CN114799883A - Steel structure secondary machining system and method - Google Patents
Steel structure secondary machining system and method Download PDFInfo
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- CN114799883A CN114799883A CN202210608087.5A CN202210608087A CN114799883A CN 114799883 A CN114799883 A CN 114799883A CN 202210608087 A CN202210608087 A CN 202210608087A CN 114799883 A CN114799883 A CN 114799883A
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- 229910000831 Steel Inorganic materials 0.000 title claims abstract description 63
- 239000010959 steel Substances 0.000 title claims abstract description 63
- 238000000034 method Methods 0.000 title claims abstract description 27
- 238000003754 machining Methods 0.000 title claims description 9
- 238000003466 welding Methods 0.000 claims abstract description 124
- 238000012545 processing Methods 0.000 claims abstract description 64
- 238000005520 cutting process Methods 0.000 claims abstract description 53
- 238000003672 processing method Methods 0.000 claims abstract description 10
- 239000000463 material Substances 0.000 claims abstract description 9
- 230000007246 mechanism Effects 0.000 claims description 61
- 238000007599 discharging Methods 0.000 claims description 14
- 230000009471 action Effects 0.000 claims description 10
- 238000010276 construction Methods 0.000 claims description 4
- 230000008569 process Effects 0.000 description 20
- 238000004519 manufacturing process Methods 0.000 description 17
- 229910000679 solder Inorganic materials 0.000 description 6
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- 230000005540 biological transmission Effects 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 3
- 206010063385 Intellectualisation Diseases 0.000 description 2
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- 230000000694 effects Effects 0.000 description 1
- 238000003912 environmental pollution Methods 0.000 description 1
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- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
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Abstract
The invention discloses a steel structure secondary processing system and a method, which relate to the technical field of steel structure secondary processing and comprise a master controller, a material stacking frame, a truss manipulator, a cutting machine, an intelligent assembly welding system and a finished product stacking frame; the intelligent assembly welding system comprises an assembly welding controller, a welding manipulator, a positioner, a carrying manipulator and a plate placing platform; the finished product stacking frame is used for placing the processed workpieces; the plate placing platform is used for placing plates; and the carrying manipulator is used for grabbing the plate from the plate placing platform and placing the plate at the corresponding position of the workpiece on the positioner. Aiming at the technical problems of unstable quality, large workload and low efficiency in the current steel structure processing, the processing method can improve the processing quality, improve the processing efficiency and save the workload.
Description
Technical Field
The invention relates to the technical field of secondary processing of steel structures, in particular to a system and a method for secondary processing of a steel structure.
Background
In the first half of 2021, the method clearly puts forward the popularization of green building material prefabricated buildings and steel structure houses, clearly aims at the development of the prefabricated buildings in provinces and cities, and requires to improve the occupation ratio of the prefabricated buildings year by year and accelerate the development of the prefabricated buildings.
The steel structure building has the comprehensive advantages of light dead weight, good earthquake resistance, high space utilization rate, short construction period, high industrialization degree, less environmental pollution, cyclic utilization, strong plasticity, wide application field and the like, and is gradually popularized and applied vigorously.
The H-shaped steel is an important material component in a building steel structure system due to the economical and reasonable cross section, excellent performance and simple, convenient and quick processing, manufacturing, construction and installation processes, so that the H-shaped steel is widely applied to various fields of national economic construction, industrial plants, particularly bearing frame beam and column components in heavy industrial plants, and main stress components, the H-shaped steel consists of two flange steel plates and a steel web plate, secondary processing is required according to the use requirements of the H-shaped steel in buildings, and the H-shaped steel mainly comprises marking, assembling and welding of stiffened plate end plates, bolt hole forming, beveling, locking, special-shaped hole forming and the like.
The existing secondary processing technology for H-shaped steel can only rely on manual processing basically due to the characteristics of large flexibility, various processing forms and more nonstandard parts, the arrangement of a production field is disordered, the conditions of low processing efficiency, low automation level, large manual workload, unstable processing quality, poor safety and the like are caused, and the secondary processing technology becomes a main bottleneck for realizing high automation and intellectualization of H-shaped steel processing and manufacturing.
The existing H-shaped steel assembling and processing technology has the following defects: firstly, the components have the characteristics of various sizes, processing forms and types and more nonstandard parts; secondly, the flexibility degree is large, manual assembly is determined, the manual welding amount is large, the processing quality is unstable, the manual operation safety is poor, and the like; thirdly, the manual operation is complicated, so that the automation degree is low and the processing efficiency is low; becomes the main bottleneck for realizing high automation and intellectualization of H-shaped steel processing and manufacturing.
Disclosure of Invention
Technical problem to be solved by the invention
Aiming at the problems of high labor intensity, unstable quality, low efficiency and the like of the conventional steel structure processing which is basically based on manual work, the invention provides a steel structure secondary processing system and method, which can replace most of manual operation of secondary processing, adopt an automatic processing mode, effectively improve the processing quality, improve the processing efficiency and reduce a large amount of labor intensity of workers.
Technical scheme
In order to solve the problems, the technical scheme provided by the invention is as follows:
a steel structure secondary processing system comprises a master controller, a material stacking frame, a truss manipulator, a cutting machine, an intelligent assembly welding system and a finished product stacking frame; the intelligent assembly welding system comprises an assembly welding controller, a welding manipulator, a positioner, a carrying manipulator and a plate placing platform; the finished product stacking frame is used for placing the processed workpieces; the plate placing platform is used for placing a plate; the carrying manipulator is used for grabbing the plate from the plate placing platform and placing the plate at a corresponding position of a workpiece on the positioner; the main controller is connected with the truss manipulator, the feeding mechanism, the cutting mechanism, the discharging mechanism and the assembly welding controller; the assembly welding controller is connected with the welding manipulator, and the positioner is connected with the carrying manipulator.
The invention solves the technical process data transmission from the design end to the manufacturing end, changes the traditional technical process experience depending on production personnel, improves the standardization of the component process and reduces the production management difficulty. In the intelligent processing software system, the processing program automatically generates the processing program according to the component information, and the technical problem that the traditional equipment is difficult to adapt to nonstandard and diversified components is solved.
And the positioner is combined in pairs and used for freely moving on the guide rails.
Further, the cutting machine further comprises a sensor for detecting the length of the workpiece, wherein the sensor is positioned at the feeding mechanism.
After the feeding mechanism pushes the H-shaped steel into the cutting mechanism, the cutting machine automatically checks whether the H-shaped steel meets the requirements or not through a sensor according to process parameters sent by a master control center (a master controller), and then performs cutting operation, so that the section steel with the processing function can be cut off, the locking notch is opened, the groove is opened, the bolt hole is cut, the special-shaped hole is cut, and the fixed length cutting is performed.
Furthermore, the carrying manipulator is provided with a D camera and a magnetic chuck.
A secondary processing method of a steel structure comprises the following steps: the truss manipulator is used for hoisting the steel structure to be processed placed on the material stacking frame to the feeding mechanism; the feeding mechanism is used for feeding the steel structure to be processed into the cutting mechanism, and the workpiece cut and processed by the cutting mechanism is transferred to the discharging mechanism; the workpiece is transferred to a positioner by a discharging mechanism for assembly, a carrying manipulator automatically grabs the plate from a plate placing platform and places the plate on the workpiece in the positioner according to requirements, and a welding manipulator automatically positions and spot-welds the plate; the assembly welding controller controls the carrying manipulator, the positioner and the welding manipulator to repeatedly grab, assemble and weld until all plates on one working surface of the workpiece are assembled and welded; the positioner turns the workpiece, performs plate assembly welding on the next working surface, and performs assembly welding on all the working surfaces of the workpiece according to the plate assembly welding degree, so that the assembly welding operation of one workpiece is completed; and the assembly-welded workpiece is grabbed by the truss manipulator, and the workpiece is placed on a finished product stacking frame to complete the processing of one workpiece.
Further, a TEKLA digital model of the workpiece is stored in the master controller, and machining parameters contained in the TEKLA digital model comprise workpiece outline size, position parameters and shape and size parameters for cutting, and plate shape, placement position and welding parameter information for assembly welding.
Further, the assembly welding controller is used for deriving position parameters and processing requirements of workpieces in the TEKLA system; and controls the actions of the welding manipulator, the positioner and the carrying manipulator.
Further, the welding manipulator carries out welding operation on the specified position of the workpiece according to the coordinate position, the action posture and the welding parameters provided by the assembly welding controller.
Furthermore, the carrying manipulator is controlled to carry out 3D camera scanning, and the actual workpiece size and coordinate information are collected, so that the plate and the workpiece are combined at a specified position and are further used for assembly welding.
Furthermore, the sensor detects the actual workpiece size and coordinate information, and transmits the information to the cutting mechanism for checking, correcting and cutting.
Advantageous effects
Compared with the prior art, the technical scheme provided by the invention has the following beneficial effects:
the production processing technology adopts intelligent software, electrical control and hardware cooperation, and has reasonable process arrangement, clear flow, small occupied area and high automation degree. By utilizing the intelligent data software system, the technical process data transmission from a design end to a manufacturing end is realized, the traditional technical process experience depending on production personnel is changed, the standardization of the component process is improved, and the production management difficulty is reduced. In the intelligent processing software system, the processing program automatically generates the processing program according to the component information, and the technical problem that the traditional equipment is difficult to adapt to nonstandard and diversified components is solved. The sensor collects the actual specific size, outline and spatial position coordinates of the workpiece, corrects the actual data into theoretical data, realizes the spatial position conversion of the model and the actual workpiece, controls the intelligent solder mask system to automatically execute a work task, and solves the problems of size deviation, poor precision and difficult processing adaptation of actual production components and drawings. For example, in H-shaped steel cutting, the cutting mechanism can adopt a laser cutting technology, and the processing quality problems of component thermal deformation, mechanical property generation and the like in the traditional plasma cutting and flame cutting are solved. The workpiece processing of the embodiment of the invention, such as H-shaped steel assembly welding processing, adopts an intelligent solder mask system for automatic assembly welding, changes the original manual operation into the existing robot and automatic operation, reduces the labor intensity of workers, improves the technical level, and improves the production efficiency and the welding quality.
Drawings
Fig. 1 is a schematic flow chart of a secondary processing method for a steel structure according to an embodiment of the present invention.
Fig. 2 is a schematic structural diagram of a steel structure secondary processing system according to an embodiment of the present invention.
Detailed Description
For a further understanding of the present invention, reference is made to the following detailed description taken in conjunction with the accompanying drawings and examples.
The present application will be described in further detail with reference to the following drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant invention and not restrictive of the invention. It should be noted that, for convenience of description, only the portions related to the present invention are shown in the drawings. The terms first, second, and the like in the present invention are provided for convenience of describing the technical solution of the present invention, and have no specific limiting effect, but are all generic terms, and do not limit the technical solution of the present invention. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Unless expressly stated or limited otherwise, the terms "mounted," "connected," and "connected" are intended to be inclusive and mean, for example, that they may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art. The technical solutions in the same embodiment and the technical solutions in different embodiments can be arranged and combined to form a new technical solution without contradiction or conflict, and the technical solutions are within the scope of the present invention.
Example 1
The embodiment provides a steel structure secondary processing system, as shown in fig. 2, which includes a master controller, a material stacking rack 1, a truss manipulator 3, a cutting machine, an intelligent assembly welding system, and a finished product stacking rack 8; the cutting machine comprises a feeding mechanism 2, a cutting mechanism 4 and a discharging mechanism 5 which are connected in sequence, and the intelligent assembly welding system comprises an assembly welding controller, a welding manipulator 6, a positioner 7, a carrying manipulator 9 and a plate placing platform 10; a finished product stacking frame 8 for placing the processed workpieces; a panel placing platform 10 for placing the panel; the carrying manipulator 9 is used for grabbing the plate from the plate placing platform 10 and placing the plate at a corresponding position of the workpiece on the positioner 7; the main controller is connected with the truss manipulator 3, the feeding mechanism 2, the cutting mechanism 4, the discharging mechanism 5 and the assembly welding controller; the assembly welding controller is connected with the welding manipulator 6, the positioner 7 is connected with the carrying manipulator 9.
The material stacking frame 1 is formed by combining and connecting a plurality of cross rods and vertical rods, is matched with a workpiece structure, has a certain height, can be used for placing a plurality of steel structures (workpieces) to be processed, is convenient to process and use in sequence, can be used as a deformation, can be designed into a lifting type through power parts such as cylinders, motors and the like, can also be an unpowered fixed structural formula, can be flexibly adjusted according to needs, and is not limited by the embodiment. Corresponding to the action, the finished product stacking rack 8 is used for stacking the processed workpieces, and plates are welded on each working surface of the processed workpieces, so the structural design of the finished product stacking rack 8 can be adapted to the structural change of the processed workpieces, and the structure of the workpieces cannot be damaged. The finished product stacking frame 8 is also formed by combining and connecting a cross rod and a vertical rod, can be matched with a processed workpiece structure, can be used for placing a plurality of workpieces, can be designed as required, and is not limited by the embodiment.
The assembly welding control system (welding resistance controller) comprises two parts, wherein the first part is used for exporting the position parameters and the processing requirements of the workpiece from the TEKLA system and forming a parameter file. The second part is a field master control system, and the parameter files are analyzed and converted into operation instructions executable by each mechanism, and the mechanisms are instructed to carry out processing operation.
The technical process data transmission from the design end to the manufacturing end is achieved, the traditional technical process experience of production personnel is changed, the standardization of the component process is improved, and the production management difficulty is reduced. In the intelligent processing software system, the processing program automatically generates the processing program according to the component information, and the technical problem that the traditional equipment is difficult to adapt to nonstandard and diversified components is solved.
As an optional embodiment, the machining device further comprises guide rails positioned on two sides of the position to be machined, and the position changing machines 7 are combined in pairs and used for freely moving on the guide rails. In the embodiment, the positioning machines 7 are combined in pairs and freely move on the guide rails, cut workpieces (such as H-shaped steel) are automatically guided into the positioning machines 7 through the discharging mechanisms 5 through position conversion, the distance of the positioning machines 7 is adjusted, the positions to be machined of the workpieces are enabled not to interfere with the positioning machines 7, then the workpieces are moved to the positions to be machined, and then the carrying manipulator 9 and the welding manipulator 6 are started to carry out assembly welding operation. The positioner can make 90 degrees upset actions, and after the processing of a work piece one face was all accomplished, can overturn 90 degrees, process next face until all accomplished on four sides.
The cutting machine further comprises a sensor for detecting the length of the workpiece, said sensor being located at the feed mechanism 2. After the feeding mechanism 2 pushes the H-shaped steel into the cutting mechanism 4, the cutting machine automatically checks whether the H-shaped steel meets the requirements through a sensor according to process parameters sent by a master control center (a master controller), and then performs cutting operation, so that the section steel with the processing function can be cut off, the locking notch is opened, the groove is opened, the bolt hole is cut, the special-shaped hole is cut, and the fixed-length cutting is performed.
The general controller stores a TEKLA digital model of a workpiece, and machining parameters contained in the TEKLA digital model comprise workpiece outline dimension, position parameters and shape dimension parameters for cutting, and plate shape, placement position and welding parameter information for assembly welding.
And a master control center of the whole secondary processing system automatically loads related part parameter files according to the serial numbers of the parts to be processed and controls the cutting machine and the intelligent assembly welding system to process the parts.
Be equipped with 3D camera and magnetic chuck on the transport manipulator 9, when snatching, the shape of waiting to snatch the plate and place the position under the assembly welding system, transport manipulator 9 judges through the 3D camera whether to wait to snatch the platelet (plate promptly) and accord with the assembly requirement, only the platelet that accords with the requirement just is snatched the back by the magnetic chuck and is placed to the position of work piece regulation, and this position parameter is provided by intelligent assembly welding system, is corresponding to treating processing position department, and the work piece combination on the machine 7 that shifts. After the chuck is placed in place and fixed by the welding manipulator 6 through spot welding, the carrying manipulator 9 can release the chuck and return to the standby position to wait for the next operation instruction.
Example 2
Corresponding to the steel structure secondary processing system provided in any one of the technical solutions of embodiment 1, as shown in fig. 1, the embodiment provides a steel structure secondary processing method, including: the truss manipulator 3 is used for hoisting the steel structure to be processed placed on the material stacking frame 1 to the feeding mechanism 2; the feeding mechanism 2 is used for feeding the steel structure to be processed into the cutting mechanism 4, and the workpiece cut and processed by the cutting mechanism 4 is transferred to the discharging mechanism 5; the discharging mechanism 5 transfers the workpiece to the positioner 7 for assembly, the carrying manipulator 9 automatically picks the plate from the plate placing platform 10 and places the plate on the workpiece in the positioner 7 according to requirements, and the welding manipulator 6 automatically positions and spot-welds the plate; the assembly welding controller controls the carrying manipulator 9, the positioner 7 and the welding manipulator 6 to repeatedly grab, assemble and weld until all the plates on one working surface of the workpiece are assembled and welded; the positioner 7 turns the workpiece by 90 degrees, performs plate assembly welding on the next working surface, and performs assembly welding on all the working surfaces of the workpiece in this way to complete assembly welding operation of one workpiece; the assembly-welded workpiece is grabbed by the truss manipulator 3, and the workpiece is placed on the finished product stacking rack 8, so that the machining of one workpiece is completed. The process is repeated, a plurality of workpieces can be continuously processed, and the processing operation efficiency is high.
The welding robot 6 performs a welding operation on a prescribed position of the workpiece based on the coordinate position, the action attitude, and the welding parameters provided by the assembly welding controller.
The welding manipulator 6 is directly controlled by a welding resistance controller of the intelligent assembly welding system, and the specified position of the workpiece is the position to be welded at the combination of the workpiece and the plate.
The assembly welding controller is used for deriving position parameters and processing requirements of workpieces in the TEKLA system; and controls the actions of the welding manipulator 6, the positioner 7 and the carrying manipulator 9.
Specifically, the assembly welding controller is used for exporting position parameters and processing requirements of workpieces in the TEKLA system and forming a parameter file; and analyzing the parameter file, converting the parameter file into an operation instruction which can be executed by each mechanism (comprising the welding manipulator 6, the positioner 7 and the carrying manipulator 9), and instructing each mechanism to carry out processing operation.
The solder resist controller of the assembly welding control system comprises two parts, wherein the first part is used for exporting the position parameters and the processing requirements of the workpiece from the TEKLA system and forming a parameter file. The second part is a field master control system, and the parameter files are analyzed and converted into operation instructions executable by each mechanism, and the mechanisms are instructed to carry out processing operation.
The H-shaped steel to be processed is placed at the position of a raw material stack 1, lifted to the feeding mechanism 2 through the truss manipulator 3, sent into the cutting mechanism 4 through the feeding mechanism 2, cut and processed, and the workpiece is transferred to the discharging mechanism 5 after the cutting process is completed. The work piece after the cutting is shifted to the machine of shifting 7 by discharge mechanism 5 and is assembled, and transport manipulator 9 snatchs the plate automatically from the work piece place the platform 10 and places on the work piece in the machine of shifting as required, and 6 automatic positioning spot welding of welding machines hand, transport manipulator 9 withdraw and place the position, are ready to grab and take off a smallclothes, and welding machines hand 6 carries out welding operation to this plate. And repeating the operations of grabbing, assembling and welding until all the plates on the top of the workpiece are assembled and welded. The positioner 7 overturns the workpiece by 90 degrees and performs plate assembly welding on the next working face. And assembling and welding the four surfaces in turn to finish the assembling and welding operation of one workpiece.
The assembly-welded workpiece is grabbed by the truss manipulator 3, and the workpiece is placed at the position of the finished product stack 8, so that the machining of one workpiece is completed.
And circulating the operation flow, and completely processing the parts to be processed. In the whole process, the processing parameters of the workpiece (part or steel structure to be processed) are derived from a TEKLA digital model and comprise the external dimension of the part, the position parameter and the shape dimension parameter for cutting, and the information of the shape, the placing position and the welding parameter of the plate for assembly welding.
The master controller of the whole secondary processing system automatically loads related part parameter files according to the serial number of the part to be processed (steel structure to be processed), and controls the cutting machine and the assembly welding system to process the part.
In one embodiment, the cutting process: after the feeding mechanism 2 pushes the H-shaped steel to be processed into the cutting mechanism 4, the cutting machine automatically checks whether the H-shaped steel meets the requirements through a sensor according to process parameters issued by a master control center (a master controller), and then performs cutting operation, wherein the achievable processing functions include but are not limited to: cutting the section steel, opening a locking notch, opening a groove, cutting a bolt hole and a special-shaped hole, and cutting at a fixed length.
Assembling and welding: the assembly welding processing is completed by an assembly welding system, the whole assembly welding system comprises a solder resist controller, a positioner 7, a welding manipulator 6, a carrying manipulator 9 and a plate placing platform 10, and all the components are combined through an assembly welding main control system (the solder resist controller).
The position changing machines 7 are combined in pairs and move freely on the guide rails, cut workpieces (H-shaped steel) are automatically guided into the position changing machines 7 through the discharging mechanisms 5 through position changing, the distance of the position changing machines 7 is adjusted, the positions to be machined of the workpieces are enabled not to interfere with the position changing machines 7, then the workpieces are moved to the positions to be machined, and the carrying mechanical arm 9 and the welding mechanical arm 6 are started to carry out assembly welding operation. The positioner can make 90 degrees upset actions, and after the processing of a work piece one face was all accomplished, can overturn 90 degrees, process next face until all accomplished on four sides.
Carrying manipulator 9 is equipped with 3D camera and magnetic chuck, and when snatching, the assembly welding system is issued the shape of waiting to snatch the plate and is placed the position to carrying manipulator 9, and carrying manipulator 9 judges through the 3D camera whether to wait to snatch the plate and accord with the assembly requirement, and the plate that only accords with the requirement just snatchs the back by the magnetic chuck and places the position to the work piece regulation, and this positional parameter is provided by the assembly welding system. After the chuck is placed in place and fixed by the welding manipulator 6 through spot welding, the carrying manipulator 9 can release the chuck and return to a standby position to wait for the next operation instruction.
The welding manipulator 6 is directly controlled by the assembly welding system, and performs welding operation on a specified position according to the coordinate position, the action posture and the welding parameters provided by the assembly welding system. The 3D camera scanning is executed through controlling the carrying mechanical arm, and the actual workpiece size and coordinate information are collected, so that the plate and the workpiece are combined at the specified position and are further used for assembly welding. In addition, the sensor detects the actual workpiece size and coordinate information, and transmits the information to the cutting mechanism for checking, correcting and cutting. The 3D camera scans and the sensor collects the actual specific size, outline and the spatial position coordinate of the workpiece, actual data is corrected into theoretical data, the spatial position conversion of the model and the actual workpiece is realized, the intelligent solder mask system is controlled to automatically execute a work task, and the problems of size deviation, poor precision and difficulty in adaptation in processing of actual production components and drawings are solved.
The assembly welding control system comprises two parts, wherein the first part is used for exporting the position parameters and the processing requirements of the workpiece from the TEKLA system and forming a parameter file. The second part is a field master control system, and the parameter files are analyzed and converted into operation instructions executable by each mechanism, and the mechanisms are instructed to carry out processing operation.
The present invention and its embodiments have been described above schematically, without limitation, and what is shown in the drawings is only one of the embodiments of the present invention, and the actual structure is not limited thereto. Therefore, if the person skilled in the art receives the teaching, without departing from the spirit of the invention, the person skilled in the art shall not inventively design the similar structural modes and embodiments to the technical solution, but shall fall within the scope of the invention.
Claims (10)
1. The utility model provides a steel construction secondary operation system which characterized in that: the stacking and welding system comprises a master controller, a material stacking frame, a truss manipulator, a cutting machine, an intelligent assembling and welding system and a finished product stacking frame;
the intelligent assembly welding system comprises an assembly welding controller, a welding manipulator, a positioner, a carrying manipulator and a plate placing platform;
the finished product stacking frame is used for placing the processed workpieces;
the plate placing platform is used for placing plates;
the carrying manipulator is used for grabbing the plate from the plate placing platform and placing the plate at a corresponding position of a workpiece on the positioner;
the main controller is connected with the truss manipulator, the feeding mechanism, the cutting mechanism, the discharging mechanism and the assembly welding controller;
the assembly welding controller is connected with the welding manipulator, and the positioner is connected with the carrying manipulator.
2. The steel structure secondary processing system of claim 1, characterized in that: the positioner is combined in pairs and used for freely moving on the guide rails.
3. The steel structure secondary processing system of claim 1, characterized in that: the cutting machine further comprises a sensor for detecting the length of the workpiece, wherein the sensor is positioned at the feeding mechanism.
4. A secondary machining method of a steel structure according to any one of claims 1 to 3, characterized in that: the carrying manipulator is provided with a D camera and a magnetic chuck.
5. A secondary processing method of a steel structure is characterized by comprising the following steps:
the truss manipulator is used for hoisting the steel structure to be processed placed on the material stacking frame to the feeding mechanism; the feeding mechanism is used for feeding the steel structure to be processed into the cutting mechanism, and the workpiece cut and processed by the cutting mechanism is transferred to the discharging mechanism; the workpiece is transferred to a positioner by a discharging mechanism for assembly, a carrying manipulator automatically grabs the plate from a plate placing platform and places the plate on the workpiece in the positioner according to requirements, and a welding manipulator automatically positions and spot-welds the plate; the assembly welding controller controls the carrying manipulator, the positioner and the welding manipulator to repeatedly grab, assemble and weld until all plates on one working surface of the workpiece are assembled and welded;
the positioner turns the workpiece, performs plate assembly welding on the next working surface, and performs assembly welding on all the working surfaces of the workpiece according to the plate assembly welding degree, so that the assembly welding operation of one workpiece is completed;
and the assembly-welded workpiece is grabbed by the truss manipulator, and the workpiece is placed on a finished product stacking frame to complete the processing of one workpiece.
6. The secondary processing method of the steel structure according to claim 5, characterized in that: and a TEKLA digital model of the workpiece is stored in a master controller connected with the truss manipulator, the feeding mechanism, the cutting mechanism, the discharging mechanism and the assembly welding controller, and machining parameters contained in the TEKLA digital model comprise workpiece overall dimension, position parameters and shape and dimension parameters for cutting, and plate shape, placement position and welding parameter information for assembly welding.
7. The secondary processing method of the steel structure according to claim 5, characterized in that: the welding manipulator, the positioner and the assembly welding controller connected with the carrying manipulator are used for exporting the position parameters and the processing requirements of the workpiece in the TEKLA system; and controls the actions of the welding manipulator, the positioner and the carrying manipulator.
8. The secondary processing method of the steel structure according to claim 5, characterized in that: and the welding manipulator carries out welding operation on the specified position of the workpiece according to the coordinate position, the action posture and the welding parameters provided by the assembly welding controller.
9. The secondary processing method of a steel structure according to any one of claims 5 to 8, characterized in that: the 3D camera scanning is executed through controlling the carrying mechanical arm, and the actual workpiece size and coordinate information are collected, so that the plate and the workpiece are combined at the specified position and are further used for assembly welding.
10. The secondary processing method of a steel structure according to any one of claims 5 to 8, characterized in that: the sensor detects the actual workpiece size and coordinate information, and transmits the information to the cutting mechanism for checking, correcting and cutting.
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