CN115255773B - Steel arch positioning device and welding construction system applied to same - Google Patents
Steel arch positioning device and welding construction system applied to same Download PDFInfo
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- CN115255773B CN115255773B CN202210916192.5A CN202210916192A CN115255773B CN 115255773 B CN115255773 B CN 115255773B CN 202210916192 A CN202210916192 A CN 202210916192A CN 115255773 B CN115255773 B CN 115255773B
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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
- 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
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Abstract
The application relates to a steel arch positioning device and a welding construction system applied to the positioning device, and relates to the technical field of profile steel processing, wherein a positioning mechanism is arranged on a placing rack for placing profile steel and comprises at least one first positioning mechanism for positioning the profile steel in the vertical direction and at least one second positioning mechanism for positioning the profile steel in the horizontal direction; the first positioning mechanism comprises a support frame arranged on the placing frame, a first hydraulic cylinder is arranged on the support frame, a piston rod of the first hydraulic cylinder vertically penetrates through the support frame, and a compacting plate used for compacting the section steel is fixedly connected to one end, close to the placing frame, of the piston rod; the second positioning mechanism comprises positioning pieces, wherein the positioning pieces are positioned on two sides of the placement frame, and the second positioning mechanism further comprises a first driving assembly for driving the positioning pieces to move in the horizontal direction and a second driving assembly for driving the positioning pieces to rotate. The application has the effect of improving the welding accuracy of the steel arch.
Description
Technical Field
The application relates to the technical field of section steel processing, in particular to a steel arch centering device and a welding construction system applied to the same.
Background
In recent years, the construction of highways and high-speed railways in China is vigorously developed, and a large amount of tunnel engineering is generated. The steel arch is a main support of tunnel engineering, and is generally formed by processing a plurality of sectional arc-shaped steel or straight-shaped steel, and the arc-shaped steel or the straight-shaped steel can be spliced into the steel arch only by welding a connecting plate.
In the related art, a welding robot is generally used to weld the section steel and the connection plate, but during the welding process, the section steel may vibrate due to welding, and the possibility of inaccurate welding positions of the section steel and the connection plate may occur.
Disclosure of Invention
In order to improve the accuracy of welding the steel arch, the application provides a steel arch positioning device and a welding construction system applied to the positioning device.
In a first aspect, the present application provides a steel arch positioning device, which adopts the following technical scheme:
the steel arch positioning device is arranged on a placing rack for placing the profile steel, and the positioning mechanism comprises at least one first positioning mechanism for positioning the profile steel in the vertical direction and at least one second positioning mechanism for positioning the profile steel in the horizontal direction;
the first positioning mechanism comprises a support frame arranged on the placing frame, a first hydraulic cylinder is arranged on the support frame, a piston rod of the first hydraulic cylinder vertically penetrates through the support frame, and a compacting plate used for compacting the section steel is fixedly connected to one end, close to the placing frame, of the piston rod;
the second positioning mechanism comprises positioning pieces, wherein the positioning pieces are positioned on two sides of the placement frame, and the second positioning mechanism further comprises a first driving assembly for driving the positioning pieces to move in the horizontal direction and a second driving assembly for driving the positioning pieces to rotate.
Through adopting above-mentioned technical scheme, utilize first positioning mechanism to carry out spacingly to shaped steel in vertical direction, utilize second positioning mechanism to carry out spacingly to shaped steel in the horizontal direction. When the section steel is required to be limited in the vertical direction, a first hydraulic cylinder is started, and the first hydraulic cylinder pushes the compacting plate to move towards one end close to the section steel, so that the compacting plate is abutted against the section steel; when the section steel is required to be limited in the horizontal direction, a second driving assembly is started, the second driving assembly drives the positioning piece to rotate, the arc plate or the rectangular plate of the positioning piece rotates to one surface close to the section steel, the arc plate or the rectangular plate of the positioning piece is opposite to the side wall of the section steel, and the first driving assembly drives the positioning piece to move to one end close to the section steel until the positioning piece is abutted against the side wall of the section steel; and the section steel is limited in the vertical direction and the horizontal direction, so that the possibility of vibration of the section steel is reduced when the section steel is welded, and the accuracy of the welded section steel is improved.
Optionally, the setting element includes the arc that is used for carrying out the clamping location to curved shaped steel and is used for carrying out the rectangular plate that clamping location to straight shaped steel, the plane end and the rectangular plate fixed connection of arc.
Through adopting above-mentioned technical scheme, because steel bow member probably splice by curved shaped steel and straight shaped steel, so the arc that uses the setting element is spacing to curved shaped steel, uses the straight shaped board of setting element to spacing to straight shaped steel bow member, not only makes the setting element be applicable to the shaped steel of different grade type, has improved positioner's suitability, has still increased the area of contact of setting element and shaped steel for the setting element is more stable to the shaped steel of tightening.
Optionally, the first drive assembly includes the second pneumatic cylinder, the second pneumatic cylinder is installed in rack both sides, the piston rod of second pneumatic cylinder is close to the one end fixedly connected with mounting panel of shaped steel, the setting element is installed on the mounting panel.
Optionally, the second driving assembly comprises a motor, the motor is installed on the mounting plate, a first bevel gear is coaxially and fixedly connected with an output shaft of the motor, a second bevel gear is meshed with the first bevel gear, and the second bevel gear is fixedly connected with the positioning piece.
Optionally, the side wall of setting element with the one side of keeping away from first pneumatic cylinder on the pressure strip all is provided with the rubber pad.
Through adopting above-mentioned technical scheme, utilize the rubber pad to improve the spacing stability of tightening the shaped steel, still reduced shaped steel and setting element and pressure strip friction and damaged possibility.
In a second aspect, the present application provides a welding construction system applied to a positioning device, which adopts the following technical scheme:
the welding construction system applied to the positioning device comprises a shooting module, a first image recognition module and a second image recognition module, wherein the shooting module is used for shooting an image of the section steel to be welded and sending the image of the section steel to be welded to the first image recognition module;
the first image recognition module is used for receiving the profile steel graph to be welded sent by the shooting module; identifying basic information of the section steel to be welded based on a preset image identification model; the basic information of the section steel to be welded comprises the section steel size and the section steel type; the profile steel type comprises arc-shaped profile steel and straight profile steel;
the first image recognition module is also used for sending the basic information of the steel arch to be welded to the control module;
the control module is used for receiving the basic information of the section steel to be welded, which is sent by the first image identification module;
the control module is also used for selecting a positioning strategy based on the size information of the preset placing frame and the basic information of the section steel to be welded;
the control module is also used for sending a positioning signal to the positioning device based on the positioning strategy;
the control module is also used for sending a welding start signal to the welding robot after the positioning device tightens the section steel to be welded;
the positioning device is used for receiving the positioning signal sent by the control module, and starting the first positioning mechanism and the second positioning mechanism to clamp and position the section steel to be welded;
and the welding robot is used for starting welding after the control module controls the positioning device to tighten the section steel to be welded, and sending a welding completion signal to the control module after the welding is completed.
Through adopting above-mentioned technical scheme, through the shaped steel size and the shaped steel type of treating welded shaped steel selecting the locating strategy, positioner treats welded shaped steel according to the locating strategy and fixes a position for positioner treats that welding set fixes a position more stably, then welding robot welds the shaped steel of treating after spacing, has reduced the possibility of treating welded shaped steel vibration in the welding process, thereby has improved shaped steel welded quality.
Optionally, the positioning strategy includes:
if the profile steel type of the profile steel to be welded is arc-shaped, controlling the motor to start, so that the arc-shaped plate of the positioning piece faces the side wall of the profile steel to be welded; controlling the second hydraulic cylinder to start based on the size of the section steel to be welded, so that the arc-shaped plate of the positioning piece is tightly attached to the side wall of the section steel to be welded; starting a first hydraulic cylinder based on the size of the section steel to be welded, so that the compacting plates are tightly attached to the side wall of the section steel to be welded;
if the profile steel type of the profile steel to be welded is straight, controlling the motor to start, so that the rectangular plate of the positioning piece faces the side wall of the profile steel to be welded; controlling a second hydraulic cylinder to start based on the size of the section steel to be welded, so that the rectangle of the positioning piece is tightly attached to the side wall of the section steel to be welded; and controlling the first hydraulic cylinder to start based on the size of the section steel to be welded, so that the compacting plates are tightly attached to the side wall of the section steel to be welded.
By adopting the technical scheme, different positioning strategies are selected through the section steel of different types and the section steel of different sizes, so that the positioning device can be suitable for different section steel, and the suitability of the positioning device is improved by automatically adjusting according to the type and the size of the section steel.
Optionally, the method further comprises:
the shooting module is also used for receiving a welding completion signal sent by the welding robot and shooting a welding image; transmitting the welding image to a second image recognition module;
the second image recognition module is used for receiving the welding image sent by the shooting module; converting the welding image information into a gray scale map; binarizing the gray level map to obtain an image to be identified; and inputting the image to be identified into a preset welding quality detection model, and outputting the welding quality grade of the section steel.
By adopting the technical scheme, the welding quality of the welded section steel is detected by using the welding quality detection model, whether the section steel is qualified or not is judged by the welding quality grade of the section steel, and the possibility of using unqualified welded section steel is reduced.
Optionally, the welding quality grade of the section steel comprises a first quality grade, a second quality grade and a third quality grade; further comprises:
the judging module is used for acquiring the welding quality grade of the section steel and judging whether the welding quality of the section steel is qualified or not based on the welding quality grade;
and if the welding quality grade of the section steel is the first quality grade, judging that the welding quality of the section steel is qualified.
By adopting the technical scheme, the welding quality grades of different section steels are treated in an unnecessary mode, so that the quality of the steel arch frame is convenient to improve.
Optionally, the judging module is further configured to send out first alarm information for reminding a worker to make a decision on the section steel if the welding quality grade of the section steel is the second quality grade;
and if the welding quality grade of the section steel is the third quality grade, judging that the welding quality of the section steel is unqualified, and sending out second alarm information for reminding a worker to overhaul the welding robot and/or the positioning device.
By adopting the technical scheme, as the welding robot or the positioning device possibly fails, the welding quality is poor or the welding is inaccurate, so that whether the welding robot or the positioning device fails or not is judged through the welding quality of the section steel, when the welding quality of the welded section steel is unqualified, workers are timely reminded of overhauling the welding robot or the positioning device, and the occurrence of unqualified welding quality during the subsequent welding of the section steel is reduced.
In summary, the present application includes at least one of the following beneficial technical effects:
1. the first positioning mechanism is utilized to limit the section steel in the vertical direction, the second positioning mechanism is utilized to limit the section steel in the horizontal direction, so that the possibility of vibration of the section steel when the section steel is welded is reduced, and the accuracy of the welded section steel is improved;
2. the positioning strategy is selected according to the profile steel size and the profile steel type of the profile steel to be welded, and the positioning device positions the profile steel to be welded according to the positioning strategy, so that the positioning device positions the profile steel to be welded more stably, and then the welding robot welds the limited profile steel to be welded, so that the possibility of vibration of the profile steel to be welded in the welding process is reduced, and the welding quality of the profile steel is improved;
3. different positioning strategies are selected through the section steel of different types and the section steel of different sizes, so that the positioning device can be suitable for different section steel, and the suitability of the positioning device is improved by automatically adjusting the positioning device according to the type and the size of the section steel.
Drawings
Fig. 1 is a schematic structural view of a steel arch positioning device for positioning arc-shaped steel according to an embodiment of the present application.
Fig. 2 is a schematic structural view of a steel arch positioning device for positioning straight section steel according to an embodiment of the present application.
Fig. 3 is an enlarged view of a portion a in fig. 2.
Fig. 4 is a schematic structural view of a second positioning mechanism according to an embodiment of the present application.
Fig. 5 is a block diagram of a welding construction system applied to a positioning device according to an embodiment of the present application.
Reference numerals illustrate: 1. a placing rack; 11. a horizontal plate; 2. a first positioning mechanism; 21. a support frame; 22. a first hydraulic cylinder; 23. a compacting plate; 3. a second positioning mechanism; 31. a positioning piece; 311. an arc-shaped plate; 312. a rectangular plate; 32. a first drive assembly; 321. a second hydraulic cylinder; 322. a mounting plate; 33. a second drive assembly; 331. a motor; 332. a first bevel gear; 333. a second bevel gear; 4. and a rubber pad.
Detailed Description
The present application will be described in further detail with reference to the accompanying drawings.
The present embodiment is only for explanation of the present application and is not to be construed as limiting the present application, and modifications to the present embodiment, which may not creatively contribute to the present application as required by those skilled in the art after reading the present specification, are all protected by patent laws within the scope of claims of the present application.
The embodiment of the application provides a steel arch welding positioning device, which is arranged on a placing frame 1 for placing arc-shaped steel or straight-shaped steel, and comprises at least one first positioning mechanism 2 for clamping and positioning the arc-shaped steel or straight-shaped steel in the vertical direction and at least one group of second positioning mechanisms 3 for clamping and positioning the arc-shaped steel or straight-shaped steel in the horizontal direction, referring to fig. 1 and 2.
Referring to fig. 2 and 3, the first positioning mechanism 2 is located above the placement frame 1, in this embodiment, the number of the first positioning mechanisms 2 is one, the first positioning mechanism 2 includes a support frame 21, the support frame 21 is fixedly connected with the placement frame 1, a first hydraulic cylinder 22 is installed on the support frame 21, a piston rod of the first hydraulic cylinder 22 vertically passes through the support frame 21, and a compression plate 23 is arranged at one end, close to the section steel, of the piston rod of the first hydraulic cylinder 22, and the compression plate 23 is fixed with the piston rod through a bolt.
When the section steel is required to be positioned in the vertical direction, the first hydraulic cylinder 22 is started, the telescopic rod of the first hydraulic cylinder 22 moves towards the direction close to the section steel, the pressing plate 23 is driven to move towards the direction close to the section steel until the pressing plate 23 abuts against the section steel, and the first hydraulic cylinder 22 is closed. The section steel is limited in the vertical direction, so that the possibility of moving the section steel in the vertical direction when the section steel is welded is reduced; the compacting plates 23 are detachably connected with the piston rods of the first hydraulic cylinders 22, so that the compacting plates 23 can be replaced when the compacting plates 23 are damaged.
Referring to fig. 2 and 4, in this embodiment, a set of second positioning mechanisms 3 is provided, the second positioning mechanisms 3 are disposed at two sides of the rack 1, horizontal plates 11 are fixedly connected at two sides of the rack 1, the second positioning mechanisms 3 are mounted on the horizontal plates 11, the second positioning mechanisms 3 include positioning members 31, the positioning members 31 include an arc plate 311 for clamping and positioning arc-shaped steel and a rectangular plate 312 for clamping and positioning straight-shaped steel, a planar end of the arc plate 311 is fixedly connected with the rectangular plate 312, and a planar end of the arc plate 311 is the same as the rectangular plate 312 in size; the positioning piece 31 is suitable for arc-shaped section steel and straight section steel, the contact area of the positioning piece 31 and the section steel is also increased, and the fastening stability of the positioning piece 31 and the section steel is improved. The device also comprises a first driving component 32 for driving the positioning piece 31 to move horizontally and a second driving component 33 for driving the positioning piece 31 to rotate.
When the section steel is required to be positioned in the horizontal direction, the second driving assembly 33 is started first, the second driving assembly 33 drives the positioning piece 31 to rotate, the arc plate 311 or the rectangular plate 312 of the positioning piece 31 rotates towards one surface close to the section steel, the arc plate 311 or the rectangular plate 312 of the positioning piece 31 is opposite to the side wall of the section steel, then the first driving assembly 32 is started, and the first driving assembly 32 drives the positioning piece 31 to move towards one end close to the section steel until the positioning piece 31 abuts against the side wall of the section steel. And the section steel is limited in the horizontal direction, so that the possibility that the section steel moves in the vertical direction when the section steel is welded is reduced.
In the embodiment, the first driving assembly 32 comprises a second hydraulic cylinder 321, a mounting plate 322 is arranged at one end, close to the section steel, of a piston rod of the second hydraulic cylinder 321, and the second driving assembly 33 is mounted on the mounting plate 322; the second driving assembly 33 comprises a motor 331, the motor 331 is fixedly connected with the mounting plate 322, the output of the motor 331 is fixedly connected with a first bevel gear 332, the first bevel gear 332 is meshed with a second bevel gear 333, the second bevel gear 333 is rotationally connected with the mounting plate 322, and the second bevel gear 333 is fixedly connected with the positioning piece 31.
Further, referring to fig. 3, a rubber pad 4 is disposed on a side of the pressing plate 23 away from the first hydraulic cylinder 22, and a rubber pad 4 is also disposed on a side wall of the positioning member 31, which is not shown in the drawing. Not only improves the stability of tightening and positioning the profile steel, but also reduces the possibility of damage caused by friction between the profile steel and the positioning piece 31 and the compression plate 23.
The implementation principle of the steel arch positioning device provided by the embodiment of the application is as follows: when the section steel on the placing frame 1 needs to be limited, starting the first positioning mechanism 2 and the second positioning mechanism 3, wherein the first hydraulic cylinder 22 of the first positioning mechanism 2 pushes the pressing plate 23 to be abutted against the section steel; the output shaft of the motor 331 of the second positioning mechanism 3 rotates to drive the first bevel gear 332 to rotate, the first bevel gear 332 rotates to drive the second bevel gear 333 to rotate, and the second bevel gear 333 drives the positioning piece 31 to rotate, so that the arc plate 311 or the rectangular plate 312 of the positioning piece 31 is opposite to the section steel; then, the second hydraulic cylinder 321 of the second positioning mechanism 3 pushes the positioning piece 31 to be abutted against the side wall of the section steel; the limiting on the vertical direction and the horizontal direction of the profile steel is realized, the possibility that the profile steel moves in the welding process is reduced, and therefore the welding quality of the profile steel is improved.
The embodiment of the application also provides a welding construction system applied to the positioning device, referring to fig. 5, comprising:
the shooting module 501 is used for shooting an image of the section steel to be welded and sending the image of the section steel to be welded to the first image recognition module;
in this embodiment, the shooting module 501 includes at least one camera, and the camera may be mounted on a mounting frame or may be mounted in another suitable place, and the embodiment is not limited specifically.
The first image recognition module 502 is configured to receive the profile steel graph to be welded sent by the shooting module 501; identifying basic information of the section steel to be welded based on a preset image identification model; the basic information of the section steel to be welded comprises the section steel size and the section steel type; the profile steel type comprises arc-shaped profile steel and straight profile steel;
the first image recognition module 502 is further configured to send basic information of the steel arch to be welded to a control module 503;
it should be noted that the preset image recognition model may be a deep neural network for performing image recognition, and the deep neural network may be a convolutional neural network;
a control module 503, configured to receive the basic information of the section steel to be welded sent by the first image recognition module 502;
the control module 503 is further configured to select a positioning policy based on the size information of the preset placement frame and the basic information of the section steel to be welded;
the control module 503 is further configured to send a positioning signal to the positioning device 504 based on the positioning strategy;
the control module 503 is further configured to send a welding start signal to the welding robot 505 after the positioning device tightens the section steel to be welded;
wherein the positioning strategy comprises: if the profile steel type of the profile steel to be welded is arc-shaped, controlling the motor to start, so that the arc-shaped plate of the positioning piece faces the side wall of the profile steel to be welded; then, controlling a second hydraulic cylinder to start based on the size of the section steel to be welded, so that the arc-shaped plate of the positioning piece is tightly attached to the side wall of the section steel to be welded; then, based on the size of the section steel to be welded, controlling the first hydraulic cylinder to start, so that the compacting plates are tightly attached to the side wall of the section steel to be welded;
if the profile steel type of the profile steel to be welded is straight, controlling the motor to start, so that the rectangular plate of the positioning piece faces the side wall of the profile steel to be welded; then controlling a second hydraulic cylinder to start based on the size of the section steel to be welded, so that the rectangle of the positioning piece is tightly attached to the side wall of the section steel to be welded; and then, based on the size of the section steel to be welded, controlling the first hydraulic cylinder to start, so that the compacting plates are tightly attached to the side wall of the section steel to be welded.
Different positioning strategies are selected through the section steel of different types and the section steel of different sizes, so that the positioning device can be suitable for different section steel, and the suitability of the positioning device is improved by automatically adjusting the positioning device according to the type and the size of the section steel.
In this embodiment, for the curved shaped steel, the contact angle between the curved plate and the curved shaped steel may be preset according to the type and the size of the shaped steel, and the rotation angle of the curved shaped steel and the curved plate may also be calculated through image recognition, and then the motor is controlled to start based on the rotation angle, and after the motor drives the positioning element to rotate according to the rotation angle, the motor is controlled to close. The contact area of the arc-shaped plate and the arc-shaped steel is increased, so that the positioning piece is more stable in clamping the steel. In this embodiment, the motor is servo motor, uses servo motor to make the rotatory more accurate of control setting element.
The positioning device 504 is configured to receive a positioning signal sent by the control module 503, and start the first positioning mechanism and the second positioning mechanism to tighten and position the section steel to be welded;
in this embodiment, the setting may be that the horizontal direction of the section steel is limited first, then the vertical direction of the section steel is limited, the setting may be that the vertical direction of the section steel is limited first, then the horizontal direction of the section steel is limited, and the vertical direction of the section steel and the horizontal direction of the section steel may be limited at the same time.
The welding robot 505 is configured to start welding after the control module 503 controls the positioning device 504 to tighten the section steel to be welded, and send a welding completion signal to the control module 503 after the welding is completed.
In this embodiment, the welding robot 505 is in the prior art, the welding robot 505 can align the connecting plate to be welded with the section steel to be welded through laser positioning, and can automatically search the welding seam between the connecting plate and the section steel through an industrial camera, and then automatically adjust the welding angle to weld the connecting plate and the section steel to be welded.
The shooting module 501, the first image recognition module 502, the positioning device 504, and the welding robot 505 are electrically connected to the control module 505, and the modules may communicate through communication technologies such as ethernet, wireless fidelity, a uv-peak protocol, bluetooth, third generation mobile communication, and fourth generation mobile communication.
According to the system, the positioning strategy is selected according to the profile steel size and the profile steel type of the profile steel to be welded, the positioning device positions the profile steel to be welded according to the positioning strategy, so that the positioning device 504 is more stable in positioning of the profile steel to be welded, and then the welding robot 505 welds the limited profile steel to be welded, so that the possibility of vibration of the profile steel to be welded in the welding process is reduced, and the welding quality of the profile steel is improved. In addition, the positioning strategies of the section steel of different types and the section steel of different sizes are different, so that the suitability of the positioning device 504 is improved.
This solution is further optimized because the welding robot 505 or the positioning device 504 may malfunction, resulting in poor welding quality or inaccurate welding.
As an optional implementation manner of this embodiment, the system further includes: the shooting module 501 is further configured to receive a welding completion signal sent by the welding robot, and shoot a welding image; transmitting the welding image to a second image recognition module;
the second image recognition module is used for receiving the welding image sent by the shooting module; converting the welding image information into a gray scale map; binarizing the gray level image to make the boundary between the welding part and the section steel part in the welding image more obvious, and obtaining an image to be identified; and inputting the image to be identified into a preset welding quality detection model, and outputting the welding quality grade of the section steel, wherein the welding quality grade of the section steel comprises a first quality grade, a second quality grade and a third quality grade.
In this embodiment, the preset welding quality detection model is a deep neural network for performing image recognition, where the deep neural network may be a convolutional neural network, the preset welding quality detection model is obtained through a large number of welding image training, and the accuracy of determining the welding quality level of the section steel is improved by determining the welding level of the section steel using the neural network model; the quality level may also include other quality levels, which are trained in advance by the neural network model, and the embodiment is not particularly limited.
As an optional further implementation manner of this embodiment, the system further includes:
the judging module is used for acquiring the welding quality grade of the section steel and judging whether the welding quality of the section steel is qualified or not based on the welding quality grade;
specifically, if the welding quality grade of the section steel is the first quality grade, judging that the welding quality of the section steel is qualified;
if the welding quality grade of the section steel is the second quality grade, sending out first warning information for reminding a worker to make a decision on the section steel;
if the welding quality grade of the section steel is the third quality grade, judging that the welding quality of the section steel is unqualified, and sending out second alarm information for reminding a worker to overhaul the welding robot 505 and/or the positioning device 504.
Judging whether the section steel is qualified or not according to the welding quality grade of the section steel, reminding workers that the welding robot 505 and/or the positioning device 504 possibly fail when the welding quality of the section steel is unqualified, and simultaneously adopting different treatment modes for the section steel which is not qualified so as to improve the quality of the steel arch.
The above embodiments are not intended to limit the scope of the present application, so: all equivalent changes in structure, shape and principle of the application should be covered in the scope of protection of the application.
Claims (1)
1. The steel arch welding construction system applied to the positioning device is characterized in that the positioning device comprises at least one first positioning mechanism (2) for positioning the shaped steel in the vertical direction and at least one second positioning mechanism (3) for positioning the shaped steel in the horizontal direction;
the first positioning mechanism (2) comprises a supporting frame (21) arranged on the placing frame (1), a first hydraulic cylinder (22) is arranged on the supporting frame (21), a piston rod of the first hydraulic cylinder (22) vertically penetrates through the supporting frame (21), and a compacting plate (23) used for compacting the profile steel is arranged at one end, close to the placing frame (1), of the piston rod;
the second positioning mechanism (3) comprises positioning pieces (31), wherein the positioning pieces (31) are positioned on two sides of the placing frame (1), and the second positioning mechanism further comprises a first driving assembly (32) for driving the positioning pieces (31) to move in the horizontal direction and a second driving assembly (33) for driving the positioning pieces (31) to rotate;
the positioning piece (31) comprises an arc-shaped plate (311) for clamping and positioning arc-shaped steel and a rectangular plate (312) for clamping and positioning straight-shaped steel, and the plane end of the arc-shaped plate (311) is fixedly connected with the rectangular plate (312);
the first driving assembly (32) comprises a second hydraulic cylinder (321), the second hydraulic cylinder (321) is arranged on two sides of the placing frame (1), one end, close to the section steel, of a piston rod of the second hydraulic cylinder (321) is fixedly connected with a mounting plate (322), and the positioning piece (31) is arranged on the mounting plate (322);
the second driving assembly (33) comprises a motor (331), the motor (331) is mounted on the mounting plate (322), an output shaft of the motor (331) is coaxially and fixedly connected with a first bevel gear (332), the first bevel gear (332) is meshed with a second bevel gear (333), and the second bevel gear (333) is fixedly connected with the positioning piece (31);
the system comprises:
the shooting module is used for shooting the profile steel image to be welded and sending the profile steel image to be welded to the first image recognition module;
the first image recognition module is used for receiving the profile steel image to be welded sent by the shooting module; identifying basic information of the section steel to be welded based on a preset image identification model; the basic information of the section steel to be welded comprises the section steel size and the section steel type; the profile steel type comprises arc-shaped profile steel and straight profile steel; the first image recognition module is also used for sending the basic information of the section steel to be welded to the control module;
the control module is used for receiving the basic information of the section steel to be welded, which is sent by the first image identification module; the control module is also used for selecting a positioning strategy based on the size information of the preset placing frame and the basic information of the section steel to be welded; the control module is also used for sending a positioning signal to the positioning device based on the positioning strategy; the control module is also used for sending a welding start signal to the welding robot after the positioning device clamps the section steel to be welded;
the positioning device is used for receiving the positioning signal sent by the control module, and starting the first positioning mechanism and the second positioning mechanism to clamp and position the section steel to be welded;
the welding robot is used for starting welding after the control module controls the positioning device to clamp the section steel to be welded, and sending a welding completion signal to the control module after the welding is completed;
the positioning strategy comprises the following steps: if the profile steel type of the profile steel to be welded is arc-shaped, controlling the motor to start, enabling the arc-shaped plate of the positioning piece to face the side wall of the profile steel to be welded, for the rotation angle of the arc-shaped plate corresponding to the arc-shaped profile steel, calculating the rotation angle of the arc-shaped plate through image recognition according to the type and the size of the profile steel, controlling the motor to start based on the rotation angle, and controlling the motor to close after the motor drives the positioning piece to rotate according to the rotation angle; controlling the second hydraulic cylinder to start based on the size of the section steel to be welded, so that the arc-shaped plate of the positioning piece is tightly attached to the side wall of the section steel to be welded; starting a first hydraulic cylinder based on the size of the section steel to be welded, so that the compacting plates are tightly attached to the side wall of the section steel to be welded; if the profile steel type of the profile steel to be welded is straight, controlling the motor to start, so that the rectangular plate of the positioning piece faces the side wall of the profile steel to be welded; controlling a second hydraulic cylinder to start based on the size of the section steel to be welded, so that the rectangle of the positioning piece is tightly attached to the side wall of the section steel to be welded; starting a first hydraulic cylinder based on the size of the section steel to be welded, so that a compacting plate is tightly attached to the side wall of the section steel to be welded;
the shooting module is also used for receiving a welding completion signal sent by the welding robot and shooting a welding image; transmitting the welding image to a second image recognition module;
the second image recognition module is used for receiving the welding image sent by the shooting module; converting the welding image information into a gray scale map; binarizing the gray level map to obtain an image to be identified; inputting the image to be identified into a preset welding quality detection model, and outputting the welding quality grade of the section steel; the welding quality grades of the section steel comprise a first quality grade, a second quality grade and a third quality grade;
further comprises: the judging module is used for acquiring the welding quality grade of the section steel and judging whether the welding quality of the section steel is qualified or not based on the welding quality grade; if the welding quality grade of the section steel is the first quality grade, judging that the welding quality of the section steel is qualified; the judging module is also used for sending out first alarm information for reminding a worker to make a decision on the section steel if the welding quality grade of the section steel is the second quality grade; and if the welding quality grade of the section steel is the third quality grade, judging that the welding quality of the section steel is unqualified, and sending out second alarm information for reminding a worker to overhaul the welding robot and/or the positioning device.
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| CN115255773A (en) | 2022-11-01 |
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