CN106270970B - A kind of intelligent machine automation H profile steel Member Welding delivery method - Google Patents
A kind of intelligent machine automation H profile steel Member Welding delivery method Download PDFInfo
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- CN106270970B CN106270970B CN201610762808.2A CN201610762808A CN106270970B CN 106270970 B CN106270970 B CN 106270970B CN 201610762808 A CN201610762808 A CN 201610762808A CN 106270970 B CN106270970 B CN 106270970B
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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 machines to automate H profile steel Member Welding delivery method, includes the following steps：S1, starting welding structure for conveying and intelligence control system, the unit electric machines for roller work that component reaches are conveyed, other cell cube motors do not work；S2, when some H profile steel component is transported on auto-translating lifting device, other than the unit where the H profile steel component, other units are out of service, which is passed on automatic turnover machine；S3, pass through gantry weld holder intelligent walking, welding gun intelligent locating, welded seam one；S4, pass through gantry weld holder intelligent walking, welding gun intelligent locating, welded seam two；Movement in S5, repetition step 4 and step 5, is sequentially completed the welding of four weld seam three of weld seam；S6, soldered H profile steel component are gradually sent out the component moving track.Labor intensity of workers 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 member welding technology fields, and in particular to a kind of intelligent machine automation H profile steel Member Welding
Delivery method.
Background technique
In existing H profile steel Member Welding production line, charging and discharging are by manual operation driving lifting, people when welding
Welding gun is directed at weld seam by work, and welding process needs artificial continuous adjustment welding gun, so that welding gun is directed at weld seam always, workpiece turning is adopted
It is lifted with driving, operator's labor intensity is high；For workpiece using manual operation driving overturning workpiece, danger coefficient is big；Using list
Especially in thick plates, production efficiency is low for silk Lincoln weld.
Summary of the invention
It is an object of the invention to aiming at the disadvantages of the prior art, provide a kind of intelligent machine automation H profile steel component weldering
Delivery method is connect, the technical solution adopted in the present invention is as follows：
A kind of intelligent machine automation H profile steel Member Welding delivery method, including welding conveying mechanism and intelligent control system
System, wherein the welding conveying mechanism of the H profile steel component includes H profile steel component mobile mechanism and welding gantry-travelling mechanism；
H profile steel component mobile mechanism includes component moving track, and I word cylinder is provided on the component moving track
Shape automatic charging roller-way and I word cylindrical element send out roller-way, and the automatic charging roller-way and component are sent out to be arranged between roller-way
There are auto-translating lifting device and automatic turnover machine；The auto-translating lifting device can drive H profile steel component lifting and can be
It is slid laterally on translation sliding rail；The welding arm and level trough of the intersection of two panels end, two panels weldering are provided on the automatic turnover machine
Connecing arm is respectively welding arm one and welding arm two, and the welding arm one is close to component moving track side, the two panels weldering
Connecing arm can drive H profile steel component to realize overturning along the level trough or move；The component moving track includes 3-5 unit,
Each unit includes 2-4 root roller-way, and each unit is for conveying a H profile steel component；
The welding gantry-travelling mechanism includes steel structure truss and welding gantry walking track；The steel structure truss
Both ends are respectively provided with someone's row steel ladder up and down；Moveable weldering is installed between the steel structure truss and welding gantry walking track
Building sequence door, welding gantry can move along the steel structure truss and welding gantry walking track, be welded；Described welding gantry
Including wire reel, Flux Recovery Unit, gantry weld holder, control cabinet and Intelligent welding head；It is provided on gantry weld holder
Wire reel and Flux Recovery Unit；The Intelligent welding head is set to the front of welding direction on the weld holder of gantry；
The steel structure truss and welding gantry walking track are parallel with the component moving track, wherein steel construction purlin
Frame is located above the component moving track, and welding gantry walking track is located at component moving track side；It is described
The length of component moving track is greater than the length of steel structure truss；The automatic turnover machine is located at the component moving track and weldering
Building sequence door is walked between track；
The intelligence control system is by servo motor, kinetic control system, vision guide system composition；The servo motor
It is responsible for the walking of gantry weld holder and automatic turnover machine overturning；The kinetic control system is made of motion controller and expansion board,
Kinetic control system controls the position of servo motor, speed in real time, make itself it is anticipated that motion profile and regulation
Kinematic parameter moved, receive the port i o input signal and handled, according to process control io output signal；By total
Line and other PORT COMs are communicated with vision guide system, the position deviation timely correction provided according to vision guide system
The size of the position of welding gun and the on-off of welding gun and electric current；
The vision guide system belongs to active vision system, line by industrial camera, controller, Linear Laser composition
Type laser, which emits beam, is irradiated to H profile steel member welding joints position, and the light shape that industrial camera captures laser in real time passes through coaxial
Cable passes to controller and is analyzed, and controller obtains relative position deviation amount after operation is compared with template, and passes through
PORT COM passes to motion controller in time, and motion controller control servo motor is moved, rectified a deviation；
There is weld seam everywhere on the H profile steel component, the weld seam is located at four right angles of 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；
The intelligent machine automation H profile steel Member Welding delivery method includes the following steps：
S1, starting weld conveying mechanism and intelligence control system, and roller-way starts to turn towards welding direction on component moving track
It is dynamic, drive the steel member on roller-way mobile towards welding section, H profile steel component then unit electric machines for roller work when reaching some unit
It is conveyed, the unit electric machines for roller that H profile steel component does not arrive do not work；
S2, when some H profile steel component is transported on auto-translating lifting device, in addition to where the H profile steel component
Outside unit, other units are out of service, which translates after increasing with auto-translating lifting device, are passed to automatic
On tipper；Using component moving track side as inside, welding gantry walking track side is outside, at this time welding arm one and weldering
It connects arm two and is in a horizontal state and be stuck in level trough；The H profile steel component is laid flat on welding arm one, and H profile steel component is outer
Side returns on component moving track close to two intersection of welding arm one and welding arm, auto-translating lifting device；
S3, welding arm one keep horizontal, and welding arm two turns to the inside 90 degree, and welding arm one and welding arm two hang down at this time
Directly, subsequent welding arm one and welding arm two keep plumbness to laterally rotate 45 degree together, and weld seam one is placed in level at this time
Ship shape position passes through gantry weld holder intelligent walking, welding gun intelligent locating, welded seam one；
After the completion of S4, weld seam one weld, welding arm one and welding arm two turn to horizontality, auto-translating lifting device
H profile steel component is moved on welding arm two, and the inside of H profile steel component is close to two intersection of welding arm one and welding arm, from
Dynamic translation lifting device returns on component moving track；Welding arm two keeps horizontal, and welding arm one laterally rotates 90 degree, this
When welding arm one and welding arm two it is vertical, subsequent welding arm one and welding arm two keep plumbness to turn to the inside 45 together
Degree, weld seam two is placed in horizontal ship shape position at this time, passes through gantry weld holder intelligent walking, welding gun intelligent locating, welded seam
Two；
After the completion of S5, weld seam two weld, welding arm one and welding arm two keep plumbness to continue to turn to the inside 45 degree,
Welding arm one keeps horizontal positioned at this time, and welding arm two continues to turn to the inside, and makes H profile steel component flange, auto-translating lifting
H profile steel component is moved on welding arm one by equipment, and the inside of H profile steel component is intersected close to welding arm one and welding arm two
Place repeats the movement in step 3 and step 4, is sequentially completed the welding of three weld seam four of weld seam；
By servo motor realize gantry weld holder walking and and automatic turnover machine overturning, welded by program intelligent control
Connect rifle intelligent locating；
S6, soldered H profile steel component are transported back on component moving track, which send with the component
Roller-way is gradually sent out the component moving track out；
S7, when the H profile steel component of next unit is transported on auto-translating lifting device, in addition to the H profile steel component
Outside the unit at place, other units are out of service；Iterative cycles, until completing the welding and conveying of all H profile steel components.
Further, the Intelligent welding head includes silk and silk after welding before welding, and connects mode using double wire hidden arc welding；
The Intelligent welding head further includes welding slag recovery tube suction inlet, and the welding slag recovery tube suction inlet is located at after the welding after silk
Side.
Further, 18 meters of H profile steel member section width≤1 meter, length, load≤6T.
Further, described 50 meters of component moving track overall length, 20 meters of stroke are welded, the automatic charging roller-way charging is total
It is 15 meters, described 15 meters of component outlet roller way discharging device length long.
Further, it is cross, T font steel member that the welding conveying mechanism, which applies also for conveying cross section,.
Further, component moving track two sides are symmetrical arranged two sets of welding equipments, and the welding equipment includes certainly
Dynamic translation lifting device, welds gantry walking track and movably welds gantry automatic turnover machine, and semi-gantry frame is welded in two sides
Steel structure truss side is relied on to carry out welding walking.
Further, the welding arm one and welding arm two are mutually perpendicular to, and welding arm one and the level trough are in 45 degree
When angle, gantry welder starts walking and finds H profile steel component end position while welding, Intelligent welding.
Further, steel plate of the welding arm by cross section by L-type or T-type is made.
Beneficial effects of the present invention are：A kind of intelligent machine that the present invention points out automates H profile steel Member Welding conveying side
Method uses central control cabinet, and I word roller-way is sent into and is sent out, and welding post tipper and welding is arranged in production line on both sides of the middle
When mechanism, H profile steel component are sent in the middle part of production line, H profile steel component by translation conveyors to two sides welding post tipper
Feeding, tipper overturn H profile steel component to welding position, and gantry welder starts walking and finds H profile steel component end weld seam position
It sets, Intelligent welding.Overall design is that set of system including rollgang, translation conveyors, tipper, symmetrical two sets of welding are set
Standby, two sides weld semi-gantry frame and rely on structure welding walking more stable, and it is automatic that the design of complete equipment embodies intelligent machine
Change degree is high, mechanical equipment is rationally distributed, production welding efficiency is high；Charging and the automatic progress of discharging, welding process are not required to very important person
Work intervention, workpiece intelligence automatic turning, welding, operator's labor intensity are low；Operator is raw far from workpiece in welding process
Danger coefficient in production is close to zero；Using blocking stepping type conveying mechanism, so that conveying equipment more power saving and safety.
Detailed description of the invention
Fig. 1 is the structural schematic diagram that a kind of intelligent machine automates H profile steel Member Welding delivery method；
Fig. 2 is the enlarged drawing in the portion A in Fig. 1；
Fig. 3 is the enlarged drawing in the portion B in Fig. 1；
Fig. 4 is that H profile steel component is placed on the structural schematic diagram on automatic turnover machine；
Wherein, steel ladder above and below 1- people's row；2- steel structure truss；3- wire reel；4- Flux Recovery Unit；5- automatic charging roller
Road；51- component moving track；The gantry 6- weld holder；7- control cabinet；8- Intelligent welding head；Silk before 81- is welded；After 82- welding
Silk；83- welding slag recovery tube suction inlet；9- auto-translating lifting device；10- automatic turnover machine；101- welding arm；1011- welding arm
One；1012- welding arm two；102- level trough；11- welds portal frame walking track；12- component sends out roller-way；13-H fashioned iron structure
Part；131- weld seam one；132- weld seam two；133- weld seam three；134- weld seam four.
Specific embodiment
The present invention is described in further details below in conjunction with the drawings and specific embodiments.
A kind of intelligent machine automation H profile steel Member Welding delivery method, including welding conveying mechanism and intelligent control system
System, wherein the welding conveying mechanism of H profile steel component includes H profile steel component mobile mechanism and welding gantry-travelling mechanism；
H profile steel component mobile mechanism includes component moving track 51, and I word cylinder is provided on the component moving track 51
Shape automatic charging roller-way 5 and I word cylindrical element send out roller-way 12, the automatic charging roller-way 5 and component send out roller-way 12 it
Between be provided with auto-translating lifting device 9 and automatic turnover machine 10；The auto-translating lifting device 9 can drive H profile steel component
It goes up and down and can be slid laterally on translation sliding rail 91；The welding arm of two panels end intersection is provided on the automatic turnover machine 10
101 and level trough 102, steel plate of the welding arm 101 by cross section by L-type or T-type be made, two panels welding arm be respectively weld
Arm 1 and welding arm 2 1012, the welding arm 1 is close to component moving track side, the two panels welding
Arm 101 can drive H profile steel component to realize overturning along the level trough 102 or move；The component moving track 51 includes 3-5
Unit, each unit include 2-4 root roller-way, and each unit is for conveying a H profile steel component；51 overall length 50 of component moving track
Rice welds 20 meters of stroke, and the automatic charging roller-way 5 feeds 15 meters of overall length, and the component sends out roller-way 12 and discharges 15 meters of length.
The welding gantry-travelling mechanism includes steel structure truss 2 and welding gantry walking track 11；The steel construction purlin
The both ends of frame 2 are respectively provided with someone's row steel ladder 1 up and down；It is equipped between the steel structure truss 2 and welding gantry walking track 11
Moveable welding gantry, welding gantry can move along the steel structure truss 2 and welding gantry walking track 11, be welded
It connects；Described welding gantry includes wire reel 3, Flux Recovery Unit 4, gantry weld holder 6, control cabinet 7 and Intelligent welding head 8；Institute
It states and is provided with wire reel 3 and Flux Recovery Unit 4 on gantry weld holder 6；The Intelligent welding head 8 is set to gantry weld holder 6
The front of upper welding direction；The Intelligent welding head 8 includes silk 81 and silk 82 after welding before welding, and is connect using double wire hidden arc welding
Mode；The Intelligent welding head 8 further includes welding slag recovery tube suction inlet 83, and the welding slag recovery tube suction inlet 83 is located at the welding
The rear of silk 82 afterwards.
The steel structure truss 2 and welding gantry walking track 11 are parallel with the component moving track 51, wherein steel
Structure truss 2 is located at 51 top of component moving track, and welding gantry walking track 11 is located at the component moving rail
51 side of road；The length of the component moving track 51 is greater than the length of steel structure truss 2；The automatic turnover machine 10 is located at institute
It states between component moving track 51 and welding gantry walking track 11；51 two sides of component moving track are symmetrical arranged two sets of welderings
Equipment is connect, two sides weld semi-gantry frame and rely on structure welding walking more stable.
The intelligence control system is by servo motor, kinetic control system, vision guide system composition；The servo motor
It is responsible for the walking of gantry weld holder and automatic turnover machine overturning；The kinetic control system is made of motion controller and expansion board,
Kinetic control system controls the position of servo motor, speed in real time, make itself it is anticipated that motion profile and regulation
Kinematic parameter moved, receive the port i o input signal and handled, according to process control io output signal；By total
Line and other PORT COMs are communicated with vision guide system, the position deviation timely correction provided according to vision guide system
The size of the position of welding gun and the on-off of welding gun and electric current；
The vision guide system belongs to active vision system, line by industrial camera, controller, Linear Laser composition
Type laser, which emits beam, is irradiated to H profile steel member welding joints position, and the light shape that industrial camera captures laser in real time passes through coaxial
Cable passes to controller and is analyzed, and controller obtains relative position deviation amount after operation is compared with template, and passes through
PORT COM passes to motion controller in time, and motion controller control servo motor is moved, rectified a deviation；
13 cross-sectional width≤1 meter of H profile steel component, 18 meters of length, load≤6T have weld seam everywhere, the weldering thereon
Seam is located at four right angles 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；
The intelligent machine automation H profile steel Member Welding delivery method includes the following steps：
Conveying mechanism and intelligence control system are welded in S1, starting, and roller-way starts towards welding direction on component moving track 51
Rotation drives the H profile steel component on roller-way mobile towards welding section, H profile steel component then unit roller-way when reaching some unit
Motor work is conveyed, and the unit electric machines for roller that H profile steel component does not arrive do not work；
S2, when some H profile steel component is transported on auto-translating lifting device 9, in addition to where the H profile steel component
Outside unit, other units are out of service, which translates after increasing with auto-translating lifting device 9, are passed to automatic
On tipper 10；Using 51 side of component moving track as inside, welding gantry walking 11 side of track is outside, at this time welding arm
1 and welding arm 2 1012 be in a horizontal state and be stuck in level trough 102；The H profile steel component 13 is laid flat in welding arm one
On 1011, and the outside of H profile steel component is close to 2 1012 intersection of welding arm 1 and welding arm, auto-translating lifting device
9 return on component moving track 51；
S3, welding arm 1 keep horizontal, and welding arm 2 1012 turns to the inside 90 degree, at this time welding arm one and welding
Arm two is vertical, and subsequent welding arm one and welding arm two keep plumbness to laterally rotate 45 degree together, at this time one 131 quilt of weld seam
It is placed in horizontal ship shape position, passes through gantry weld holder intelligent walking, welding gun intelligent locating, welded seam 1；
After the completion of S4, weld seam 1 weld, welding arm 1 and welding arm 2 1012 turn to horizontality, automatically
H profile steel component 13 is moved on welding arm 2 1012 by translation lifting device 9, and the inside of H profile steel component is close to welding arm one
1011 and 2 1012 intersection of welding arm, auto-translating lifting device 9 return on component moving track 51；Welding arm 2 1012
Keep horizontal, welding arm 1 laterally rotates 90 degree, and welding arm one and welding arm two are vertical at this time, subsequent one He of welding arm
Welding arm two keeps plumbness to turn to the inside together 45 degree, and weld seam 2 132 is placed in horizontal ship shape position at this time, passes through dragon
Door weld holder intelligent walking, welding gun intelligent locating, welded seam 2 132；
After the completion of S5, weld seam 2 132 weld, the plumbness that welding arm one and welding arm two keeps continues to turn to the inside 45
Degree, welding arm one keeps horizontal positioned at this time, and welding arm two continues 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 drop equipment 9, and the inside of H profile steel component is close to one 1011 He of welding arm
2 1012 intersection of welding arm repeats the movement in step 3 and step 4, is sequentially completed the welding of 3 133 weld seam 4 134 of weld seam；
By servo motor realize gantry weld holder walking and and automatic turnover machine overturning, welded by program intelligent control
Connect rifle intelligent locating；
S6, soldered H profile steel component are transported back on component moving track 51, and the H profile steel component is with the component
It sends out roller-way 12 and is gradually sent out the component moving track 51；
S7, when the H profile steel component of next unit is transported on auto-translating lifting device 9, in addition to the H profile steel component
Outside the unit at place, other units are out of service；Iterative cycles, until completing the welding and conveying of all H profile steel components.
In addition, the present disclosure additionally applies for convey cross, T shaped steel component.
One embodiment of the present invention has been described in detail above, but the content is only preferable implementation of the invention
Example, should not be considered as limiting the scope of the invention.It is all according to all the changes and improvements made by the present patent application range
Deng should still be within the scope of the patent of the present invention.
Claims (8)
1. a kind of intelligent machine automates H profile steel Member Welding delivery method, which is characterized in that including welding conveying mechanism and intelligence
It can control system, wherein the welding conveying mechanism of the H profile steel component includes H profile steel component mobile mechanism and welding gantry-travelling
Mechanism；
H profile steel component mobile mechanism includes component moving track (51), is provided with I word on the component moving track (51)
Cylindric automatic charging roller-way (5) and I word cylindrical element send out roller-way (12), and the automatic charging roller-way (5) and component are sent
Auto-translating lifting device (9) and automatic turnover machine (10) are provided between roller-way (12) out；The auto-translating lifting device
(9) H profile steel component lifting can be driven and can be slid laterally in translation sliding rail (91)；It is provided on the automatic turnover machine (10)
The welding arm (101) and level trough (102) of two panels end intersection, two panels welding arm is respectively welding arm one (1011) and welding arm
Two (1012), the welding arm one (1011) can drive close to component moving track side, the two panels welding arm (101)
H profile steel component realizes overturning or movement along the level trough (102)；The component moving track (51) includes 3-5 unit, often
A unit includes 2-4 root roller-way, and each unit is for conveying a H profile steel component；
The welding gantry-travelling mechanism includes steel structure truss (2) and welding gantry walking track (11)；The steel construction purlin
The both ends of frame (2) are respectively provided with someone's row steel ladder (1) up and down；The steel structure truss (2) and welding gantry walking track (11) it
Between moveable welding gantry is installed, welding gantry can walk track (11) along the steel structure truss (2) and welding gantry
It is mobile, it is welded；Described welding gantry includes wire reel (3), Flux Recovery Unit (4), gantry weld holder (6), control cabinet (7)
With Intelligent welding head (8)；Wire reel (3) and Flux Recovery Unit (4) are provided on gantry weld holder (6)；The intelligence
Welding head (8) is set to the front of welding direction on gantry weld holder (6)；
The steel structure truss (2) and welding gantry walking track (11) are parallel with component moving track (51), wherein
Steel structure truss (2) is located above the component moving track (51), and welding gantry walking track (11) is located at the structure
Part moving track (51) side；The length of the component moving track (51) is greater than the length of steel structure truss (2)；It is described automatic
Tipper (10) is located between the component moving track (51) and welding gantry walking track (11)；
The intelligence control system is by servo motor, kinetic control system, vision guide system composition；The servo motor is responsible for
The walking of gantry weld holder and automatic turnover machine overturning；The kinetic control system is made of motion controller and expansion board, movement
Control system controls the position of servo motor, speed in real time, make itself it is anticipated that motion profile and defined fortune
Dynamic parameter is moved, and is received the port i o input signal and is handled, according to process control io output signal；By bus and
Other PORT COMs are communicated with vision guide system, the position deviation timely correction welding gun provided according to vision guide system
Position and welding gun on-off and electric current size；
The vision guide system belongs to active vision system by industrial camera, controller, Linear Laser composition, and line style swashs
Light, which emits beam, is irradiated to H profile steel member welding joints position, and the light shape that industrial camera captures laser in real time passes through coaxial cable
It passes to controller to be analyzed, controller obtains relative position deviation amount after operation is compared with template, and passes through communication
Port passes to motion controller in time, and motion controller control servo motor is moved, rectified a deviation；
There is weld seam everywhere on the H profile steel component (13), the weld seam is located at four right angles of H profile steel component, 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)；
The intelligent machine automation H profile steel Member Welding delivery method includes the following steps：
S1, starting weld conveying mechanism and intelligence control system, and roller-way starts to turn towards welding direction on component moving track (51)
It is dynamic, drive the H profile steel component on roller-way mobile towards welding section, then the unit roller-way is electric when reaching some unit for H profile steel component
Machine work is conveyed, and the unit electric machines for roller that H profile steel component does not arrive do not work；
S2, when some H profile steel component is transported on auto-translating lifting device (9), in addition to the list where the H profile steel component
First outer, other units are out of service, which translates after increasing with auto-translating lifting device (9), are passed to automatic
On tipper (10)；Using component moving track (51) side as inside, welding gantry walking track (11) side is outside, at this time
Welding arm one (1011) and welding arm two (1012), which are in a horizontal state, to be stuck in level trough (102)；H profile steel component (13) quilt
It lies on welding arm one (1011), and the outside of H profile steel component is close to welding arm one (1011) and welding arm two (1012) phase
At friendship, auto-translating lifting device (9) is returned on component moving track (51)；
S3, welding arm one (1011) keep horizontal, and welding arm two (1012) turns to the inside 90 degree, at this time welding arm one and welding
Arm two is vertical, and subsequent welding arm one and welding arm two keep plumbness to laterally rotate 45 degree together, at this time weld seam one (131)
It is placed in horizontal ship shape position, passes through gantry weld holder intelligent walking, welding gun intelligent locating, welded seam one (131)；
After the completion of S4, weld seam one (131) welding, welding arm one (1011) and welding arm two (1012) turn to horizontality, from
H profile steel component (13) is moved on welding arm two (1012) by dynamic translation lifting device (9), and the inside of H profile steel component is close
Welding arm one (1011) and welding arm two (1012) intersection, auto-translating lifting device (9) return to component moving track
(51) on；Welding arm two (1012) keeps horizontal, and welding arm one (1011) laterally rotates 90 degree, at this time welding arm one and welding
Arm two is vertical, and subsequent welding arm one and welding arm two keep plumbness to turn to the inside together 45 degree, at this time weld seam two (132)
It is placed in horizontal ship shape position, passes through gantry weld holder intelligent walking, welding gun intelligent locating, welded seam two (132)；
After the completion of S5, weld seam two (132) welding, the plumbness that welding arm one and welding arm two keeps continues to turn to the inside 45
Degree, welding arm one keeps horizontal positioned at this time, and welding arm two continues 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 drop equipment (9), and the inside of H profile steel component is close to welding arm one
(1011) and welding arm two (1012) intersection the movement in step 3 and step 4, is repeated, weld seam three (133) weld seam is sequentially completed
The welding of four (134)；
By servo motor realize gantry weld holder walking and and automatic turnover machine overturning, pass through program intelligent control weld rifle
Intelligent locating；
S6, soldered H profile steel component are transported back on component moving track (51), which send with the component
Roller-way (12) is gradually sent out the component moving track (51) out；
S7, when the H profile steel component of next unit is transported on auto-translating lifting device (9), in addition to the H profile steel component institute
Unit outside, other units are out of service；Iterative cycles, until completing the welding and conveying of all H profile steel components.
2. a kind of intelligent machine according to claim 1 automates H profile steel Member Welding delivery method, which is characterized in that
The Intelligent welding head (8) includes welding silk (82) after preceding silk (81) and welding, connects mode using double wire hidden arc welding；The intelligence
Energy welding head (8) further includes welding slag recovery tube suction inlet (83), and the welding slag recovery tube suction inlet (83) is located at silk after the welding
(82) rear.
3. a kind of intelligent machine according to claim 1 automates H profile steel Member Welding delivery method, which is characterized in that
18 meters of H profile steel member section width≤1 meter, length, load≤6T.
4. a kind of intelligent machine according to claim 1 automates H profile steel Member Welding delivery method, which is characterized in that
50 meters of overall length of the component moving track (51) welds 20 meters of stroke, and the automatic charging roller-way (5) feeds 15 meters of overall length, institute
It states component and sends out 15 meters of length of roller-way (12) discharging.
5. a kind of intelligent machine according to claim 1 automates H profile steel Member Welding delivery method, which is characterized in that
It is cross, T shaped steel component that the welding conveying mechanism, which applies also for conveying cross section,.
6. a kind of intelligent machine according to claim 1 automates H profile steel Member Welding delivery method, which is characterized in that
Component moving track (51) two sides are symmetrical arranged two sets of welding equipments, and the welding equipment includes auto-translating lifting device
(9), automatic turnover machine (10), welding gantry walking track (11) and moveable welding gantry, two sides welding semi-gantry frame according to
Support steel structure truss side carries out welding walking.
7. a kind of intelligent machine according to claim 1 automates H profile steel Member Welding delivery method, which is characterized in that
The welding arm one (1011) and welding arm two (1012) are mutually perpendicular to, and welding arm one (1011) and the level trough (102)
When in 45 degree of angles, gantry welder starts walking and finds H profile steel component end position while welding, Intelligent welding.
8. a kind of intelligent machine according to claim 1 automates H profile steel Member Welding delivery method, which is characterized in that
Steel plate of the welding arm (101) by cross section by L-type or T-type 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 |
| CN107442975B (en) * | 2017-08-03 | 2019-03-01 | 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 |
| 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 |
| 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 |
| CN113427163B (en) * | 2021-07-16 | 2022-12-27 | 深圳市皓辉能源科技有限公司 | Steel plate splicing welding method and welding system thereof |
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