CN106270970A - A kind of intelligent machine automatization H profile steel Member Welding carrying method - Google Patents
A kind of intelligent machine automatization H profile steel Member Welding carrying method Download PDFInfo
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- CN106270970A CN106270970A CN201610762808.2A CN201610762808A CN106270970A CN 106270970 A CN106270970 A CN 106270970A CN 201610762808 A CN201610762808 A CN 201610762808A CN 106270970 A CN106270970 A CN 106270970A
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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
- B23K9/00—Arc welding or cutting
- B23K9/18—Submerged-arc welding
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/047—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work moving work to adjust its position between soldering, welding or cutting steps
-
- 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
- B23K9/00—Arc welding or cutting
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
-
- 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
- B23K9/00—Arc welding or cutting
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
- B23K9/127—Means for tracking lines during arc welding or cutting
- B23K9/1272—Geometry oriented, e.g. beam optical trading
- B23K9/1274—Using non-contact, optical means, e.g. laser means
-
- 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
- B23K9/00—Arc welding or cutting
- B23K9/32—Accessories
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- Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Plasma & Fusion (AREA)
- Optics & Photonics (AREA)
- Geometry (AREA)
- Arc Welding In General (AREA)
- Butt Welding And Welding Of Specific Article (AREA)
Abstract
The invention discloses a kind of intelligent machine automatization H profile steel Member Welding carrying method, comprise the following steps: S1, startup welding structure for conveying and intelligence control system, the unit electric machines for roller work that component arrives carries, and other cell cube motors do not work；S2, when certain H profile steel component is transported on auto-translating jacking equipment, in addition to the unit at this H profile steel component place, other unit are out of service, and this H profile steel component is passed on automatic turnover machine；S3, by gantry weld holder intelligent walking, welding gun intelligent locating, welded seam one；S4, by gantry weld holder intelligent walking, welding gun intelligent locating, welded seam two；S5, the action repeated in step 4 and step 5, be sequentially completed the welding of weld seam four weld seam three；S6, the H profile steel component welded gradually are sent described component moving track.Labor strength of the present invention is low；Danger coefficient in production is close to zero；Conveying equipment more power saving and safety.
Description
Technical field
The present invention relates to steel beam column welding technology field, be specifically related to a kind of intelligent machine automatization H profile steel Member Welding
Carrying method.
Background technology
In existing H profile steel Member Welding production line, charging and discharging are by manual operation driving lifting, people during welding
Welding gun is directed at weld seam by work, and welding process needs manually constantly to adjust welding gun, makes welding gun be directed at weld seam all the time, and workpiece turning is adopted
With driving lifting, operator's labor intensity is high；Workpiece uses manual operation driving upset workpiece, and danger coefficient is big；Use single
Silk Lincoln weld is especially in thick plates, and production efficiency is low.
Summary of the invention
Present invention aims to the drawback of prior art, it is provided that the H profile steel component weldering of a kind of intelligent machine automatization
Connecing carrying method, the technical solution adopted in the present invention is as follows:
A kind of intelligent machine automatization H profile steel Member Welding carrying method, it is characterised in that described H profile steel Member Welding
Conveying mechanism includes H profile steel component travel mechanism and welding gantry-travelling mechanism；
Described H profile steel component travel mechanism includes component moving track, and described component moving track is provided with I word cylinder
Shape automatic charging roller-way and I word cylindrical element send roller-way, and described automatic charging roller-way and component are sent and arranged between roller-way
There are auto-translating jacking equipment and automatic turnover machine；Described auto-translating jacking equipment can drive H profile steel component lifting and can be
Slide laterally on translation slide rail；Being provided with welding arm and level trough that two panels end is intersected on described automatic turnover machine, two panels is welded
Connecing arm and be respectively welding arm one and welding arm two, described welding arm one is near described component moving track side, and described two panels is welded
Connecing arm can drive H profile steel component to realize upset or mobile along described level trough；Described component moving track includes 3-5 unit,
Each unit includes 2-4 root roller-way, and each unit is for a piece H profile steel component of conveying；
Described welding gantry-travelling mechanism includes steel structure truss and welding gantry walking track；Described steel structure truss
Two ends are provided with the upper and lower steel ladder of People's Bank of China；Between described steel structure truss and welding gantry walking track, movably weldering is installed
Building sequence door, welding gantry can be moved along described steel structure truss and welding gantry walking track, be welded；Described welding gantry
Including wire reel, Flux Recovery Unit, gantry weld holder, switch board and Intelligent welding head；It is provided with on the weld holder of described gantry
Wire reel and Flux Recovery Unit；Described Intelligent welding head is arranged at the front of welding direction on the weld holder of gantry；
Described steel structure truss is all parallel with described component moving track with welding gantry walking track, wherein steel construction purlin
Frame is positioned at above described component moving track, and described welding gantry walking track is positioned at described moving track side；Described component
The length of moving track is more than the length of steel structure truss；Described automatic turnover machine is positioned at described component moving track and welds dragon
Between door walking track；
The intelligence control system of the present invention is made up of servomotor, kinetic control system, vision guide system；Described servo
Motor is responsible for portal frame walking and switching mechanism upset；Described kinetic control system is by motion controller and and expansion board group
Becoming, kinetic control system carries out real-time control to the position of servomotor, speed etc. so that it is it is anticipated that movement locus and
The kinematic parameter of regulation moves, and accepts io port input signal and processes, according to programme-control io output signal；Pass through
Bus and other PORT COM carry out communication with vision guide system, and the position deviation be given according to vision corrects welding gun in time
Position, and the break-make of welding gun and the size etc. of electric current；
Described vision guide system is formed by industrial camera, controller, Linear Laser, is belonged to active visual system, line
Type laser emits beam and is irradiated to H profile steel position while welding, and the light shape of industrial camera captured in real time laser passes through coaxial cable
Passing to controller be analyzed, controller and template are compared and are drawn relative position deviation amount after computing, and pass through communication
Port passes to motion controller in time, and motion controller controls servomotor and moves, and rectifies a deviation；
Weld seam everywhere, described weld seam is had to be positioned at four right angle of H profile steel component on described H profile steel component, by side counterclockwise
To, four weld seams are followed successively by weld seam one, weld seam two, weld seam three and weld seam four；
Described intelligent machine automatization H profile steel Member Welding carrying method comprises the following steps:
S1, startup welding structure for conveying and intelligence control system, on component moving track, roller-way starts to turn towards welding direction
Dynamic, drive the steel beam column on roller-way to move towards weld zone, component then this cell cube roller-way electricity when arriving certain unit conveying body
Machine work carry, component to cell cube electric machines for roller do not work；
S2, when certain H profile steel component is transported on auto-translating jacking equipment, except this H profile steel component place
Outside unit, other unit are out of service, and this H profile steel component translates after raising with translation jacking equipment, is passed to automatic turning
On machine；With component moving track side as inner side, walking track side, welding gantry is outside, now welding arm one and welding arm
Two are the level of state is stuck in level trough；Described H profile steel component is laid flat on welding arm, and the outside of H profile steel component is close
Welding arm one and welding arm two intersection, auto-translating jacking equipment returns on component moving track；
S3, welding arm one keep level, welding arm two to turn to the inside 90 degree, and now welding arm one and welding arm two hang down
Directly, subsequently welding arm one keep plumbness with welding arm two together with laterally rotate 45 degree, now weld seam one is placed in level
Ship shape position, by gantry weld holder intelligent walking, welding gun intelligent locating, welded seam one；
After S4, weld seam one have welded, welding arm one and welding arm two turn to level, auto-translating jacking equipment
H profile steel component is moved on welding arm two, and the inner side of H profile steel component is close to welding arm one and welding arm two intersection, from
Dynamic translation jacking equipment returns on component moving track；Welding arm two keeps level, welding arm one to laterally rotate 90 degree, this
Time welding arm one and welding arm two vertical, subsequently welding arm one keep plumbness with welding arm two together with turn to the inside 45
Degree, now weld seam two is placed in horizontal ship shape position, by gantry weld holder intelligent walking, welding gun intelligent locating, welded seam
Two；
After S5, weld seam two have welded, welding arm one and welding arm two keep plumbness to continue to turn to the inside 45 degree,
Now welding arm one keeps horizontal positioned, welding arm two to continue to turn to the inside, and makes H profile steel component flange, and auto-translating lifts
H profile steel component is moved on welding arm one by equipment, and the inner side of H profile steel component is intersected close to welding arm one and welding arm two
Place, repeats the action in step 4 and step 5, is sequentially completed the welding of weld seam four weld seam three；
Realizing the walking of gantry welding machine structure by servomotor and welding arm moves left and right, program intelligence is passed through in oscilaltion
Can control, speed is adjustable accurately, welds rifle intelligent locating by program Based Intelligent Control；
S6, the H profile steel component welded are transported back on component moving track, and this H profile steel component send with described component
Go out roller-way and gradually sent described component moving track；
S7, when the H profile steel component of next unit is transported on auto-translating jacking equipment, except this H profile steel component
Outside the unit at place, other unit are out of service ... iterative cycles, until completing welding and the conveying of all H profile steel components
Till.
Further, described Intelligent welding head includes welding silk after front silk and welding, uses double wire hidden arc welding to connect mode；
Described Intelligent welding head also includes that welding slag recovery tube suction inlet, described welding slag recovery tube suction inlet are positioned at after described welding after silk
Side.
Further, described H profile steel member section width≤1 meter, length 18 meters, load≤6T.
Further, described component moving track overall length 50 meters, weld stroke 20 meters, the charging of described automatic charging roller-way is total
Long 15 meters, described component outlet roller way discharging device length 15 meters.
Further, described conveying mechanism applies also for carrying cross section is cross, the steel beam column of T font.
Further, described moving track lateral symmetry arranges two set welding equipments, and described welding equipment includes the most flat
Moving jacking equipment, automatic turnover machine, welding gantry walking track and movably weld gantry, both sides welding semi-gantry frame relies on
Steel truss side carries out welding walking.
Further, described welding arm one and welding arm two are mutually perpendicular to, and welding arm one is 45 degree with described level trough
During angle, gantry submerged arc welding machine starts walking and finds component termination position while welding, Intelligent welding.
Further, described welding arm is L-type by cross section or T-shaped steel plate is made.
The invention have the benefit that the H profile steel Member Welding conveying side of a kind of intelligent machine automatization that the present invention points out
Method, have employed central control cabinet, and I word roller-way is sent into and sent, and in the middle part of production line, both sides arrange welding post tipper and welding
When mechanism, component are sent in the middle part of production line, component by translation conveyors to both sides welding post tipper send into, tipper
Overturning component to welding position, gantry submerged arc welding machine starts walking and finds component termination position while welding, Intelligent welding.Complete machine sets
It is calculated as set of system, includes rollgang, translation conveyors, tipper, symmetrical two set welding equipments, both sides welding semi-gantry frame
Relying on structure welding walking more stable, the design of complete equipment embodies intelligent machine automaticity height, plant equipment cloth
Office is reasonable, it is high to produce welding efficiency；Charging and discharging are carried out automatically, and welding process need not manual intervention, and workpiece intelligence is automatically
Upset, welding, operator's labor intensity is low；In welding process, operator are away from workpiece, and the danger coefficient in production is close
Zero；Use blocking stepping type conveying mechanism so that conveying equipment more power saving and safety.
Accompanying drawing explanation
Fig. 1 is the structural representation of a kind of intelligent machine automatization H profile steel Member Welding carrying method；
Fig. 2 is the enlarged drawing in A portion in Fig. 1；
Fig. 3 is the enlarged drawing in B portion in Fig. 1；
Fig. 4 is the structural representation that H profile steel component is placed on automatic turnover machine；
Wherein, the upper and lower steel ladder of 1-People's Bank of China；2-steel structure truss；3-wire reel；4-Flux Recovery Unit；5-automatic charging roller
Road；51-component moving track；6-gantry weld holder；7-switch board；8-Intelligent welding head；Silk before 81-welding；After 82-welding
Silk；83-welding slag recovery tube suction inlet；9-auto-translating jacking equipment；10-automatic turnover machine；101-welding arm；1011-welding arm
One；1012-welding arm two；102-level trough；11-welding portal frame walking track；Roller-way sent by 12-component；13-H shaped steel structure
Part；131-weld seam one；132-weld seam two；133-weld seam three；134-weld seam four.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the present invention is described in further details.
A kind of intelligent machine automatization H profile steel Member Welding carrying method, wherein H profile steel Member Welding conveying mechanism includes
H profile steel component travel mechanism and welding gantry-travelling mechanism；
H profile steel component travel mechanism includes component moving track 51, and described component moving track 51 is provided with I word cylinder
Shape automatic charging roller-way 5 and I word cylindrical element sends roller-way 12, described automatic charging roller-way 5 and component send roller-way 12 it
Between be provided with auto-translating jacking equipment 9 and automatic turnover machine 10；Described auto-translating jacking equipment 9 can drive H profile steel component
Lift and can slide laterally on translation slide rail 91；The welding arm that two panels end is intersected it is provided with on described automatic turnover machine 10
101 and level trough 102, described welding arm 101 is L-type by cross section or T-shaped steel plate is made, and two panels welding arm is respectively welding
Arm 1 and welding arm 2 1012, described welding arm 1 is near described component moving track side, and described two panels is welded
Arm 101 can drive H profile steel component to realize upset or mobile along described level trough 102；Described component moving track 51 includes 3-5
Unit, each unit includes 2-4 root roller-way, and each unit is for a piece H profile steel component of conveying；Component moving track 51 overall length 50
Rice, welds stroke 20 meters, and described automatic charging roller-way 5 feeds overall length 15 meters, and roller-way 12 discharging length 15 meters sent by described component.
Described welding gantry-travelling mechanism includes steel structure truss 2 and welding gantry walking track 11；Described steel construction purlin
The two ends of frame 2 are provided with the upper and lower steel ladder of People's Bank of China 1；It is provided with between described steel structure truss 2 and welding gantry walking track 11
Movably welding gantry, welding gantry can be moved along described steel structure truss 2 and welding gantry walking track 11, welds
Connect；Described welding gantry includes wire reel 3, Flux Recovery Unit 4, gantry weld holder 6, switch board 7 and Intelligent welding head 8；Institute
State and on gantry weld holder 6, be provided with wire reel 3 and Flux Recovery Unit 4；Described Intelligent welding head 8 is arranged at gantry weld holder 6
The front of upper welding direction；Described Intelligent welding head 8 includes welding silk 82 after front silk 81 and welding, uses double wire hidden arc welding to connect
Mode；Described Intelligent welding head 8 also includes that welding slag recovery tube suction inlet 83, described welding slag recovery tube suction inlet 83 are positioned at described welding
The rear of rear silk 82.
Described steel structure truss 2 is all parallel with described component moving track 51 with welding gantry walking track 11, Qi Zhonggang
Structure truss 2 is positioned at above described component moving track 51, and described welding gantry walking track 11 is positioned at described moving track 51
Side；The length of described component moving track 51 is more than the length of steel structure truss 2；Described automatic turnover machine 10 is positioned at described structure
Part moving track 51 is walked between track 11 with welding gantry；Described moving track 51 lateral symmetry arranges two set welding equipments,
Both sides welding semi-gantry frame relies on structure welding walking more stable.
The intelligence control system of the present invention is made up of servomotor, kinetic control system, vision guide system；Described servo
Motor is responsible for portal frame walking and switching mechanism upset；Described kinetic control system is by motion controller and and expansion board group
Becoming, kinetic control system carries out real-time control to the position of servomotor, speed etc. so that it is it is anticipated that movement locus and
The kinematic parameter of regulation moves, and accepts io port input signal and processes, according to programme-control io output signal；Pass through
Bus and other PORT COM carry out communication with vision guide system, and the position deviation be given according to vision corrects welding gun in time
Position, and the break-make of welding gun and the size etc. of electric current；
Described vision guide system is formed by industrial camera, controller, Linear Laser, is belonged to active visual system, line
Type laser emits beam and is irradiated to H profile steel position while welding, and the light shape of industrial camera captured in real time laser passes through coaxial cable
Passing to controller be analyzed, controller and template are compared and are drawn relative position deviation amount after computing, and pass through communication
Port passes to motion controller in time, and motion controller controls servomotor and moves, and rectifies a deviation；
Described H profile steel component 13 cross-sectional width≤1 meter, length 18 meters, load≤6T, it has weld seam everywhere, described weldering
Seam is positioned at four right angle of H profile steel component, and counterclockwise, four weld seams are followed successively by weld seam 1, weld seam 2 132, weld seam
3 133 and weld seam 4 134；
Described intelligent machine automatization H profile steel Member Welding carrying method comprises the following steps:
S1, startup welding structure for conveying and intelligence control system, on component moving track 51, roller-way starts towards welding direction
Rotate, drive the steel beam column on roller-way to move towards weld zone, component then this cell cube roller-way when arriving certain unit conveying body
Motor work carry, component to cell cube electric machines for roller do not work；
S2, when certain H profile steel component is transported on auto-translating jacking equipment 9, except this H profile steel component place
Outside unit, other unit are out of service, and this H profile steel component translates after raising with translation jacking equipment 9, is passed to automatic turning
On machine 10；With component moving track 51 side as inner side, walking track 11 side, welding gantry is outside, now welding arm one
1011 and welding arm 2 1012 be the level of state and be stuck in level trough 102；Described H profile steel component 13 is laid flat at welding arm 1011
On, and the outside of H profile steel component is close to welding arm 1 and welding arm 2 1012 intersection, auto-translating jacking equipment 9 moves back
Return on component moving track 51；
S3, welding arm 1 keep level, and welding arm 2 1012 turns to the inside 90 degree, now welding arm one and welding
Arm two is vertical, subsequently welding arm one keep plumbness with welding arm two together with laterally rotate 45 degree, now weld seam 1 quilt
It is placed in horizontal ship shape position, by gantry weld holder intelligent walking, welding gun intelligent locating, welded seam 1；
After S4, weld seam 1 have welded, welding arm 1 and welding arm 2 1012 turn to level, automatically
H profile steel component 13 is moved on welding arm 2 1012 by translation jacking equipment 9, and the inner side of H profile steel component is close to welding arm one
1011 and welding arm 2 1012 intersection, auto-translating jacking equipment 9 returns on component moving track 51；Welding arm 2 1012
Holding level, welding arm 1 laterally rotates 90 degree, and now welding arm one and welding arm two are vertical, welding arm one He subsequently
Welding arm two keeps plumbness to turn to the inside 45 degree together, and now weld seam 2 132 is placed in horizontal ship shape position, by dragon
Door weld holder intelligent walking, welding gun intelligent locating, welded seam 2 132；
After S5, weld seam 2 132 have welded, welding arm one and welding arm two keep plumbness to continue to turn to the inside 45
Degree, now welding arm one keeps horizontal positioned, welding arm two to continue to turn to the inside, and makes H profile steel component flange, auto-translating liter
H profile steel component 13 is moved on welding arm 1 by fall equipment 9, and the inner side of H profile steel component is close to welding arm 1 He
Welding arm 2 1012 intersection, repeats the action in step 4 and step 5, is sequentially completed the welding of weld seam 4 134 weld seam 3 133；
Realizing the walking of gantry welding machine structure by servomotor and welding arm moves left and right, program intelligence is passed through in oscilaltion
Can control, speed is adjustable accurately, welds rifle intelligent locating by program Based Intelligent Control；
S6, the H profile steel component welded are transported back on component moving track 51, and this H profile steel component is with described component
Send roller-way 12 and gradually sent described component moving track 51；
S7, when the H profile steel component of next unit is transported on auto-translating jacking equipment 9, except this H profile steel component
Outside the unit at place, other unit are out of service ... iterative cycles, until completing welding and the conveying of all H profile steel components
Till.
Additionally, present disclosure additionally applies for carrying cross, T shaped steel component.
Above one embodiment of the present of invention is described in detail, but described content has been only the preferable enforcement of the present invention
Example, it is impossible to be considered the practical range for limiting the present invention.All impartial changes made according to the present patent application scope and improvement
Deng, within all should still belonging to the patent covering scope of the present invention.
Claims (8)
1. an intelligent machine automatization H profile steel Member Welding carrying method, it is characterised in that described H profile steel Member Welding is defeated
Mechanism is sent to include H profile steel component travel mechanism and welding gantry-travelling mechanism；
Described H profile steel component travel mechanism includes component moving track (51), and described component moving track (51) is provided with I word
Cylindric automatic charging roller-way (5) and I word cylindrical element send roller-way (12), and described automatic charging roller-way (5) and component send
Go out to be provided with between roller-way (12) auto-translating jacking equipment (9) and automatic turnover machine (10)；Described auto-translating jacking equipment
(9) H profile steel component lifting can be driven and can slide laterally in translation slide rail (91)；Described automatic turnover machine is provided with on (10)
Two panels end intersect welding arm (101) and level trough (102), two panels welding arm is respectively welding arm one (1011) and welding arm
Two (1012), described welding arm one (1011) is near described component moving track side, and described two panels welding arm (101) can drive
H profile steel component realizes upset or mobile along described level trough (102)；Described component moving track (51) includes 3-5 unit, often
Individual unit includes 2-4 root roller-way, and each unit is for a piece H profile steel component of conveying；
Described welding gantry-travelling mechanism includes steel structure truss (2) and welding gantry walking track (11)；Described steel construction purlin
The two ends of frame (2) are provided with the upper and lower steel ladder of People's Bank of China (1)；Described steel structure truss (2) and welding gantry walking track (11) it
Between be provided with and movably weld gantry, can walk track (11) along described steel structure truss (2) and welding gantry in welding gantry
Mobile, weld；Described welding gantry includes wire reel (3), Flux Recovery Unit (4), gantry weld holder (6), switch board (7)
With Intelligent welding head (8)；Wire reel (3) and Flux Recovery Unit (4) it is provided with on described gantry weld holder (6)；Described intelligence
Welding head (8) is arranged at the front of the upper welding direction of gantry weld holder (6)；
Described steel structure truss (2) is all parallel, wherein with described component moving track (51) with welding gantry walking track (11)
Steel structure truss (2) is positioned at described component moving track (51) top, and described welding gantry walking track (11) is positioned at described shifting
Dynamic track (51) side；The length of described component moving track (51) is more than the length of steel structure truss (2)；Described automatic turning
Machine (10) is positioned at described component moving track (51) and welds gantry between walking track (11)；
The intelligence control system of the present invention is made up of servomotor, kinetic control system, vision guide system；Described servomotor
It is responsible for portal frame walking and switching mechanism upset；Described kinetic control system by motion controller and and expansion board form, fortune
Autocontrol system carries out real-time control to the position of servomotor, speed etc. so that it is it is anticipated that movement locus and regulation
Kinematic parameter move, accept i o port input signal and process, according to programme-control io output signal；By always
Line and other PORT COM carry out communication with vision guide system, and the position deviation be given according to vision corrects the position of welding gun in time
Put, and the break-make of welding gun and the size etc. of electric current；
Described vision guide system is formed by industrial camera, controller, Linear Laser, is belonged to active visual system, and line style swashs
Light emits beam and is irradiated to H profile steel position while welding, and the light shape of industrial camera captured in real time laser is transmitted by coaxial cable
Being analyzed to controller, controller and template are compared and are drawn relative position deviation amount after computing, and pass through PORT COM
Passing to motion controller in time, motion controller controls servomotor and moves, and rectifies a deviation；
Weld seam everywhere, described weld seam is had to be positioned at four right angle of H profile steel component on described H profile steel component (13), by side counterclockwise
To, four weld seams are followed successively by weld seam one (131), weld seam two (132), weld seam three (133) and weld seam four (134)；
Described intelligent machine automatization H profile steel Member Welding carrying method comprises the following steps:
S1, startup welding structure for conveying and intelligence control system, the upper roller-way of component moving track (51) starts to turn towards welding direction
Dynamic, drive the steel beam column on roller-way to move towards weld zone, component then this cell cube roller-way electricity when arriving certain unit conveying body
Machine work carry, component to cell cube electric machines for roller do not work；
S2, when certain H profile steel component be transported to auto-translating jacking equipment (9) upper time, except the list at this H profile steel component place
Outside unit, other unit are out of service, and this H profile steel component translates after raising with translation jacking equipment (9), is passed to automatic turning
On machine (10)；With component moving track (51) side as inner side, walking track (11) side, welding gantry is outside, now welds
Arm one (1011) and welding arm two (1012) are the level of state and are stuck in level trough (102)；Described H profile steel component (13) is laid flat
On welding arm (1011), and the outside of H profile steel component is close to welding arm one (1011) and welding arm two (1012) intersection, from
Dynamic translation jacking equipment (9) returns on component moving track (51)；
S3, welding arm one (1011) keep level, and welding arm two (1012) turns to the inside 90 degree, now welding arm one and welding
Arm two is vertical, subsequently welding arm one keep plumbness with welding arm two together with laterally rotate 45 degree, now weld seam one (131)
It is placed in horizontal ship shape position, by gantry weld holder intelligent walking, welding gun intelligent locating, welded seam one (131)；
After S4, weld seam one (131) have welded, welding arm one (1011) and welding arm two (1012) turn to level, from
H profile steel component (13) is moved on welding arm two (1012) by dynamic translation jacking equipment (9), and the inner side of H profile steel component is close
Welding arm one (1011) and welding arm two (1012) intersection, auto-translating jacking equipment (9) returns to component moving track
(51) on；Welding arm two (1012) keeps level, and welding arm one (1011) laterally rotates 90 degree, now welding arm one and welding
Arm two is vertical, subsequently welding arm one keep plumbness with welding arm two together with turn to the inside 45 degree, now weld seam two (132)
It is placed in horizontal ship shape position, by gantry weld holder intelligent walking, welding gun intelligent locating, welded seam two (132)；
After S5, weld seam two (132) have welded, welding arm one and welding arm two keep plumbness to continue to turn to the inside 45
Degree, now welding arm one keeps horizontal positioned, welding arm two to continue to turn to the inside, and makes H profile steel component flange, auto-translating liter
H profile steel component (13) is moved on welding arm one (1011) by fall equipment (9), and the inner side of H profile steel component is close to welding arm one
(1011) and welding arm two (1012) intersection, repeat the action in step 4 and step 5, be sequentially completed weld seam four (134) weld seam
The welding of three (133)；
Realizing the walking of gantry welding machine structure by servomotor and welding arm moves left and right, oscilaltion is controlled by program intelligence
System, speed is adjustable accurately, welds rifle intelligent locating by program Based Intelligent Control；
S6, the H profile steel component welded are transported back on component moving track (51), and this H profile steel component send with described component
Go out roller-way (12) and gradually sent described component moving track (51)；
S7, when the H profile steel component of next unit be transported to auto-translating jacking equipment (9) upper time, except this H profile steel component institute
Unit outside, other unit are out of service ... iterative cycles, until completing the welding of all H profile steel components and conveying is
Only.
A kind of intelligent machine automatization the most according to claim 1 H profile steel Member Welding carrying method, it is characterised in that
Described Intelligent welding head (8) includes welding silk (82) after front silk (81) and welding, uses double wire hidden arc welding to connect mode；Described intelligence
Can also include that welding slag recovery tube suction inlet (83), described welding slag recovery tube suction inlet (83) are positioned at silk after described welding by welding head (8)
(82) rear.
A kind of intelligent machine automatization the most according to claim 1 H profile steel Member Welding carrying method, it is characterised in that
Described H profile steel member section width≤1 meter, length 18 meters, load≤6T.
A kind of intelligent machine automatization the most according to claim 1 H profile steel Member Welding carrying method, it is characterised in that
Described component moving track (51) overall length 50 meters, welds stroke 20 meters, described automatic charging roller-way (5) charging overall length 15 meters, institute
State component and send roller-way (12) discharging length 15 meters.
A kind of intelligent machine automatization the most according to claim 1 H profile steel Member Welding carrying method, it is characterised in that
It is cross, T shaped steel component that described conveying mechanism applies also for carrying cross section.
A kind of intelligent machine automatization the most according to claim 1 H profile steel Member Welding carrying method, it is characterised in that
Described moving track (51) lateral symmetry arranges two set welding equipments, described welding equipment include auto-translating jacking equipment (9),
Automatic turnover machine (10), welding gantry walking track (11) and movably weld gantry, both sides welding semi-gantry frame support steel
Truss side carries out welding walking.
A kind of intelligent machine automatization the most according to claim 1 H profile steel Member Welding carrying method, it is characterised in that
Described welding arm one (1011) and welding arm two (1012) are mutually perpendicular to, and welding arm one (1011) and described level trough (102)
During in 45 degree of angles, gantry submerged arc welding machine starts walking and finds component termination position while welding, Intelligent welding.
A kind of intelligent machine automatization the most according to claim 1 H profile steel Member Welding carrying method, it is characterised in that
Described welding arm (101) is L-type by cross section or T-shaped steel plate is made.
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| CN107150191A (en) * | 2017-05-19 | 2017-09-12 | 成都福莫斯智能***集成服务有限公司 | A kind of side shield robot welding system |
| CN107442975A (en) * | 2017-08-03 | 2017-12-08 | 杭州新松机器人自动化有限公司 | Double wire welding platform |
| CN107745221A (en) * | 2017-11-21 | 2018-03-02 | 安徽金阳金属结构工程有限公司 | A kind of H profile steel Turnover device for welding |
| CN109226989A (en) * | 2018-11-08 | 2019-01-18 | 山东省田庄煤矿有限公司 | A kind of wear-resistant chute automatic welding device |
| CN111482681A (en) * | 2020-05-22 | 2020-08-04 | 浙江东南网架股份有限公司 | Submerged arc welding method of H-shaped steel robot |
| CN111687557A (en) * | 2020-06-09 | 2020-09-22 | 浙江东南网架股份有限公司 | Automatic manufacturing method of linear steel plate shear wall |
| CN112207576A (en) * | 2020-08-31 | 2021-01-12 | 浙江省建工集团有限责任公司 | H shaped steel intelligence apparatus for producing |
| CN113427163A (en) * | 2021-07-16 | 2021-09-24 | 深圳市皓辉能源科技有限公司 | Steel plate splicing and welding method and welding system thereof |
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| CN111482681A (en) * | 2020-05-22 | 2020-08-04 | 浙江东南网架股份有限公司 | Submerged arc welding method of H-shaped steel robot |
| CN111687557A (en) * | 2020-06-09 | 2020-09-22 | 浙江东南网架股份有限公司 | Automatic manufacturing method of linear steel plate shear wall |
| CN111687557B (en) * | 2020-06-09 | 2021-09-17 | 浙江东南网架股份有限公司 | Automatic manufacturing method of linear steel plate shear wall |
| CN112207576A (en) * | 2020-08-31 | 2021-01-12 | 浙江省建工集团有限责任公司 | H shaped steel intelligence apparatus for producing |
| CN112207576B (en) * | 2020-08-31 | 2021-11-23 | 浙江省建工集团有限责任公司 | H shaped steel intelligence apparatus for producing |
| CN113427163A (en) * | 2021-07-16 | 2021-09-24 | 深圳市皓辉能源科技有限公司 | Steel plate splicing and welding method and welding system thereof |
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