CN108723628B - Method for planning welding assembly sequence of steel joints at hexagonal bracket openings - Google Patents
Method for planning welding assembly sequence of steel joints at hexagonal bracket openings Download PDFInfo
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- CN108723628B CN108723628B CN201810541741.9A CN201810541741A CN108723628B CN 108723628 B CN108723628 B CN 108723628B CN 201810541741 A CN201810541741 A CN 201810541741A CN 108723628 B CN108723628 B CN 108723628B
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Abstract
The invention discloses a method for planning a welding assembly sequence of steel nodes with hexagonal bracket openings. Currently, no method for planning the welding sequence of the steel nodes of the hexagonal corbel opening is provided for a welding robot. The invention is as follows: firstly, establishing a three-dimensional model of a hexagonal corbel opening steel node by using steel structure design software. And secondly, extracting the design information of n frame plates in the three-dimensional model of the hexagonal corbel opening steel node, and grouping the n frame plates. And thirdly, determining the welding sequence number of the stacked hexagonal plates and the n frame plates. And arranging the stacked hexagonal plates and the n frame plates in sequence from small to large according to the welding sequence number to obtain the welding sequence of the stacked hexagonal plates and the n frame plates. The invention uses a plurality of variables to clearly plan the complicated welding assembly sequence of the hexagonal bracket opening, and meets the necessary requirements in welding specification and actual operation.
Description
Technical Field
The invention belongs to the technical field of automatic welding of complex steel joints, and particularly relates to a method for planning welding sequence of steel joints of a hexagonal corbel opening.
Background
In recent years, steel joints assembled by welding have been receiving more and more attention in the industry due to the characteristics of short working hours, low manufacturing cost, high flexibility and the like. The structural form of the welded steel node is different due to the requirement of building modeling, so that a steel structure engineering project has a plurality of complex steel nodes to be manufactured. At present, the welding assembly of complex steel nodes adopts a traditional manual welding method, and the welding nodes are high-incidence parts with failure steel structures: the welding seam is dense, the welding space is easy to interfere, and the manufacturability is poor. The manual welding operation is inconvenient, the quality of the assembled complex steel node is low, and time and labor are wasted; manual welding is prone to stress concentration, and due to the fact that the size and the mass are large and difficult to eliminate through a heat treatment method, automatic welding assembly is a necessary development trend. In automated welding assembly, welding assembly sequence planning is one of the important issues to be addressed.
In the space latticed shell structure, the hexagonal corbel opening steel node is the most common node type and is large in using amount. The hexagonal bracket mouth steel node (shown in figure 1) is formed by welding and assembling a base hexagonal plate, an overlapped hexagonal plate and n frame plates, wherein n is more than or equal to 22 and less than or equal to 30.
Disclosure of Invention
The invention aims to provide a method for planning a welding assembly sequence of hexagonal ox-leg steel joints.
The method comprises the following specific steps:
step one, establishing a three-dimensional model of the steel nodes of the hexagonal bracket mouth by using steel structure design software. The hexagonal bracket mouth steel node is formed by welding and assembling a base hexagonal plate, a stacked hexagonal plate and n frame plates, wherein n is more than or equal to 22 and less than or equal to 30, and n is an even number. And sequencing and numbering the n frame plates in sequence.
Step two, extracting the design information of n frame plates and the design information R of the ith frame plate in the three-dimensional model of the steel node of the hexagonal bracketiIncluding the mass of the ith frame plate, the spatial position coefficient of the ith frame plate, and the common edge coefficient of the ith frame plate.
And if the ith frame plate is intersected with the feature plane, the spatial position coefficient of the ith frame plate is equal to 0. If the ith frame plate does not intersect with the feature plane and is located on the side of the feature plane close to the base hexagonal plate, the spatial position coefficient of the ith frame plate is equal to 1. If the ith frame plate does not intersect with the feature plane and is located on the side of the feature plane close to the superimposed hexagonal plate, the spatial position coefficient of the ith frame plate is equal to 2. The characteristic plane is a symmetrical plane of the base hexagonal plate and the stacked hexagonal plate in the hexagonal bracket mouth steel node three-dimensional model.
And if the common edge exists between the ith frame plate and the base hexagonal plate or the superposed hexagonal plate, the common edge coefficient of the ith frame plate is equal to 1. And if the ith frame plate, the base hexagonal plate and the stacked hexagonal plate do not have a common edge, the common edge coefficient of the ith frame plate is equal to 0.
The frame plates with the spatial position coefficient equal to 0 form a first frame plate group. The frame plates with the spatial position coefficient equal to 1 and the common edge coefficient equal to 1 constitute a second frame plate group. The frame plates whose spatial position coefficient is equal to 1 and whose common edge coefficient is equal to 0 constitute a third frame plate group. The frame plates with the spatial position coefficient equal to 2 and the common edge coefficient equal to 1 constitute a fourth frame plate group. The frame plates whose spatial position coefficient is equal to 2 and whose common edge coefficient is equal to 0 constitute a fifth frame plate group. The first frame plate group consists of ten frame plates. The second frame plate group consists of six frame plates. The third frame plate group consists of a frame plates. The fourth frame plate group consists of six frame plates. The fifth frame plate group consists of a frame plates; a is more than or equal to 0 and less than or equal to 4.
And step three, determining the welding sequence number of the stacked hexagonal plates and the n frame plates. Welding sequence number H of stacked hexagonal plates0Equal to 3. The number of welding sequences of the ith frame plate is equal to Hi. The ten frame plates in the first frame plate group are sequentially 1, 2, 4, 5, 6, 7, 8, 9, 10 and 11 in the welding sequence number from large to small according to the mass.
The welding sequence numbers of the six frame plates in the second frame plate group are respectively 12, 13, 14, 15, 16 and 17. The welding sequence numbers of the a frame plates in the third frame plate group are respectively 18, 19, … and 17+ a. The welding sequence numbers of the six frame plates in the fourth frame plate group are respectively 18+ a, 19+ a, 20+ a, 21+ a, 22+ a and 23+ a. The welding sequence numbers of the a frame plates in the fifth frame plate group are respectively 24+ a, 25+ a, … and 23+2 a.
And arranging the stacked hexagonal plates and the n frame plates in sequence from small to large according to the welding sequence number to obtain the welding sequence of the stacked hexagonal plates and the n frame plates.
Further, the steel structure design software adopts SOLIDWORKS.
Further, the base hexagonal plate is a hexagonal plate directly placed on the workbench during welding. The stack hexagonal board is the hexagonal board that is located basis hexagonal board top when welding. The basic hexagonal plate and the stacked hexagonal plate are the same in shape.
Further, design information R of the i-th frame plateiThe material of the ith frame plate is also included.
The invention has the beneficial effects that:
1. the welding robot can plan the welding sequence of the steel nodes at the hexagonal corbel opening, and further provides a technical basis for large-scale automatic welding assembly production of the steel nodes at the hexagonal corbel opening.
2. The invention clearly plans the complex welding assembly sequence of the hexagonal corbel opening by applying a plurality of variables.
3. The welding assembly sequence obtained by the invention meets the welding specification and the necessary requirements in actual operation.
Drawings
Fig. 1 is a schematic structural diagram of a steel node of a hexagonal bracket mouth.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
The method for planning the welding sequence of the steel nodes at the openings of the hexagonal brackets comprises the following specific steps:
step one, establishing a three-dimensional model of a hexagonal corbel opening steel node by using steel structure design software, wherein SOLIDWORKS is adopted by the steel structure design software. The hexagonal bracket mouth steel node is formed by welding and assembling a base hexagonal plate, a stacked hexagonal plate and n frame plates, wherein n is more than or equal to 22 and less than or equal to 30, and n is an even number. The base hexagonal plate is a hexagonal plate directly placed on the workbench during welding. The stack hexagonal board is the hexagonal board that is located basis hexagonal board top when welding. The basic hexagonal plate and the stacked hexagonal plate are the same in shape. And sequencing and numbering n frame plates forming the hexagonal bracket mouth steel node in sequence.
Step two, extracting the design information of n frame plates and the design information R of the ith frame plate in the three-dimensional model of the steel node of the hexagonal bracketiIncluding the material of the ith frame plate and the mass x of the ith frame platei(in kilograms), coefficient of spatial position of the ith frame plate yiAnd the common edge coefficient z of the ith frame platei。
If the ith frame plate is intersected with the feature plane, the spatial position coefficient y of the ith frame plateiEqual to 0. If the ith frame plate does not intersect with the characteristic plane and is located on the side of the characteristic plane close to the base hexagonal plate, the spatial position coefficient y of the ith frame plateiEqual to 1. If the ith frame plate is not in the same plane as the feature planeIntersecting and located on the side of the feature plane close to the superimposed hexagonal plate, the spatial position coefficient y of the ith frame plateiEqual to 2. The characteristic plane is a symmetrical plane of the base hexagonal plate and the stacked hexagonal plate in the hexagonal bracket mouth steel node three-dimensional model.
If the i-th frame plate and the base hexagonal plate or the stacked hexagonal plate have a common edge, the common edge coefficient z of the i-th frame plateiEqual to 1. If the ith frame plate, the base hexagonal plate and the stacked hexagonal plate do not have a common edge, the common edge coefficient z of the ith frame plateiEqual to 0.
The frame plates with the spatial position coefficient equal to 0 form a first frame plate group. The frame plates with the spatial position coefficient equal to 1 and the common edge coefficient equal to 1 constitute a second frame plate group. The frame plates whose spatial position coefficient is equal to 1 and whose common edge coefficient is equal to 0 constitute a third frame plate group. The frame plates with the spatial position coefficient equal to 2 and the common edge coefficient equal to 1 constitute a fourth frame plate group. The frame plates whose spatial position coefficient is equal to 2 and whose common edge coefficient is equal to 0 constitute a fifth frame plate group. The first frame plate group is internally provided with ten frame plates. Six frame plates are arranged in the second frame plate group. A frame plates are arranged in the third frame plate group. Six frame plates are arranged in the fourth frame plate group. A frame plates are arranged in the fifth frame plate group; a is more than or equal to 0 and less than or equal to 4.
And step three, determining the welding sequence number of the stacked hexagonal plates and the n frame plates. Welding sequence number H of stacked hexagonal plates0Equal to 3. The number of welding sequences of the ith frame plate is equal to Hi. The ten frame plates in the first frame plate group are sequentially 1, 2, 4, 5, 6, 7, 8, 9, 10 and 11 in the welding sequence number from large to small according to the mass. (if there are two frame plates equal in mass, the welding order of the two frame plates may be exchanged)
The welding sequence numbers of the six frame plates in the second frame plate group are respectively 12, 13, 14, 15, 16 and 17. The welding sequence numbers of the a frame plates in the third frame plate group are respectively 18, 19, … and 17+ a. The welding sequence numbers of the six frame plates in the fourth frame plate group are respectively 18+ a, 19+ a, 20+ a, 21+ a, 22+ a and 23+ a. The welding sequence numbers of the a frame plates in the fifth frame plate group are respectively 24+ a, 25+ a, … and 23+2 a.
And arranging the stacked hexagonal plates and the n frame plates in sequence from small to large according to the welding sequence number to obtain the welding sequence of the stacked hexagonal plates and the n frame plates.
And step four, placing the base hexagonal plate on a workbench. And then, the welding robot sequentially welds the superposed hexagonal plates and the n frame plates to the basic hexagonal plate from small to large according to the welding sequence number.
Claims (4)
1. A planning method for welding and assembling sequence of steel nodes with hexagonal bracket openings is characterized by comprising the following steps: step one, establishing a three-dimensional model of a hexagonal corbel opening steel node by using steel structure design software; the hexagonal bracket mouth steel node is formed by welding and assembling a base hexagonal plate, a stacked hexagonal plate and n frame plates, wherein n is more than or equal to 22 and less than or equal to 30, and n is an even number; sequencing and numbering the n frame plates in sequence; the base hexagonal plate is a hexagonal plate directly placed on the workbench during welding; the stacked hexagonal plate is a hexagonal plate which is positioned above the base hexagonal plate during welding;
step two, extracting the design information of n frame plates and the design information R of the ith frame plate in the three-dimensional model of the steel node of the hexagonal bracketiThe quality of the ith frame plate, the spatial position coefficient of the ith frame plate and the common edge coefficient of the ith frame plate are included;
if the ith frame plate is intersected with the feature plane, the spatial position coefficient of the ith frame plate is equal to 0; if the ith frame plate is not intersected with the characteristic plane and is positioned on the side, close to the base hexagonal plate, of the characteristic plane, the spatial position coefficient of the ith frame plate is equal to 1; if the ith frame plate is not intersected with the characteristic plane and is positioned on the side, close to the superposed hexagonal plate, of the characteristic plane, the spatial position coefficient of the ith frame plate is equal to 2; the characteristic plane is a symmetrical plane of a base hexagonal plate and a superposed hexagonal plate in the hexagonal bracket mouth steel node three-dimensional model;
if the common edge exists between the ith frame plate and the base hexagonal plate or the superposed hexagonal plate, the coefficient of the common edge of the ith frame plate is equal to 1; if the ith frame plate, the base hexagonal plate and the stacked hexagonal plate do not have a common edge, the common edge coefficient of the ith frame plate is equal to 0;
the frame plates with the spatial position coefficient equal to 0 form a first frame plate group; the frame plates with the spatial position coefficient equal to 1 and the common edge coefficient equal to 1 form a second frame plate group; the frame plates with the spatial position coefficient equal to 1 and the common edge coefficient equal to 0 form a third frame plate group; the frame plates with the spatial position coefficient equal to 2 and the common edge coefficient equal to 1 form a fourth frame plate group; the frame plates with the spatial position coefficient equal to 2 and the common edge coefficient equal to 0 form a fifth frame plate group; the first frame plate group consists of ten frame plates; the second frame plate group consists of six frame plates; the third frame plate group consists of a frame plates; the fourth frame plate group consists of six frame plates; the fifth frame plate group consists of a frame plates; a is more than or equal to 0 and less than or equal to 4;
determining the welding sequence number of the stacked hexagonal plates and the n frame plates; welding sequence number H of stacked hexagonal plates0Equal to 3; the number of welding sequences of the ith frame plate is equal to Hi(ii) a The ten frame plates in the first frame plate group are sequentially 1, 2, 4, 5, 6, 7, 8, 9, 10 and 11 in the welding sequence number from large to small according to the mass;
the welding sequence numbers of the six frame plates in the second frame plate group are respectively 12, 13, 14, 15, 16 and 17;
the welding sequence numbers of the a frame plates in the third frame plate group are respectively 18, 19, … and 17+ a; the welding sequence numbers of the six frame plates in the fourth frame plate group are respectively 18+ a, 19+ a, 20+ a, 21+ a, 22+ a and 23+ a; the welding sequence numbers of the frame plates in the fifth frame plate group are respectively 24+ a, 25+ a, … and 23+2 a;
and arranging the stacked hexagonal plates and the n frame plates in sequence from small to large according to the welding sequence number to obtain the welding sequence of the stacked hexagonal plates and the n frame plates.
2. The method for planning the welding assembly sequence of the hexagonal corbel steel joints according to claim 1, wherein the method comprises the following steps: the steel structure design software adopts SOLIDWORKS.
3. The method for planning the welding assembly sequence of the hexagonal corbel steel joints according to claim 1, wherein the method comprises the following steps: the base hexagonal plate is a hexagonal plate directly placed on the workbench during welding; the stacked hexagonal plate is a hexagonal plate which is positioned above the base hexagonal plate during welding; the basic hexagonal plate and the stacked hexagonal plate are the same in shape.
4. The method for planning the welding assembly sequence of the hexagonal corbel steel joints according to claim 1, wherein the method comprises the following steps: design information R of the i-th frame plateiThe material of the ith frame plate is also included.
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