturing operation. In the embodiment of the present invention, the operation stations 10 include a pre-assembly station 101, a spot welding station 102, a welding station 103, and a polishing station 104, the operation rails 20 are two rails parallel to each other, and after receiving a welding manufacturing instruction, the pre-assembly station 101 immediately obtains a structural member from the feeding buffer area 501 and places the structural member on the moving platform 60 to perform a pre-assembly operation, for example, the structural member may be grabbed according to a preset assembly sequence and assembled on the moving platform 60 to obtain a pre-assembled structural member.
After obtaining the pre-spliced structural member, the pre-splicing station 101 determines to complete the pre-splicing operation, and the carrier robot 30 moves to the operation pre-splicing station 101 and performs the carrying operation on the transfer platform 60 (pre-spliced structural member), for example, in an embodiment of the present invention, the carrier robot 30 may include a lift-up structure (not shown) which defaults to a contracted state, and when the carrier robot 30 moves to the pre-splicing station 101 and determines to move in place, the lift-up structure is slowly lifted up and the transfer platform 60 is lifted up, so that the transfer platform 60 and the pre-spliced structural member are separated from the pre-splicing station 101 as a whole, and at this time, the carrier robot 30 slowly carries the transfer platform 60 and the pre-spliced structural member to the spot welding station 102, so as to complete the carrying operation on the pre-spliced structural member.
After the carrying robot 30 carries the structural member in welding manufacture to the spot welding station 102 and the welding station 103, the spot welding station 102 automatically executes spot welding operation, the welding station 103 automatically executes welding operation, and after the corresponding welding manufacture operation is executed, the carrying robot 30 carries the structural member in welding manufacture and the transfer platform 60 to the next operation station 10 together, when the polishing station 104 finishes polishing the welded structural member to obtain a polished structural member, the polishing station 104 takes the polished structural member down and places the polished structural member in the blanking cache area 502, at this time, the carrying robot 30 carries the empty transfer platform 60 to the pre-assembly station 101, so that the cyclic utilization of the transfer platform 60 is completed, and the assembly line welding manufacture operation of the structural member is realized.
In the embodiment of the invention, the traditional manual welding manufacturing mode is replaced by the assembly line welding manufacturing mode, so that the welding manufacturing efficiency of the structural member is greatly improved. Meanwhile, the transfer platform 60 is configured on the operation station 10, and after each operation station 10 finishes the corresponding welding manufacturing operation, the corresponding welding manufacturing operation is integrally transferred to the next operation station 10 through the transfer platform 60, so that the positioning error caused by secondary clamping is effectively avoided, the welding deviation of the structural member in the whole welding manufacturing process is reduced, and the welding manufacturing quality is improved.
In an embodiment of the present invention, the placing the structural member on the moving and loading platform and performing the pre-assembling operation at the pre-assembling station 101 includes: acquiring size information of the structural part; adjusting the moving platform 60 based on the size information to obtain the moving platform 60 matched with the structural part; and sequentially grabbing the structural parts according to a preset grabbing rule and splicing the structural parts on a moving platform 60 matched with the structural parts to obtain the pre-spliced structural parts.
Further, in an embodiment of the present invention, the pre-splicing station includes an electromagnetic clamp or an image acquisition device, and the sequentially grabbing the structural member includes: sequentially grabbing the structural parts through the electromagnetic clamp; or acquiring the image information of the structural part through the image acquisition device, acquiring the positioning information of the structural part based on the image information, and sequentially grabbing the structural part based on the positioning information.
In one possible embodiment, during the gripping and placing of the structural component on the transfer platform 60, the transfer platform 60 is first adjusted to the size of the current structural component. For example, in the embodiment of the present invention, a technician may input model information of the structural member in the control system 40 in advance, the control system 40 automatically obtains corresponding size information according to the model information, and sends the size information to the transfer platform 60, and at this time, the transfer platform 60 automatically performs size adjustment according to the size information so as to conform to the size of the structural member to be placed. Of course, the size of the transfer platform 60 may also be directly adjusted manually by the technician.
On the premise of adjusting the transfer platform 60 and obtaining a transfer platform matched with the structural member, after the pre-assembly station 101 obtains the operation instruction, it starts to grab the structural member from the feeding buffer area 501 and place the structural member on the matching transfer platform.
In the embodiment of the invention, in the processes of grabbing and placing, the image acquisition device can be used for acquiring the image information of the structural part so as to perform image identification on the structural part, acquiring the positioning information of the structural part according to the identification result, grabbing the structural part according to the positioning information and placing the structural part to the corresponding matching position on the moving and mounting platform, and grabbing each structural part in sequence and assembling the structural parts to obtain the pre-assembled structural part.
In an embodiment of the present invention, the performing a welding operation on the spot-welded structural component at the welding station 10 to obtain a welded structural component includes: and performing welding operation on the spot-welded structural part according to a plasma arc composite welding method or a deep fusion welding method to obtain the welded structural part.
In the embodiment of the invention, the technical effect of single-side welding and double-side forming can be realized by adopting a plasma arc composite welding method or a deep-melting welding method for welding, so that operations such as turning over, carbon planing, reverse welding and the like for a structural member are not needed, the deformation problem in the welding process is effectively reduced, the splicing quality of the structural member is greatly improved, the repair rate is reduced, and the operating benefit of an enterprise is improved.
In the embodiment of the invention, the traditional manual splicing mode is replaced by the assembly line splicing mode, so that the operation flow and the operation accuracy are greatly simplified, the welding and manufacturing efficiency is effectively improved, the labor intensity of technical personnel is greatly reduced, and the production safety is improved.
The following describes a method for manufacturing a structural member by welding according to an embodiment of the present invention with reference to the drawings.
Referring to fig. 6, based on the same inventive concept, an embodiment of the present invention provides a method for manufacturing a structural member by welding, which is applied to a welding manufacturing system, where the welding manufacturing system includes a plurality of operating stations, and the method includes:
s10), acquiring production plan information through the control system, generating corresponding welding manufacturing instructions and carrying instructions based on the production plan information, sending the welding manufacturing instructions to the corresponding operation stations, and sending the carrying instructions to the corresponding carrying robots;
s20) executing the corresponding welding manufacturing operation based on the welding manufacturing instruction through the operation station;
s30), under the condition that the carrying instruction is obtained, the carrying robot inquires the working state of the operation station corresponding to the carrying instruction, and reciprocating carrying operation or suspension operation is carried out based on the carrying instruction and the working state.
In an embodiment of the present invention, the welding manufacturing system comprises an automated guided robot, and before the control system generates the corresponding welding manufacturing instructions and delivery instructions based on the production plan information, the welding manufacturing method further comprises: judging whether the structural part is placed in a feeding cache region or not, generating a feeding control instruction and sending the feeding control instruction to the automatic guiding robot under the condition that the structural part is not placed in the feeding cache region, and distributing the structural part to the feeding cache region through the automatic guiding robot; after the structural member is welded and manufactured into a polished structural member by performing welding manufacturing operations through the plurality of operation stations in sequence, the welding manufacturing method further comprises the following steps: and generating a blanking control instruction, sending the blanking control instruction to the automatic guide robot, and removing the polished structural part placed in the blanking cache region through the automatic guide robot.
In an embodiment of the present invention, the welding manufacturing system further comprises a transfer platform; the operation stations comprise a pre-splicing station, a spot welding station, a welding station and a polishing station; the operation station performs a corresponding weld manufacturing operation based on the weld manufacturing instruction, including: placing the structural part on the moving platform at the pre-assembly station and executing pre-assembly operation to obtain a pre-assembled structural part; performing position fine adjustment operation on the pre-assembled structural part placed on the moving platform at the spot welding station to obtain a fine-adjusted structural part, performing spot welding operation on the fine-adjusted structural part to obtain a spot-welded structural part, and placing the electric-welded structural part on the moving platform; performing welding operation on the spot-welded structural part placed on the moving platform at the welding station to obtain a welded structural part, and placing the welded structural part on the moving platform; and carrying out grinding operation on the welded structural part placed on the moving and loading platform at the grinding station to obtain the ground structural part.
In an embodiment of the present invention, the performing reciprocating carrying operation based on the carrying instruction and the working state includes: if the working state of the pre-assembly station is that the pre-assembly operation is finished, the pre-assembly station is operated to obtain the transfer platform, and the transfer platform is carried to the spot welding station; or if the working state of the spot welding station is that the spot welding operation is finished, the spot welding station is operated to obtain the moving and loading platform, and the moving and loading platform is carried to the welding station; or if the working state of the welding station is that the welding operation is finished, the welding station is operated to obtain the transfer platform, and the transfer platform is carried to the polishing station; or if the working state of the polishing station is that the polishing operation is finished, taking down the polished structural part from the moving and loading platform, and carrying the moving and loading platform to the pre-splicing station.
In an embodiment of the present invention, the placing the structural member on the moving and loading platform at the pre-assembly station and performing a pre-assembly operation includes: acquiring size information of the structural part; adjusting the moving platform based on the size information to obtain a moving platform matched with the structural part; and sequentially grabbing the structural parts according to a preset grabbing rule and splicing the structural parts on a moving platform matched with the structural parts to obtain the pre-spliced structural parts.
In an embodiment of the present invention, the sequentially grabbing the structural members includes: sequentially grabbing the structural parts in an electromagnetic grabbing manner; or acquiring image information of the structural part, acquiring positioning information of the structural part based on the image information, and sequentially grabbing the structural part based on the positioning information.
In an embodiment of the present invention, the performing a welding operation on the spot-welded structural component to obtain a welded structural component includes: and performing welding operation on the spot-welded structural part according to a plasma arc composite welding method or a deep fusion welding method to obtain the welded structural part.
Further, an embodiment of the present invention also provides a computer-readable storage medium, on which a computer program is stored, which when executed by a processor implements the method of the present invention.
Although the embodiments of the present invention have been described in detail with reference to the accompanying drawings, the embodiments of the present invention are not limited to the details of the above embodiments, and various simple modifications can be made to the technical solutions of the embodiments of the present invention within the technical idea of the embodiments of the present invention, and the simple modifications all belong to the protection scope of the embodiments of the present invention.
It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. In order to avoid unnecessary repetition, the embodiments of the present invention do not describe every possible combination.
Those skilled in the art will understand that all or part of the steps in the method according to the above embodiments may be implemented by a program, which is stored in a storage medium and includes several instructions to enable a single chip, a chip, or a processor (processor) to execute all or part of the steps in the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In addition, any combination of various different implementation manners of the embodiments of the present invention is also possible, and the embodiments of the present invention should be considered as disclosed in the embodiments of the present invention as long as the combination does not depart from the spirit of the embodiments of the present invention.
Claims (15)
1. A weld manufacturing system for structural members, the weld manufacturing system comprising:
the control system is electrically connected with the operation station and the carrying robot and is used for generating and sending corresponding welding manufacturing instructions and carrying instructions after the production plan is obtained;
the operation stations are arranged in a preset welding manufacturing area and used for executing corresponding welding manufacturing operation based on the welding manufacturing instruction;
the operation track is used for sequentially connecting each operation station to form a closed loop, and a cache station is arranged between every two adjacent operation stations on the operation track;
and the carrying robot is arranged in one-to-one correspondence with the cache stations and used for inquiring the working state of the operation station corresponding to the carrying instruction under the condition of receiving the carrying instruction, executing reciprocating carrying operation or pause operation based on the carrying instruction and the working state, and temporarily stopping at the cache stations when the carrying robot executes the pause operation.
2. The weld manufacturing system according to claim 1, further comprising an automated guided robot;
the automatic guiding robot is used for distributing the structural parts to a feeding cache region, and the structural parts sequentially pass through the plurality of operation stations from the feeding cache region to perform welding manufacturing operation, are welded and manufactured into polished structural parts and then enter a discharging cache region;
the automatic guiding robot is further used for moving the ground structural part placed in the blanking cache area away.
3. The weld manufacturing system according to claim 1 or 2, further comprising a transfer platform; the operation stations comprise a pre-splicing station, a spot welding station, a welding station and a polishing station; the operation station performs a corresponding weld manufacturing operation based on the weld manufacturing instruction, including:
placing the structural part on the moving platform at the pre-assembly station and executing pre-assembly operation to obtain a pre-assembled structural part;
performing position fine adjustment operation on the pre-assembled structural part placed on the moving platform at the spot welding station to obtain a fine-adjusted structural part, and performing spot welding operation on the fine-adjusted structural part to obtain a spot-welded structural part;
performing welding operation on the spot-welded structural part placed on the moving platform at the welding station to obtain a welded structural part;
and carrying out grinding operation on the welded structural part placed on the moving and loading platform at the grinding station to obtain the ground structural part.
4. The weld manufacturing system of claim 3, wherein the carrier robot performs a reciprocating carrier operation based on the carrier command and the work status, comprising:
if the working state of the pre-assembly station is that the pre-assembly operation is finished, the pre-assembly station is operated to obtain the transfer platform, and the transfer platform is carried to the spot welding station; or
If the working state of the spot welding station is that the spot welding operation is finished, the spot welding station is operated to obtain the moving and loading platform, and the moving and loading platform is carried to the welding station; or
If the working state of the welding station is that the welding operation is finished, the welding station is operated to obtain the transfer platform, and the transfer platform is carried to the polishing station; or
And if the working state of the polishing station is the completion of the polishing operation, taking down the polished structural part from the moving and loading platform, and carrying the moving and loading platform to the pre-splicing station.
5. The weld manufacturing system of claim 3, wherein the placing the structure on the transfer platform and performing a pre-assembly operation at the pre-assembly station comprises:
acquiring size information of the structural part;
adjusting the moving platform based on the size information to obtain a moving platform matched with the structural part;
and sequentially grabbing the structural parts according to a preset grabbing rule and splicing the structural parts on a moving platform matched with the structural parts to obtain the pre-spliced structural parts.
6. The weld manufacturing system of claim 5, wherein the pre-assembly station includes an electromagnetic clamp or an image capture device that sequentially captures the structure, comprising:
sequentially grabbing the structural parts through the electromagnetic clamp; or
The image acquisition device acquires image information of the structural part, acquires positioning information of the structural part based on the image information, and sequentially captures the structural part based on the positioning information.
7. The weld manufacturing system according to claim 3, wherein the performing a welding operation on the spot welded structural component at the welding station to obtain a welded structural component comprises:
and performing welding operation on the spot-welded structural part according to a plasma arc composite welding method or a deep fusion welding method to obtain the welded structural part.
8. A method for manufacturing a welded structure, applied to a welding manufacturing system comprising a control system, a plurality of operating stations and a plurality of carrier robots, characterized in that it comprises:
acquiring production plan information through the control system, generating corresponding welding manufacturing instructions and carrying instructions based on the production plan information, sending the welding manufacturing instructions to corresponding operation stations, and sending the carrying instructions to corresponding carrying robots;
executing, by the operating station, a corresponding weld manufacturing operation based on the weld manufacturing instruction;
and under the condition that the carrying instruction is acquired, inquiring the working state of an operation station corresponding to the carrying instruction through the carrying robot, and executing reciprocating carrying operation or suspending operation based on the carrying instruction and the working state.
9. The weld manufacturing method of claim 8, the weld manufacturing system comprising an automated guided robot, wherein prior to the control system generating corresponding weld manufacturing instructions and shipping instructions based on the production plan information, the weld manufacturing method further comprises:
judging whether the structural part is placed in a feeding cache region or not, generating a feeding control instruction and sending the feeding control instruction to the automatic guiding robot under the condition that the structural part is not placed in the feeding cache region, and distributing the structural part to the feeding cache region through the automatic guiding robot;
after the structural member is welded and manufactured into a polished structural member by performing welding manufacturing operations through the plurality of operation stations in sequence, the welding manufacturing method further comprises the following steps:
and generating a blanking control instruction, sending the blanking control instruction to the automatic guide robot, and removing the polished structural part placed in the blanking cache region through the automatic guide robot.
10. The weld manufacturing method according to claim 9, wherein the weld manufacturing system further comprises a transfer platform; the operation stations comprise a pre-splicing station, a spot welding station, a welding station and a polishing station; the operation station performs a corresponding weld manufacturing operation based on the weld manufacturing instruction, including:
placing the structural part on the moving platform at the pre-assembly station and executing pre-assembly operation to obtain a pre-assembled structural part;
performing position fine adjustment operation on the pre-assembled structural part placed on the moving platform at the spot welding station to obtain a fine-adjusted structural part, and performing spot welding operation on the fine-adjusted structural part to obtain a spot-welded structural part;
performing welding operation on the spot-welded structural part placed on the moving platform at the welding station to obtain a welded structural part;
and carrying out grinding operation on the welded structural part placed on the moving and loading platform at the grinding station to obtain the ground structural part.
11. The weld manufacturing method according to claim 10, wherein the performing a reciprocating carry operation based on the carry command and the working condition comprises:
if the working state of the pre-assembly station is that the pre-assembly operation is finished, the pre-assembly station is operated to obtain the transfer platform, and the transfer platform is carried to the spot welding station; or
If the working state of the spot welding station is that the spot welding operation is finished, the spot welding station is operated to obtain the moving and loading platform, and the moving and loading platform is carried to the welding station; or
If the working state of the welding station is that the welding operation is finished, the welding station is operated to obtain the transfer platform, and the transfer platform is carried to the polishing station; or
And if the working state of the polishing station is the completion of the polishing operation, taking down the polished structural part from the moving and loading platform, and carrying the moving and loading platform to the pre-splicing station.
12. The weld manufacturing method according to claim 10, wherein the placing the structural member on the transfer platform and performing a pre-assembly operation at the pre-assembly station comprises:
acquiring size information of the structural part;
adjusting the moving platform based on the size information to obtain a moving platform matched with the structural part;
and sequentially grabbing the structural parts according to a preset grabbing rule and splicing the structural parts on a moving platform matched with the structural parts to obtain the pre-spliced structural parts.
13. The weld manufacturing method according to claim 12, wherein the sequentially grabbing the structural members comprises:
sequentially grabbing the structural parts in an electromagnetic grabbing manner; or
Acquiring image information of the structural part, acquiring positioning information of the structural part based on the image information, and sequentially grabbing the structural part based on the positioning information.
14. The weld manufacturing method according to claim 10, wherein the performing the welding operation on the spot welded structural component to obtain a welded structural component includes:
and performing welding operation on the spot-welded structural part according to a plasma arc composite welding method or a deep fusion welding method to obtain the welded structural part.
15. A computer-readable storage medium, on which a computer program is stored, which program, when being executed by a processor, is adapted to carry out the method of any one of claims 8 to 14.
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