CN111702502A - Small group vertical member sheet unit manufacturing production line and control method and device thereof - Google Patents
Small group vertical member sheet unit manufacturing production line and control method and device thereof Download PDFInfo
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- CN111702502A CN111702502A CN202010417714.8A CN202010417714A CN111702502A CN 111702502 A CN111702502 A CN 111702502A CN 202010417714 A CN202010417714 A CN 202010417714A CN 111702502 A CN111702502 A CN 111702502A
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Abstract
The invention discloses a control method of a small group vertical member sheet unit manufacturing production line, which is applied to the production line; the method comprises the following steps: controlling the automatic conveying system to operate so as to convey the small assembling member sheet units; controlling an assembly system on an assembly station to perform spot welding assembly operation on the small group vertical member sheet unit; controlling a feeding system on a feeding station to carry out batch feeding operation on the assembled small group vertical member sheet units; controlling a welding system on a welding station to automatically weld the small group vertical member sheet units after feeding; controlling a back burning system on a back burning station to automatically back burn the small group vertical member sheet units after welding; and controlling an unloading system on an unloading station to carry out inspection, tracking coating and unloading operation on the small vertical member sheet units after back burning. Compared with manual construction, the invention improves the production efficiency and the production quality, saves the production cost and realizes the automatic and intelligent manufacture of the small group vertical member sheet unit with low cost.
Description
Technical Field
The invention relates to the technical field of shipbuilding and steel structure manufacturing, in particular to a small group vertical member sheet unit manufacturing production line, a control method of the small group vertical member sheet unit manufacturing production line and a control device of the small group vertical member sheet unit manufacturing production line.
Background
In the shipbuilding and steel structure manufacturing processes, the manufacturing of the segments (blocks) needs to be divided into a plurality of small assembly member sheet units for manufacturing, and the small assembly member sheet units often have the characteristics of similar and simple structure, small units, light weight and the like, and are relatively favorable for centralized flow type operation.
Although the small assembling member sheet unit is simple, the workload accounts for a large proportion in the hull structure, the manual construction production efficiency is low, the manufacturing cost is high, the construction defects are many, the production quality is not guaranteed, and the production plan management efficiency is low. Therefore, how to effectively improve the operation efficiency and the construction quality is an urgent problem to be solved.
Disclosure of Invention
The invention aims to provide a small assembled member sheet unit manufacturing line, a control method of the small assembled member sheet unit manufacturing line and a control device of the small assembled member sheet unit manufacturing line, which can solve the problems of low manual construction production efficiency, high manufacturing cost, more construction defects, no guarantee of production quality and low production plan management efficiency in the conventional small assembled member sheet unit manufacturing process.
The embodiment of the invention provides a control method of a small assembling member sheet body unit manufacturing production line, which is applied to the small assembling member sheet body unit manufacturing production line, wherein the production line comprises an assembling station, a feeding station, a welding station, a back burning station, an unloading station and an automatic conveying system, and the automatic conveying system is used for conveying small assembling member sheet body units among the feeding station, the welding station, the back burning station and the unloading station; the control method comprises the following steps:
controlling the automatic conveying system to operate so as to convey the small assembling member sheet units;
controlling an assembling system on the assembling station to perform spot welding assembling operation on the small group of vertical member sheet units;
controlling a feeding system on the feeding station to perform batch feeding operation on the assembled small group vertical member sheet units;
controlling a welding system on the welding station to automatically weld the small group vertical member sheet units after feeding;
controlling a back burning system on the back burning station to automatically back burn the small group vertical member sheet units after welding;
and controlling an unloading system on the unloading station to carry out inspection, tracking coating and unloading operation on the small vertical member sheet units after back burning.
The embodiment of the invention also provides a control device of a small assembling member sheet body unit manufacturing production line, which is applied to the small assembling member sheet body unit manufacturing production line, wherein the production line comprises an assembling station, a feeding station, a welding station, a back burning station, an unloading station and an automatic conveying system, and the automatic conveying system is used for conveying small assembling member sheet body units among the feeding station, the welding station, the back burning station and the unloading station; the control device includes:
the automatic conveying control unit is used for controlling the automatic conveying system to operate so as to convey the small assembling member sheet units;
the assembling system control unit is used for controlling the assembling system on the assembling station to perform spot welding assembling operation on the small assembling component sheet unit;
the feeding system control unit is used for controlling a feeding system on the feeding station to carry out batch feeding operation on the assembled small group vertical member sheet units;
the welding system control unit is used for controlling a welding system on the welding station to automatically weld the small group vertical member sheet units after feeding;
the back burning system control unit is used for controlling a back burning system on the back burning station to automatically back burn the small group vertical member sheet unit after welding;
and the discharging system control unit is used for controlling the discharging system on the discharging station to carry out inspection, tracking coating and discharging operation on the small vertical member sheet units after back burning.
The embodiment of the invention also provides a small group vertical member sheet body unit manufacturing production line which comprises an assembling station, a feeding station, a welding station, a back burning station, an unloading station and a centralized control platform, as well as an assembling system, a feeding system, a welding system, a back burning system, an unloading system and an automatic conveying system, wherein the assembling system, the feeding system, the welding system, the back burning system, the unloading system and the automatic conveying system are respectively in communication connection with the centralized control platform and are arranged on the assembling station; the centralized control console is used for:
controlling the automatic conveying system to operate so as to convey the small assembling member sheet units;
controlling the assembling system to perform spot welding assembling operation on the small group of vertical member sheet units;
controlling the feeding system to carry out batch feeding operation on the assembled small vertical member sheet units;
controlling the welding system to perform automatic welding operation on the small group vertical member sheet units after feeding;
controlling the back burning system to automatically back burn the small group vertical member sheet units after welding;
and controlling the discharging system to carry out inspection, tracking coating and discharging operation on the small group of vertical member sheet units after back burning.
In the control method of the small group vertical member sheet unit manufacturing production line, the small group vertical member sheet unit can be conveyed among all stations by controlling the operation of the automatic conveying system, and the spot welding assembly operation, the batch loading operation, the automatic welding operation, the automatic back burning operation and the inspection unloading operation are respectively realized by respectively controlling the assembly system, the loading system, the welding system, the back burning system and the unloading system.
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In order to more clearly illustrate the technical solution of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic flow chart of a method of controlling a manufacturing line for a small group of assembled component sheet units according to one embodiment of the present invention;
FIG. 2 is a schematic layout and configuration diagram of a small assembly sheet unit manufacturing line according to one embodiment of the present invention;
FIG. 3 is a schematic flow chart of a method of controlling a manufacturing line for a small assembly sheet unit according to one embodiment of the present invention;
FIG. 4 is a schematic structural view of a minor assembly blade unit according to one embodiment of the present invention;
FIG. 5 is a schematic view of a batch configuration of minor assembly sheet units provided in accordance with one embodiment of the present invention;
FIG. 6 is a schematic flow chart of a method of controlling a manufacturing line for a small assembly sheet unit according to one embodiment of the present invention;
FIG. 7 is a schematic flow chart of a method of controlling a manufacturing line for a small assembly sheet unit according to one embodiment of the present invention;
FIG. 8 is a schematic flow chart of a method of controlling a manufacturing line for a small assembly sheet unit according to one embodiment of the present invention;
FIG. 9 is a schematic view of a control apparatus of a small assembly sheet unit manufacturing line according to an embodiment of the present invention;
fig. 10 is a schematic process flow diagram of a method for controlling a manufacturing line of a minor constituent member sheet unit according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be understood that the step numbers used herein are for convenience of description only and are not intended as limitations on the order in which the steps are performed.
It is to be understood that the terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the specification of the present invention and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
The terms "comprises" and "comprising" indicate the presence of the described features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
The term "and/or" refers to and includes any and all possible combinations of one or more of the associated listed items.
In the shipbuilding and steel structure manufacturing processes, the manufacturing of the segments (blocks) needs to be divided into a plurality of small assembly member sheet units for manufacturing, and the small assembly member sheet units often have the characteristics of similar and simple structure, small units, light weight and the like, and are relatively favorable for centralized flow type operation. How to effectively improve the working efficiency and the construction quality is a problem which is always solved by a manufacturing unit and is also a necessary countermeasure for improving the competitiveness of an enterprise.
At present, as intelligent manufacturing rises to the national manufacturing strategic level, the intelligent manufacturing technology is attached with unprecedented importance and development, manufacturing enterprises face the pace of accelerating transformation and upgrading, and intelligent manufacturing plays a key role in improving the projects of accurately manufacturing and manufacturing products and realizing high-quality development of the enterprises. At present, various domestic large manufacturing enterprises begin to consider the layout and construction of intelligent manufacturing production lines, and partial advanced shipbuilding enterprises implement the intelligent manufacturing, transformation and upgrading of partial areas in the early stage and are put into use, so that a certain effect is achieved. However, due to the difference of related conditions such as original site, product construction, investment cost and the like of each enterprise, the construction of the intelligent manufacturing production line and the implementation process thereof are slightly different, and the constructed production line has higher cost. Therefore, how to construct an intelligent production line with low cost is also an urgent problem to be solved.
Referring to fig. 1 and 2, an embodiment of the invention provides a method for controlling a small assembled component sheet unit manufacturing line, which is applied to a small assembled component sheet unit manufacturing line 100.
Referring to fig. 2(a) and 2(b), the small assembly sheet body unit manufacturing line 100 includes an assembling station 10, a feeding station 20, a welding station 30, a back burning station 40, a discharging station 50, and an automatic conveying system 60 (as shown in fig. 2 (b)), wherein the automatic conveying system 60 is used for conveying the small assembly sheet body units among the feeding station 20, the welding station 30, the back burning station 40, and the discharging station 50.
In one embodiment, as shown in fig. 2(a), the assembling station 10, the loading station 20, the welding station 30, the back burning station 40, and the unloading station 50 are sequentially arranged in a straight line, so as to realize the flow-type beat production in the process.
In one embodiment, as shown in fig. 2(b), the automatic conveying system 60 includes a bottom base frame 61, a liftable conveying wheel 62, a driving motor, and a roller table 63. Wherein, the driving motor adopts servo drive, and the roller table 63 is only configured with the back burning station 40.
In one embodiment, the automated transfer system 60 includes a plurality of automated transfer subsystems corresponding to the loading station 20, the welding station 30, the back burning station 40, and the unloading station 50, respectively.
Specifically, the loading station 20, the welding station 30, the back burning station 40 and the unloading station 50 are all provided with respective automatic conveying subsystems, and the respective subsystems can independently convey without influencing each other and are all used for conveying the small assembling member sheet units.
Wherein, an assembly system is configured on the assembly station 10 and is used for performing spot welding assembly operation before welding of the small group of vertical member sheet units. A feeding system is arranged on the feeding station 20 and used for feeding the assembled small assembled component sheet unit group in batches. The welding station 30 is configured with an on-line scanning system, a welding robot system and a corresponding mating system for automatic on-line scanning and automatic accurate welding of the sheet units of the small assembled members, data processing and the like. The back burning station 40 is provided with a back burning system for performing fire stress relief on the small group standing member sheet units after welding. The discharge station 50 is configured with a discharge system for minor constituent member sheet unit inspection, tracking, make-up coating, and discharge operations. In one embodiment, the production line 100 further includes a centralized console 70 for data collection, tracking, and management throughout the production process. In one sub-embodiment, the centralized control console comprises a centralized control data acquisition module and a centralized control data processing module, the centralized control data acquisition module is used for acquiring data in the whole production process, and the centralized control data processing module is used for processing the data acquired by the centralized control data acquisition module.
In this embodiment, the method for controlling the manufacturing line of the minor assembly member sheet unit includes the following steps:
and S10, controlling the automatic conveying system 60 to operate so as to convey the small assembling member sheet units.
S20, controlling an assembling system on the assembling station 10 to perform spot welding assembling operation on the small assembling component sheet units;
s30, controlling a feeding system on the feeding station 20 to carry out batch feeding operation on the assembled small group vertical component sheet units;
s40, controlling a welding system on the welding station 30 to automatically weld the small group vertical member sheet units after feeding;
s50, controlling a back burning system on the back burning station 40 to automatically back burn the small group vertical member sheet units after welding;
and S60, controlling a discharging system on the discharging station 50 to perform inspection, tracking, coating and discharging operations on the small group of vertical member sheet units after back burning.
The specific construction process comprises the following steps:
when the automatic conveying system 60 is operated, the minor assembly member sheet units are respectively conveyed among the feeding station 20, the welding station 30, the back burning station 40 and the discharging station 50.
(1) And (6) spot welding and assembling. Referring to fig. 2(b), in one embodiment, assembly station 10 is a fixed platform, not equipped with an automated transport subsystem. In the operation process, a crane is adopted to hoist the rib plates 201 and the mother board 202 (shown in fig. 4) of the small assembly member sheet body unit to the assembling station 10, an assembling system on the assembling station 10 performs spot welding assembling operation on the rib plates 201 and the mother board 202 of the small assembly member sheet body unit, and then the assembled small assembly member sheet body unit 200 is hoisted to the feeding station 20. In another embodiment, the assembly station 10 is configured with an automated transport subsystem. When the rib plates 201 and the mother plates 202 of the small assembly member sheet units are hoisted to the assembling station 10, the assembling system on the assembling station 10 performs spot welding assembling operation on the rib plates 201 and the mother plates 202 of the small assembly member sheet units, so that the assembly of the small assembly member sheet unit mother plates 202 and the rib plates 201 is completed, and then the assembled small assembly member sheet units 200 are conveyed to the feeding station 20 through the automatic conveying subsystem.
Referring to fig. 3 and 4, in one embodiment, in step S20, the method for controlling the assembling system at the assembling station 10 to perform the spot welding assembling operation on the small assembling member sheet unit 200 includes the following steps:
s21, controlling the assembly system to attach the small group vertical member sheet unit rib plates 201 to the small group vertical member sheet unit mother plate 202;
and S22, the control assembly system performs spot welding and fixing on the attached small group vertical member sheet unit rib plates 201 and small group vertical member sheet unit mother plates 202 to complete the group assembly of the small group vertical member sheet units.
In this embodiment, the mother board 202 of the sheet unit of the small assembled member is hoisted to the assembling station 10, and the small assembled member sheet unit rib plates 201 are sequentially laid, and then the small assembled member sheet unit rib plates 201 are hoisted, and are assembled according to the positioning lines previously drawn on the mother board 202 of the small assembled member sheet unit, so that the small assembled member sheet unit rib plates 201 are attached to the mother board 202 and are fixed by spot welding, thereby completing the assembly of the small assembled member sheet units 200, and forming the small assembled member sheet units 200 to be welded. At the assembly station 10, a plurality of minor assembly sheet units 200 may be tack welded in advance for subsequent batch loading. In one embodiment, the spot welding length is required to be about 30 mm-50 mm during spot welding, and the height of the spot welding leg is not larger than the height of the formal leg of the rib plate 201.
(2) And (4) batching and feeding. After the spot welding assembling work is completed, the feeding system on the feeding station 20 feeds the spot-welded assembled minor assembly sheet units 200 in a batch manner, so that the minor assembly sheet unit groups 200 are transported to the welding station 30 in a batch manner.
Specifically, after the small assembling member sheet unit mother board 202 and the rib plate 201 are fixedly assembled through spot welding, the assembled small assembling member sheet unit 200 is hoisted to the feeding station 20, and at least two or more small assembling member sheet units 200 are fed in a group, so that a plurality of small assembling member sheet units 200 can be simultaneously conveyed to the welding station 30 at one time, and the construction efficiency is improved. For convenience of illustration, referring to fig. 5, the three minor assembly member sheet units 200 are described as a group of batches, and the group of batches should follow the principle of consistency, that is, the same welding process needs to be consistent, the placing directions of the minor assembly member sheet units 200 need to be consistent, and the like.
(3) And (6) automatically welding. When the minor assembly sheet unit 200 is conveyed to the welding station 30, the welding system on the welding station 30 performs an automatic welding operation on the minor assembly sheet unit 200.
Specifically, after the batched small assembling member sheet units 200 are conveyed to the welding station 30 through the feeding station 20, the digitalized and intelligent automatic welding process is implemented.
(4) Automatic back burning. When the minor assembly sheet unit 200 is conveyed to the back burning station 40, the back burning system on the back burning station 40 carries out automatic back burning operation on the minor assembly sheet unit 200 so as to meet the requirement of automatic back burning stress relief of the fire works at the position of the rib plate 201.
The back burning system comprises a back burning gun. In the back burning station 40, the position of the back burning gun is automatically adjusted according to the basic data acquired by the 3D online automatic scanning in the automatic welding process, so that the position of the back burning gun is consistent with the position of the small group vertical member sheet body unit rib plate 201 on the production line 100. When the welded small group member sheet units 200 are automatically conveyed to the back burning station 40, the back burning gun is ignited, the small group member sheet units 200 slowly move forwards at a set speed through the automatic conveying system 60 configured in the production line 100, meanwhile, the stress relief of the back burning of the firer is automatically completed, and after the last small group member sheet unit 200 passes through the back burning station 40, the back burning gun can be flamed out, and a batch of back burning operation is completed.
(6) And (6) checking and discharging. As the minor constituent sheet units 200 are conveyed to the discharge station 50, a discharge system at the discharge station 50 performs inspection, tracking, patch coating, and discharge operations on the minor constituent sheet units 200.
Specifically, the finished small group standing component sheet units are subjected to quick necessary inspection, tracking coating and inspection at the unloading station 50, the small group standing component sheet units 200 are lifted away and rotated, unloading is completed, and finally intelligent manufacturing of the small group standing component sheet units 200 is completed.
In summary, in the control method of the small group vertical member sheet unit manufacturing line according to the embodiment of the present invention, the automatic conveying system 60 is controlled to operate, so that the small group vertical member sheet unit 200 can be conveyed between the stations, and the assembling system, the feeding system, the welding system, the back burning system and the discharging system are respectively controlled, so as to respectively implement the spot welding assembling operation, the batch feeding operation, the automatic welding operation, the automatic back burning operation and the inspection discharging operation.
In one embodiment, the welding system includes a 3D online scanning system, a welding robot, a spot laser recognition device, and a line laser welding tracking system.
In a sub-embodiment, as shown in fig. 2(b), the welding system further includes a high-precision welding gantry 31, the 3D online scanning system, the welding robot and the linear laser welding tracking system are respectively disposed on the high-precision welding gantry 31, and the spot laser recognition device is mounted on the arm of the welding robot.
In one embodiment, the console includes a management and control system 70 (as shown in fig. 10), and the management and control system 70 is used for collecting, tracking and managing data (such as scanning time, welding length, component information, etc.) in the welding process.
Referring to fig. 6, in step S40, the method for controlling the welding system at the welding station 30 to perform automatic welding operation on the loaded small assembling member sheet unit includes the following steps:
and S41, controlling the 3D online scanning system to acquire 3D online scanning data of the small assembly member sheet unit, and performing automatic welding path planning according to the 3D online scanning data.
The specific process is as follows:
a. and (4) online scanning. In one embodiment, the management and control system 70 includes a data processing module and the 3D online scanning system includes a 3D scanning sensor mounted on the welding station 30. 3D online automatic scanning is carried out on the 3 small group vertical member sheet units 200 after the group is batched through the 3D scanning sensor, and basic data such as welding seams of the small group vertical member sheet units 200 are acquired online.
b. And (6) data processing. After the 3D online scanning data is obtained, the data processing module of the management and control system 70 is used to perform data automation processing, reconstruct a model, and automatically complete the planning of the welding path.
And S42, generating a welding instruction according to the automatic welding path planning and the preset welding process data.
The specific process is as follows:
c. and (5) generating a program. In one embodiment, the welding system further comprises a robotic weld execution system. After the welding path planning is completed, necessary welding process data such as the height of a welding leg and the like are loaded according to the welding information of the small assembling member sheet unit 200 to be welded and sent to a robot welding execution system, and the robot welding execution system automatically generates a robot welding program, wherein the welding program comprises welding instructions corresponding to the automatic welding path planning and preset welding process data.
And S43, performing secondary positioning on the welding seam by using the control point laser recognition device so as to lock the welding arc starting point of the small assembling member sheet unit.
The specific process is as follows:
d. and (6) accurate positioning. The secondary accurate positioning of the welding seam is carried out through a point laser recognition device arranged on the robot arm, and the welding arc starting point is accurately locked on the small group vertical member sheet body unit 200.
And S44, controlling the welding robot to start arc welding of the small group of the vertical member sheet units from the welding arc starting point according to the welding instruction, and controlling the line laser welding tracking system to track the welding seam.
The specific process is as follows:
e. and (5) arc starting welding. According to the welding instruction, the welding robot starts to perform arc welding on the small assembling member sheet unit from the welding arc starting point.
In one embodiment, two welding robots are used. Two welding robot arms arc welding in the thick central point department of group's found component lamellar body unit gusset 201 toe end board simultaneously, realize that group found component lamellar body unit gusset 201 toe end arc striking cornerite welds, two welding robot arms are respectively in the both sides implementation welding of gusset 201. After the two welding robots arc start welding, when welding is carried out to a distance of about 100mm from the arc start toe end, one welding robot is firstly extinguished, and when the welding robot and the other welding robot are staggered by about 50mm along the welding direction, the welding robot is arc started again to reduce arc interference and easily generate welding defects. Because the vertical fillet weld formed by the crossed structure of the rib plates 201 (as shown in fig. 4 (b)) is short, the welding robot arm can be directly welded from bottom to top and then wrapped with a fillet.
f. And (6) tracking the welding seam. In the welding process of the welding robot, the welding process is tracked by the line laser welding tracking system, and the deviation is corrected by instant inspection, so that the accuracy of the welding process is ensured.
And S45, controlling the welding robot to arc-extinguish the wrap angle of the small group vertical member sheet unit according to the welding command.
The specific process is as follows:
h. and (5) arc quenching by wrap angles. When the fillet welding of the arc extinguishing end of the rib plate 201 is carried out, the welding robot stops welding when being welded to the position which is about 100mm away from the ending toe end of the rib plate 201, and the arc starting fillet welding is carried out by taking the ending toe end of the rib plate 201 as the starting end again so as to realize the fillet welding of the two ends of the rib plate 201.
g. And finishing welding. According to the welding procedure, the welding operation of all the minor assembling member sheet units 200 of the batch is completed. Then, the automatic welding work of the next batch of the minor assembly member sheet unit 200 is started to be circulated.
Referring to fig. 7, in one embodiment, the step S40 of controlling the welding system at the welding station 30 to perform the automatic welding operation on the loaded small assembling member sheet unit further includes the following steps:
s46, collecting data in the welding operation process to form a welding process data packet;
and S47, storing the welding process data packet into a database.
After welding of every batch of small group found member lamellar body unit 200, relevant activity duration, welding seam length, welding parameter, welding material lot number, welding quality, data such as part information form the welding process data package automatically, deposit in the database to can be visited and realize data acquisition, interconnection and show by workshop management and control system 70, realize accurate manufacturing, traceable and the show of data and information, thereby realize digital management and control and intelligent manufacturing.
Referring to fig. 8, in one embodiment, the back burning system includes a back burning gun, and the step S50 of controlling the back burning system at the back burning station 40 to perform the automatic back burning operation on the welded small group vertical member sheet units includes the following steps:
s51, adjusting the position of the back burning gun according to the 3D online scanning data, so that the position of the back burning gun corresponds to the position of the small group vertical member sheet unit rib plate 201 on the production line 100;
and S52, controlling the back burning gun to carry out the back burning operation of the firer on the small vertical member sheet unit.
In the back burning station 40, according to the basic data obtained by the 3D online automatic scanning in step S41, the position of the back burning gun is automatically adjusted to be consistent with the position of the minor constituent sheet unit rib plate 201 on the production line 100, when the welded minor constituent sheet unit 200 is automatically transmitted to the back burning station 40, the back burning gun is ignited, the minor constituent sheet unit 200 slowly moves forward at a set speed through the automatic transmission system 60 configured in the production line 100, the stress relief of the firer by back burning is automatically completed, and when the last minor constituent sheet unit 200 passes through the back burning station 40, the back burning gun can be extinguished, and a batch of back burning operations are completed.
Referring to fig. 9, the embodiment of the invention further provides a control device 300 for a small group member sheet unit manufacturing line, which is applied to the small group member sheet unit manufacturing line 100.
Referring to fig. 2(a) and 2(b), the small assembly sheet body unit manufacturing line 100 includes an assembling station 10, a feeding station 20, a welding station 30, a back burning station 40, a discharging station 50, and an automatic conveying system 60 (as shown in fig. 2 (b)), wherein the automatic conveying system 60 is used for conveying the small assembly sheet body units among the feeding station 20, the welding station 30, the back burning station 40, and the discharging station 50.
In this embodiment, the control device 300 of the small assembling member sheet unit manufacturing line includes an automatic conveying control unit 310, an assembling system control unit 320, a feeding system control unit 330, a welding system control unit 340, a back burning system control unit 350, and a discharging system control unit 360.
The automatic conveying control unit 310 is used for controlling the automatic conveying system 60 to operate to convey the minor erection member sheet units.
The assembling system control unit 320 is used for controlling the assembling system on the assembling station 10 to perform spot welding assembling operation on the small assembling member sheet unit.
The feeding system control unit 330 is used for controlling the feeding system on the feeding station 20 to perform batch feeding operation on the assembled small assembling member sheet units.
The welding system control unit 340 is used for controlling the welding system on the welding station 30 to perform automatic welding operation on the small assembling member sheet unit after feeding.
The back burning system control unit 350 is used for controlling the back burning system on the back burning station 40 to automatically back burn the small group vertical member sheet unit after welding.
The discharging system control unit 360 is used for controlling the discharging system on the discharging station 50 to perform inspection, tracking coating and discharging operations on the small vertical member sheet units after back burning.
Specific limitations regarding the control apparatus 300 of the minor assembly member sheet unit manufacturing line can be found in the above limitations regarding the control method of the minor assembly member sheet unit manufacturing line, which will not be described herein again. The various modules in the control device 300 of the small gang member sheet unit manufacturing line described above may be implemented in whole or in part by software, hardware, and combinations thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
Referring to fig. 2, a small assembly component sheet unit manufacturing line 100 is also provided in accordance with an embodiment of the present invention.
The production line 100 comprises an assembly station 10, a feeding station 20, a welding station 30, a back burning station 40, an unloading station 50 and a centralized control console, as well as an assembly system, a feeding system, a welding system, a back burning system, an unloading system and an automatic conveying system, wherein the assembly system, the feeding system, the welding system, the back burning system and the automatic conveying system are respectively in communication connection with the centralized control console and are arranged on the assembly station 10, the feeding system is arranged on the feeding station 20, the welding system is arranged on the welding station 30, the automatic conveying system 60 is arranged on the unloading station 50 (as shown in fig. 2 (b)), and the automatic conveying system 60 is used for conveying small group vertical member sheet.
The centralized control console is used for collecting, tracking and controlling data in the whole production process. In one embodiment, the management and control system comprises a centralized control data acquisition module and a centralized control data processing module, wherein the centralized control data acquisition module is used for acquiring data in the whole production process, and the centralized control data processing module is used for processing the data acquired by the centralized control data acquisition module.
In this embodiment, the console is used to control the automatic conveying system 60 to operate to convey the small group of vertical member sheet units; controlling an assembly system to perform spot welding assembly operation on the small group of vertical member sheet units; controlling a feeding system to carry out batch feeding operation on the assembled small vertical member sheet units; controlling a welding system to perform automatic welding operation on the small group vertical member sheet units after feeding; controlling a back burning system to carry out automatic back burning operation on the small group vertical member sheet units after welding; and controlling the discharging system to perform inspection, tracking coating and discharging operations on the small vertical member sheet units after back burning.
In one embodiment, as shown in fig. 2(a), the assembling station 10, the loading station 20, the welding station 30, the back burning station 40, and the unloading station 50 are sequentially arranged in a straight line, so as to realize the flow-type beat production in the process.
In one embodiment, as shown in fig. 2(b), the automatic conveying system 60 includes a bottom base frame 61, a liftable conveying wheel 62, a driving motor, and a roller table 63. Wherein, the driving motor adopts servo drive, and the roller table 63 is only configured with the back burning station 40.
In one embodiment, the automated transfer system 60 includes a plurality of automated transfer subsystems corresponding to the loading station 20, the welding station 30, the back burning station 40, and the unloading station 50, respectively.
Specifically, the loading station 20, the welding station 30, the back burning station 40 and the unloading station 50 are all provided with respective automatic conveying subsystems, and the respective subsystems can independently convey without influencing each other and are all used for conveying the small assembling member sheet units.
In this embodiment, the assembling station 10 is provided with an assembling system for performing spot welding assembling operation before welding of the small group of the assembling member sheet units. A feeding system is arranged on the feeding station 20 and used for feeding the assembled small assembled component sheet unit group in batches. The welding station 30 is configured with an on-line scanning system, a welding robot system and a corresponding mating system for automatic on-line scanning and automatic accurate welding of the sheet units of the small assembled members, data processing and the like. The back burning station 40 is provided with a back burning system for performing fire stress relief on the welded small group vertical member sheet unit welding. The discharge station 50 is configured with a discharge system for minor constituent member sheet unit inspection, tracking, make-up coating, and discharge operations.
In this embodiment, when the automatic conveying system 60 is operated, the minor assembly member sheet units are conveyed among the loading station 20, the welding station 30, the back burning station 40, and the unloading station 50, respectively.
Referring to fig. 10, the specific construction process includes the following steps:
(1) and (6) spot welding and assembling. Referring to fig. 2(b), in one embodiment, assembly station 10 is a fixed platform, not equipped with an automated transport subsystem. In the operation process, the rib plates 201 and the mother board 202 (shown in fig. 4) are hoisted to the assembling station 10 by using a crane, the assembling system on the assembling station 10 performs spot welding assembling operation on the rib plates 201 and the mother board 202 of the small group vertical member sheet units, and then the assembled small group vertical member sheet units 200 are hoisted to the feeding station 20. In another embodiment, the assembly station 10 is configured with an automated transport subsystem. When the rib plates 201 and the mother plates 202 of the small group vertical member sheet units are hoisted to the assembling station 10, the assembling system on the assembling station 10 performs spot welding assembling operation, so that the group assembling of the small group vertical member sheet unit mother plates 202 and the rib plates 201 is completed, and then the assembled small group vertical member sheet units 200 are conveyed to the feeding station 20 through the automatic conveying subsystem.
In one embodiment, the centralized control console is further used for controlling the assembling system to attach the small assembling member sheet unit rib plate 201 to the small assembling member sheet unit mother plate 202; and the control assembly system performs spot welding and fixing on the attached small group vertical member sheet unit rib plate 201 and the small group vertical member sheet unit mother plate 202 to complete the group assembly of the small group vertical member sheet units.
Specifically, the small assembly member sheet unit mother board 202 is hoisted to the assembling station 10, the small assembly member sheet unit rib plates 201 are sequentially laid, the small assembly member sheet unit rib plates 201 are hoisted, and the small assembly member sheet unit rib plates 201 are assembled according to positioning lines which are drawn on the small assembly member sheet unit mother board 202 in advance, so that the small assembly member sheet unit rib plates 201 are attached to the mother board 202 and fixed by spot welding, the small assembly member sheet units 200 are assembled in a pairing mode, and the small assembly member sheet units 200 to be welded are formed. At the assembly station 10, a plurality of minor assembly sheet units 200 may be tack welded in advance for subsequent batch loading. In one embodiment, the spot welding length is required to be about 30 mm-50 mm during spot welding, and the height of the spot welding leg is not larger than the height of the formal leg of the rib plate 201.
(2) And (4) batching and feeding. After the spot welding assembly operation is completed, the feeding system on the feeding station 20 feeds the spot-welded small assembly member sheet units in a batch manner, so that the small assembly member sheet units are conveyed to the welding station 30 in a batch manner.
Specifically, after the small assembling member sheet unit mother board 202 and the rib plate 201 are fixedly assembled through spot welding, the assembled small assembling member sheet unit 200 is hoisted to the feeding station 20, and at least two or more small assembling member sheet units 200 are fed in a group, so that a plurality of small assembling member sheet units 200 can be simultaneously conveyed to the welding station 30 at one time, and the construction efficiency is improved. For convenience of illustration, referring to fig. 5, the three minor assembly member sheet units 200 are described as a group of batches, and the group of batches should follow the principle of consistency, that is, the same welding process needs to be consistent, the placing directions of the minor assembly member sheet units 200 need to be consistent, and the like.
(3) And (6) automatically welding. When the minor assembly sheet unit 200 is conveyed to the welding station 30, the welding system on the welding station 30 performs an automatic welding operation on the minor assembly sheet unit 200.
Specifically, after the batched small assembling member sheet units 200 are conveyed to the welding station 30 through the feeding station 20, the digitalized and intelligent automatic welding process is implemented.
(4) Automatic back burning. When the minor assembly sheet unit 200 is conveyed to the back burning station 40, the back burning system on the back burning station 40 carries out automatic back burning operation on the minor assembly sheet unit 200 so as to meet the requirement of automatic back burning stress relief of the fire works at the position of the rib plate 201.
The back burning system comprises a back burning gun. In the back burning station 40, the position of the back burning gun is automatically adjusted according to the basic data acquired by the 3D online automatic scanning in the automatic welding process, so that the position of the back burning gun is consistent with the position of the small group vertical member sheet body unit rib plate 201 on the production line 100. When the welded small group member sheet units 200 are automatically conveyed to the back burning station 40, the back burning gun is ignited, the small group member sheet units 200 slowly move forwards at a set speed through the automatic conveying system 60 configured in the production line 100, meanwhile, the stress relief of the back burning of the firer is automatically completed, and after the last small group member sheet unit 200 passes through the back burning station 40, the back burning gun can be flamed out, and a batch of back burning operation is completed.
(6) And (6) checking and discharging. As the minor constituent sheet units 200 are conveyed to the discharge station 50, a discharge system at the discharge station 50 performs inspection, tracking, patch coating, and discharge operations on the minor constituent sheet units 200.
Specifically, the finished small group standing component sheet units are subjected to quick necessary inspection, tracking coating and inspection at the unloading station 50, the small group standing component sheet units 200 are lifted away and rotated, unloading is completed, and finally intelligent manufacturing of the small group standing component sheet units 200 is completed.
To sum up, in the small group vertical member sheet unit manufacturing line 100 according to the embodiment of the present invention, the automatic conveying system 60 is controlled by the management and control system 70 to operate, so that the small group vertical member sheet unit 200 can be conveyed between the stations, and the assembling system, the feeding system, the welding system, the back burning system and the discharging system are respectively controlled to respectively realize the spot welding assembling operation, the batch feeding operation, the automatic welding operation, the automatic back burning operation and the inspection discharging operation.
Referring to fig. 10, in one embodiment, a welding system includes a 3D online scanning system, a welding robot, a spot laser recognition device, and a line laser welding tracking system. The console includes a management and control system 70.
The management and control system 70 is used for collecting, tracking and managing data (such as scanning time, welding seam length, component information and the like) in the welding process. Specifically, the management and control system 70 is configured to control the 3D online scanning system to obtain 3D online scanning data of the small group member sheet unit, and perform automatic welding path planning according to the 3D online scanning data; generating a welding instruction according to the automatic welding path planning and preset welding process data; the control point laser recognition device carries out secondary positioning on the welding seam so as to lock the welding arc starting point of the small group of vertical member sheet units; controlling a welding robot to start arc welding on the small group of vertical member sheet units from a welding arc starting point according to a welding instruction, and controlling a line laser welding tracking system to track a welding line; and controlling the welding robot to carry out arc quenching on the wrap angle of the small group vertical member sheet unit according to the welding instruction.
In one embodiment, as shown in fig. 2(b), the welding system further includes a high-precision welding gantry 31, the 3D online scanning system, the welding robot, and the linear laser welding tracking system are respectively disposed on the high-precision welding gantry 31, and the spot laser recognition device is mounted on the arm of the welding robot.
Referring to fig. 10, the automatic welding process specifically includes the following steps:
a. and (4) online scanning. In one embodiment, the management and control system 70 includes a data processing module and the 3D online scanning system includes a 3D scanning sensor mounted on the welding station 30. 3D online automatic scanning is carried out on the 3 small group vertical member sheet units 200 after the group is batched through the 3D scanning sensor, and basic data such as welding seams of the small group vertical member sheet units 200 are acquired online.
b. And (6) data processing. After the 3D online scanning data is obtained, the data processing module of the management and control system 70 is used to perform data automation processing, reconstruct a model, and automatically complete the planning of the welding path.
c. And (5) generating a program. In one embodiment, the welding system further comprises a robotic weld execution system. After the welding path planning is completed, necessary welding process data such as the height of a welding leg and the like are loaded according to the welding information of the small assembling member sheet unit 200 to be welded and sent to a robot welding execution system, and the robot welding execution system automatically generates a robot welding program, wherein the welding program comprises welding instructions corresponding to the automatic welding path planning and preset welding process data.
d. And (6) accurate positioning. The secondary accurate positioning of the welding seam is carried out through a point laser recognition device arranged on the robot arm, and the welding arc starting point is accurately locked on the small group vertical member sheet body unit 200.
e. And (5) arc starting welding. According to the welding instruction, the welding robot starts to perform arc welding on the small assembling member sheet unit from the welding arc starting point.
In one embodiment, two welding robots are used. Two welding robot arms arc welding in the thick central point department of group's found component lamellar body unit gusset 201 toe end board simultaneously, realize that group found component lamellar body unit gusset 201 toe end arc striking cornerite welds, two welding robot arms are respectively in the both sides implementation welding of gusset 201. After the two welding robots arc start welding, when welding is carried out to a distance of about 100mm from the arc start toe end, one welding robot is firstly quenched, and arc start welding is carried out again when the welding robot and the other welding robot are staggered by about 50mm along the welding direction, so that arc interference is reduced, and welding defects are easily generated. Because the vertical fillet weld formed by the crossed structure of the rib plates 201 (as shown in fig. 4 (b)) is short, the welding robot arm can be directly welded from bottom to top and then wrapped with a fillet.
f. And (6) tracking the welding seam. In the welding process of the welding robot, the welding process is tracked by the line laser welding tracking system, and the deviation is corrected by instant inspection, so that the accuracy of the welding process is ensured.
h. And (5) arc quenching by wrap angles. When the fillet welding of the arc extinguishing end of the rib plate 201 is carried out, the welding robot stops welding when being welded to the position which is about 100mm away from the ending toe end of the rib plate 201, and the arc starting fillet welding is carried out by taking the ending toe end of the rib plate 201 as the starting end again so as to realize the fillet welding of the two ends of the rib plate 201.
g. And finishing welding. According to the welding procedure, the welding operation of all the minor assembling member sheet units 200 of the batch is completed. Then, the automatic welding work of the next batch of the minor assembly member sheet unit 200 is started to be circulated.
In one embodiment, the welding system further comprises a gantry track, an automatic gun cleaning and wire cutting device, a dust removal system and a motor electrical system.
Fixedly connected with welding robot and sensor fixed bolster on the high accuracy welding portal 31, the sensor fixed bolster level sets up and the direction of motion of perpendicular to welding high accuracy welding portal 31, installs 3D scanning sensor on the sensor fixed bolster. The high-precision welding gantry 31 moves on the gantry track, so that the 3D scanning sensor is driven to scan a welding area to obtain point cloud data, model reconstruction is carried out on the point cloud data, a welding robot execution program is generated, and the welding robot performs welding according to the point cloud data.
Referring to fig. 10, in one embodiment, the management and control system 70 is further configured to collect data during the welding operation to form a welding process data packet; and storing the welding process data packet to a database.
After welding of every batch of small group found member lamellar body unit 200, relevant activity duration, weld length, welding parameter, welding material lot number, welding quality, data such as part information, the automatic welding process data package that forms of data processing module of accessible management and control system 70 is deposited in the database to can be visited and realize data acquisition, interconnection and show by workshop management and control system 70, realize accurate manufacturing, traceable and the show of data and information, thereby realize digital management and control and intelligent manufacturing.
In one embodiment, the back burning system comprises a back burning gun. The management and control system 70 is further configured to adjust the position of the back burning gun according to the 3D online scanning data, so that the position of the back burning gun corresponds to the position of the small group vertical member sheet unit rib plate 201 on the production line 100; and controlling the back burning gun to carry out the back burning operation of the fire work on the small group vertical member sheet unit.
In the back burning station 40, according to basic data acquired by 3D online automatic scanning, the position of a back burning gun is adjusted to be consistent with the position of a small group vertical member sheet body unit rib plate 201 on a production line 100, when the welded small group vertical member sheet body unit 200 is automatically conveyed to the back burning station 40, the back burning gun is ignited, the small group vertical member sheet body unit 200 slowly moves forwards at a set speed through an automatic conveying system 60 configured on the production line 100, meanwhile, the stress of the back burning of an igniter is automatically eliminated, and after the last small group vertical member sheet body unit 200 passes through the back burning station 40, the back burning gun can be extinguished, and a batch of back burning operation is completed.
In summary, the method for establishing and controlling the intelligent manufacturing line 100 of small group of vertical member sheet units and the control device thereof according to the embodiment of the present invention have the following advantages:
the station is arranged succinctly, it is pointed, the little assemblage component structural feature of full consideration, utilize existing production place and infrastructure comprehensively, the input cost is low, can realize little assemblage component lamellar body unit group and criticize on-line scanning, full process automatic weld, improve the accurate manufacturing of little assemblage component lamellar body unit, the welding seam shaping is good, the steady quality is reliable, welding process data can be collected, interconnection and show, have the process traceability, realize digital management and control and intelligent manufacturing, for making the quality engineering, to high-quality development, and then improve enterprise competitiveness and make technical reserve.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention.
Claims (10)
1. A control method of a small assembling member sheet body unit manufacturing production line is characterized by being applied to the small assembling member sheet body unit manufacturing production line, wherein the production line comprises an assembling station, a feeding station, a welding station, a back burning station, a discharging station and an automatic conveying system, and the automatic conveying system is used for conveying small assembling member sheet body units among the feeding station, the welding station, the back burning station and the discharging station; the control method comprises the following steps:
controlling the automatic conveying system to operate so as to convey the small assembling member sheet units;
controlling an assembling system on the assembling station to perform spot welding assembling operation on the small group of vertical member sheet units;
controlling a feeding system on the feeding station to perform batch feeding operation on the assembled small group vertical member sheet units;
controlling a welding system on the welding station to automatically weld the small group vertical member sheet units after feeding;
controlling a back burning system on the back burning station to automatically back burn the small group vertical member sheet units after welding;
and controlling an unloading system on the unloading station to carry out inspection, tracking coating and unloading operation on the small vertical member sheet units after back burning.
2. The method of controlling a small assembly sheet unit manufacturing line of claim 1, wherein the controlling of the assembly system at the assembly station to perform spot welding assembly of the small assembly sheet unit comprises:
controlling the assembling system to attach the small group vertical member sheet unit rib plates to the small group vertical member sheet unit mother board;
and controlling the assembling system to perform spot welding fixing on the attached small group vertical member sheet unit rib plates and small group vertical member sheet unit mother plates so as to complete the group assembling of the small group vertical member sheet units.
3. The method of controlling a small assembly sheet unit manufacturing line of claim 1, wherein the welding system comprises a 3D online scanning system, a welding robot, a spot laser recognition device, and a line laser welding tracking system;
control welding system on the welding station carry out automatic weld operation to the small group after the material loading found component lamellar body unit, include:
controlling the 3D online scanning system to acquire 3D online scanning data of the small assembly member sheet unit, and performing automatic welding path planning according to the 3D online scanning data;
generating a welding instruction according to the automatic welding path planning and preset welding process data;
controlling the spot laser recognition device to perform secondary welding seam positioning so as to lock the welding arc starting point of the small group vertical member sheet unit;
controlling the welding robot to start arc welding on the small assembling member sheet unit from the welding arc starting point according to the welding instruction, and controlling the linear laser welding tracking system to track the welding seam;
and controlling the welding robot to carry out arc quenching on the wrap angle of the small assembling member sheet unit according to the welding instruction.
4. The method of controlling a small assembly sheet unit manufacturing line of claim 3, wherein the controlling the welding system at the welding station performs an automatic welding operation on the loaded small assembly sheet unit, further comprising:
collecting data in the welding operation process to form a welding process data packet;
storing the welding process data packet to a database.
5. The method of controlling a small assembly sheet unit manufacturing line of claim 3, wherein the back burning system includes a back burning gun, and the controlling the back burning system at the back burning station automatically back burning the welded small assembly sheet unit includes:
adjusting the position of the back burning gun according to the 3D online scanning data so that the position of the back burning gun corresponds to the position of the small group vertical member sheet unit rib plate on the production line;
and controlling the back burning gun to carry out the back burning operation of the firer on the small group vertical member sheet unit.
6. A control device of a small assembling member sheet body unit manufacturing production line is characterized by being applied to the small assembling member sheet body unit manufacturing production line, wherein the production line comprises an assembling station, a feeding station, a welding station, a back burning station, a discharging station and an automatic conveying system, and the automatic conveying system is used for conveying small assembling member sheet body units among the feeding station, the welding station, the back burning station and the discharging station; the control device includes:
the automatic conveying control unit is used for controlling the automatic conveying system to operate so as to convey the small assembling member sheet units;
the assembling system control unit is used for controlling the assembling system on the assembling station to perform spot welding assembling operation on the small assembling component sheet unit;
the feeding system control unit is used for controlling a feeding system on the feeding station to carry out batch feeding operation on the assembled small group vertical member sheet units;
the welding system control unit is used for controlling a welding system on the welding station to automatically weld the small group vertical member sheet units after feeding;
the back burning system control unit is used for controlling a back burning system on the back burning station to automatically back burn the small group vertical member sheet unit after welding;
and the discharging system control unit is used for controlling the discharging system on the discharging station to carry out inspection, tracking coating and discharging operation on the small vertical member sheet units after back burning.
7. A small group vertical member sheet body unit manufacturing production line is characterized by comprising an assembling station, a feeding station, a welding station, a back burning station, an unloading station and a centralized control platform, as well as an assembling system, a feeding system, a welding system, a back burning system, an unloading system and an automatic conveying system, wherein the assembling system, the feeding system, the welding system, the back burning system, the unloading system and the automatic conveying system are respectively in communication connection with the centralized control platform and are arranged on the assembling station; the centralized control console is used for:
controlling the automatic conveying system to operate so as to convey the small assembling member sheet units;
controlling the assembling system to perform spot welding assembling operation on the small group of vertical member sheet units;
controlling the feeding system to carry out batch feeding operation on the assembled small vertical member sheet units;
controlling the welding system to perform automatic welding operation on the small group vertical member sheet units after feeding;
controlling the back burning system to automatically back burn the small group vertical member sheet units after welding;
and controlling the discharging system to carry out inspection, tracking coating and discharging operation on the small group of vertical member sheet units after back burning.
8. A small assembly sheet unit manufacturing line as recited in claim 7, wherein the centralized console is further configured to:
controlling the assembling system to attach the small group vertical member sheet unit rib plates to the small group vertical member sheet unit mother board;
and controlling the assembling system to perform spot welding fixing on the attached small group vertical member sheet unit rib plates and small group vertical member sheet unit mother plates so as to complete the group assembling of the small group vertical member sheet units.
9. A small assembly sheet unit manufacturing line as claimed in claim 7 wherein the welding system comprises a 3D online scanning system, a welding robot, a spot laser recognition device and a line laser welding tracking system; the centralized control station comprises a control system, and the control system is used for:
controlling the 3D online scanning system to acquire 3D online scanning data of the small assembly member sheet unit, and performing automatic welding path planning according to the 3D online scanning data;
generating a welding instruction according to the automatic welding path planning and preset welding process data;
controlling the spot laser recognition device to perform secondary welding seam positioning so as to lock the welding arc starting point of the small group vertical member sheet unit;
controlling the welding robot to start arc welding on the small assembling member sheet unit from the welding arc starting point according to the welding instruction, and controlling the linear laser welding tracking system to track the welding seam;
and controlling the welding robot to carry out arc quenching on the wrap angle of the small assembling member sheet unit according to the welding instruction.
10. The small assembly sheet unit manufacturing line of claim 9, wherein the management system is further configured to:
collecting data in the welding operation process to form a welding process data packet;
storing the welding process data packet to a database.
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