Intelligent transfer and multi-station collaborative assembly system and method for sheet pipe truss machining

Abstract

The invention discloses an intelligent transfer and multi-station cooperative assembly system and method for sheet pipe truss machining. The intelligent transfer and multi-station cooperative assembly system comprises an electromagnetic rail, and an AGV trolley is movably connected to the electromagnetic rail; a truss transferring manipulator and a truss moving manipulator; the shot blasting machine is used for carrying out shot blasting treatment on the rod piece; the truss boxing robot is used for carrying out boxing treatment on the rod pieces subjected to shot blasting treatment; and the forklift robot is used for conveying the rod pieces on the AGV trolley at the material receiving station to the joist barrow, and the rod pieces are conveyed to the assembling station, the welding station, the polishing and shape adjusting station and the paint shed through the joist barrow. According to the invention, the closed-loop assembly line work of cutting-cleaning-transportation can be realized, rhythm faults caused by manual intervention are reduced, the overall productivity is improved, the forklift robot can accurately receive the rod pieces transported by the AGV and convey the rod pieces to a material receiving station, the traditional material transfer and stockpiling time is eliminated, and the production cycle is shortened.

Description

TECHNICAL FIELD

[0001] The present application relates to a sheet-shaped tube truss processing intelligent transfer and multi-station collaborative assembly system and method. BACKGROUND

[0002] Offshore photovoltaic is mostly used as a platform to support photovoltaic panels, and the assembly efficiency of the truss structure is an important factor to ensure the progress of the project.

[0003] The existing truss processing flow is: cutting a circular tube with a certain length through a intersecting line, numbering and packaging each circular tube, the circular tube is treated by a shot blasting machine, workers use a truss trolley to transport each package of circular tubes to a designated station, small rod parts cannot be treated by shot blasting (because they will be deformed) and need to be transported separately, and workers can only lift one package at a time and need to manually package, a large number of workers are often needed to participate in the transportation work in the actual processing process, which not only reduces the transportation efficiency of the materials, but also reduces the overall construction progress. SUMMARY

[0004] The present application aims to solve the problems existing in the prior art and provides a sheet-shaped tube truss processing intelligent transfer and multi-station collaborative assembly system and method, which can not only improve the transportation efficiency of the rod parts, but also ensure the continuity of production by AGV trolley and buffer rod parts, greatly reducing the labor intensity of manual operation, improving the processing efficiency and quality of sheet-shaped tube trusses, and the use method is simple, which can realize "cutting-cleaning-transportation" closed-loop assembly line operation through a truss boxing robot, a truss transfer manipulator, an AGV trolley, etc., reduce the rhythm fault caused by manual intervention, improve the overall production capacity, accurately receive the rod parts transported by the AGV trolley through the forklift robot and deliver them to the receiving station, eliminate the traditional material transfer storage time, compress the production cycle, and expose potential problems such as rod part interface tea and welding thermal deformation through factory pre-assembly simulation of the field working condition, so that the field installation rework rate is reduced to below 1%.

[0005] In order to solve the above technical problems, the present application adopts the following technical scheme:

[0006] The sheet-shaped tube truss processing intelligent transfer and multi-station collaborative assembly system is characterized by comprising an electromagnetic track, an AGV trolley is movably connected to the electromagnetic track, and is used for conveying rod parts;

[0007] The truss transfer manipulator comprises a first truss transfer manipulator, a second truss transfer manipulator and a third truss transfer manipulator, the first truss transfer manipulator, the second truss transfer manipulator and the third truss transfer manipulator are distributed along the electromagnetic track, and are used for conveying the rod parts;

[0008] The shot blasting machine is located between the second gantry transfer robot and the third gantry transfer robot, and is used for shot blasting treatment of the rod piece;

[0009] The gantry boxing robot is located between the shot blasting machine and the third gantry transfer robot, and is used for boxing treatment of the rod piece after the shot blasting treatment;

[0010] And the forklift robot is used for transporting the rod piece on the AGV small car at the receiving station to the gantry truck, and the rod piece is transported to the assembly station, the welding station, the polishing and shaping station and the paint shed through the gantry truck.

[0011] Through the design of the above structure, the transportation efficiency of the rod piece can be improved, the rod piece can be received and buffered by the AGV small car, the continuity of production is ensured, the labor intensity of manual operation is greatly reduced, and the processing efficiency and quality of the sheet pipe truss are improved.

[0012] Further, the first gantry transfer robot, the second gantry transfer robot and the third gantry transfer robot each include a second support frame, a second gantry, a transverse moving trolley, a rotating arm, a cross beam and a second clamping jaw, the second gantry is arranged between the two second support frames, the transverse moving trolley is movably connected to the second gantry, the rotating arm is connected to the bottom of the transverse moving trolley, the rotating arm is connected to the cross beam through a rotating piece, and the second clamping jaw is arranged at the two ends of the cross beam; the second support frame improves the stability and reliability of the second gantry installation, the transverse moving trolley can drive the rotating arm to move back and forth along the second gantry, and then drive the rod piece to move through the cross beam and the second clamping jaw, thereby greatly improving the transportation efficiency.

[0013] Further, the second clamping jaw includes a clamping motor, a clamping plate, an arc-shaped piece and a positioning column, the clamping motor is arranged at the top end of the cross beam, the output shaft of the clamping motor is connected with a gear, the clamping plate is connected to the end of the cross beam, the adjacent two clamping plates are connected through the positioning column, the arc-shaped piece is arranged between the positioning column and the clamping plate, the arc-shaped piece is provided with external teeth, the external teeth are engaged with the gear, the gear is driven to rotate through the clamping motor, and then the arc-shaped piece can be driven to rotate to open and close, thereby achieving the clamping and conveying requirements of the rod piece, the clamping plate and the positioning column improve the stability and reliability of the installation of the arc-shaped piece, thereby improving the strength of the entire second clamping jaw.

[0014] Further, the truss boxing robot comprises first support frames, linear guides, a first truss and bar taking and placing manipulators, the linear guides are arranged between the two first support frames, the first truss is arranged between the two linear guides, one end of the first truss is provided with a servo motor, the bottom of the first truss is connected with a cantilever through a connecting column, and the two bar taking and placing manipulators are arranged at the two ends of the cantilever. The first support frame improves the stability and reliability of the installation of the linear guides, the first truss can move back and forth along the two linear guides, and then the bar taking and placing manipulators can be driven to move through the connecting column and the cantilever, the bar taking and placing manipulators are collinear with the V-shaped supporting rollers, and the bar taking and placing manipulators can be accurately gripped.

[0015] Further, the bar taking and placing manipulator comprises a connecting portion, an electric rod, a clamping block, a first clamping jaw and a driving assembly, a limiting groove is arranged on the connecting portion and matched with the cantilever, the clamping block is connected to the connecting portion through the electric rod, the driving assembly and the first clamping jaw are connected to the clamping block, the two first clamping jaws are closed or opened through the driving assembly, the bar is clamped or loosened, the electric rod can drive the clamping block and the first clamping jaw to move up and down, and then the bar can be moved up and down, the requirements of transportation are met, and the connecting piece can adopt a screw.

[0016] Further, the first clamping jaw comprises a rigid portion, a flexible portion and a connecting piece, the bottom end of the rigid portion is provided with a clamping groove, the top end of the flexible portion is provided with a clamping block, the clamping block is matched with the clamping groove, the connecting piece passes through the clamping block and the clamping groove, and stable connection between the flexible portion and the rigid portion is realized. The flexible portion comprises a rubber layer and a magnetic layer, and the magnetic layer is located between the rubber layers on the two sides. Through the composite structure design of magnetic attraction and soft jaw, the bar with different diameters can be adapted, the end portion is prevented from being damaged due to collision with the V-shaped supporting roller, the friction force can be increased, and the connecting piece, the clamping block and the clamping groove facilitate installation and disassembly of the first clamping jaw.

[0017] Further, the both sides of the shot blasting machine are respectively provided with an inlet and an outlet, a V-shaped roller outlet line is connected to one side of the outlet, and the V-shaped roller outlet line is located below the truss boxing robot and used for receiving the bars flowing out of the shot blasting machine.

[0018] Further, the V-shaped roller discharging line comprises a support, a stop block, receiving ends and V-shaped rollers, the stop block is connected to the output end of the support, the receiving ends are distributed on the top surface of the support at an inclined angle, the V-shaped rollers are connected to the receiving ends, the side surfaces of the V-shaped rollers are provided with sprockets, the sprockets are connected by a chain, a conveying motor is arranged on the support, the output shaft of the conveying motor is connected to the chain, the sprockets of the V-shaped rollers distributed in the inclined direction share a chain and are connected to one side of the conveying motor, the sprockets of the V-shaped rollers distributed in the horizontal direction share a chain and are connected to the other side of the conveying motor, the rotating speed of the conveying motor connected to the inclined direction is lower than that of the conveying motor connected to the horizontal direction, so that the rod member can be smoothly transferred, the stop block is designed to determine the end point position of the rod member, and the truss packing robot can pick up the rod member.

[0019] Further, the forklift robot comprises a frame, sliding rails, a moving plate, a rotating base and a forklift arm, the sliding rails are arranged on the top surface of the frame, the moving plate is slidingly connected to the sliding rails, the moving plate is connected to the frame through a drag chain, a travel switch is arranged on the top surface of the frame between the two sliding rails, the rotating base is connected to the moving plate, the top surface of the rotating base is provided with a fixing frame, the forklift arm is connected to the fixing frame through a lifting hydraulic cylinder, the forklift arm can be rotated through the above structure, the rotating base has a rotation capacity of 180° when the rod member is picked up, the direction can be flexibly adjusted, in the use process, the forklift robot does not need to unload the transfer box without human operation demand, thereby the rod member can be cached, the lack of material phenomenon can be avoided, the continuity and stability of production can be greatly improved, meanwhile, the forklift robot can be flexibly arranged according to the actual production demand and is not limited by the fixed track, thereby the requirements of flexible production can be better met and the diversified and variable production mode can be adapted.

[0020] The use method of the sheet-shaped tube truss processing intelligent transfer and multi-station collaborative assembly system has the characteristics that it comprises the following steps:

[0021] S1, preparation stage: the rod members constituting the sheet-shaped tube truss are cut to the required length according to the intersecting lines, the numbering work is completed, and accurate parts are provided for subsequent assembly;

[0022] S2, combination and bundling: the rod members after cutting are combined and bundled according to the rod member numbers, so that batch processing and transportation are facilitated, and individual parts are ensured to be sequentially matched;

[0023] S3, shot blasting treatment and transfer: the rod members after bundling are sent into a shot blasting machine for shot blasting treatment to remove surface impurities and improve the adhesion of subsequent processes, the rod members after numbering and combination are loaded into a transfer box by a truss packing robot to improve transfer efficiency and safety, and then the transfer box is transferred to an AGV trolley by a third truss transferring manipulator to improve the degree of automation;

[0024] S4, assembly forming: the AGV car transports the transfer box to the material receiving station, the forklift robot is used for receiving and spot welding assembly, the rod is preliminarily constructed into the basic framework of the tube truss, and the accurate positioning and connection of each part are ensured;

[0025] S5, welding reinforcement: the assembled rod is transported to the welding station by the truss car for welding operation, ensuring the firm connection of each rod and enhancing the overall stability of the tube truss, so that it has more reliable bearing capacity;

[0026] S6, polishing and shaping treatment: the truss after welding is polished to remove welding slag and burrs, improve the surface flatness, and then the shaped truss after welding is shaped to create good conditions for subsequent processes, ensure the smooth progress of subsequent processes, and meet the shape and size accuracy of the design level construction requirements, ensure the fit and functionality of the tube truss in actual application;

[0027] S7, pre-assembly and painting: the sheet-shaped tube truss is pre-assembled to ensure the accuracy of on-site installation, to find and solve possible installation problems in advance, reduce on-site construction risk and cost, and improve installation efficiency. The sheet-shaped tube truss is then disassembled for painting. After painting is completed, it is packed and sent to the site to prepare for subsequent construction, ensuring that the tube truss can be smoothly assembled and applied on the construction site.

[0028] The use method is simple, not only can realize "cutting-cleaning-transportation" closed-loop assembly line operation through the truss cutting machine, truss transfer manipulator and AGV car, reduce the rhythm fault caused by manual intervention, improve the overall productivity, but also can accurately receive the rod transported by the AGV car through the forklift robot and transport it to the material receiving station, eliminate the traditional material transfer storage time, compress the production cycle, and through the factory pre-assembly simulation of the on-site working condition, the potential problems such as rod interface connection and welding thermal deformation are exposed in advance, so that the on-site installation rework rate is reduced to less than 1%.

[0029] The present application has the following beneficial effects due to the adoption of the above technical scheme:

[0030] 1. The present application can not only improve the transportation efficiency of the rod, but also can receive and buffer the rod through the AGV car, ensure the continuity of production, greatly reduce the labor intensity of manual operation, and improve the processing efficiency and quality of the sheet-shaped tube truss.

[0031] 2、The method for using the application has simple steps, can realize the "cutting-cleaning-transportation" closed-loop assembly line operation through the truss boxing robot, the truss transfer manipulator, the AGV trolley and the like, reduces the rhythm fault caused by manual intervention, improves the overall production capacity, can accurately receive the rod transported by the AGV trolley through the forklift robot and transport the rod to the material receiving station, eliminates the traditional material transfer storage time, compresses the production cycle, at the same time, through the factory pre-assembly simulation field working condition, potential problems such as rod interface connection and welding thermal deformation are exposed in advance, so that the on-site installation rework rate is reduced to below 1%. BRIEF DESCRIPTION OF DRAWINGS

[0032] The application will be further described below with reference to the drawings:

[0033] Figure 1 It is a plan view of the assembly system in the sheet pipe truss processing intelligent transfer and multi-station collaborative assembly system and method of the application;

[0034] Figure 2 It is a connection schematic view among the shot blasting machine, the truss boxing robot and the third truss transfer manipulator in the application;

[0035] Figure 3 It is a structure schematic view of the truss boxing robot in the application;

[0036] Figure 4 It is a structure schematic view of the rod taking and placing manipulator in the application;

[0037] Figure 5 It is a connection schematic view between the first clamping jaw and the clamping block in the application;

[0038] Figure 6 It is a connection schematic view between the rigid part and the flexible part in the application;

[0039] Figure 7 It is a structure schematic view of the flexible part in the application;

[0040] Figure 8 It is a structure schematic view of the V-shaped roller discharge line in the application;

[0041] Figure 9 It is a structure schematic view of the first truss transfer manipulator, the second truss transfer manipulator and the third truss transfer manipulator in the application;

[0042] Figure 10 It is Figure 9 It is a local enlarged view of I in the application;

[0043] Figure 11 It is a structure schematic view of the forklift robot in the application;

[0044] Figure 12Flow chart for use of the assembly system in the present application.

[0045] Fig. 1 - feeding position;

[0046] 2 - shot blasting machine;

[0047] 3 - discharge port;

[0048] 4 - V-shaped roller discharge line; 401 - support; 402 - stop block; 403 - receiving end; 404 - V-shaped roller; 405 - sprocket;

[0049] 5 - transfer box;

[0050] 6 - gantry box loading robot; 601 - first support; 602 - linear guide rail; 603 - servo motor; 604 - first gantry; 605 - rod taking and placing manipulator; 606 - cantilever; 607 - connecting column; 608 - connecting part; 609 - limiting groove; 610 - electric rod; 611 - clamping block; 612 - driving motor; 613 - moving block; 614 - first clamping jaw; 615 - rigid part; 616 - flexible part; 617 - connecting piece; 618 - clamping groove; 619 - clamping block; 620 - rubber layer; 621 - magnetic layer;

[0051] 7 - third gantry transfer manipulator; 701 - second support; 702 - second gantry; 703 - rotating arm; 704 - second clamping jaw; 705 - transverse moving trolley; 706 - rotating piece; 707 - cross beam; 708 - clamping motor; 709 - gear; 710 - arc-shaped piece; 711 - positioning column; 712 - clamping plate;

[0052] 8 - forklift robot; 801 - frame body; 802 - sliding rail; 803 - drag chain; 804 - moving plate; 805 - travel switch; 806 - rotating base; 807 - fixing frame; 808 - lifting hydraulic cylinder; 809 - forklift arm;

[0053] 9 - AGV trolley;

[0054] 10 - AGV trolley buffer section; 11 - electromagnetic track; 12 - first gantry transfer manipulator; 13 - second gantry transfer manipulator. DETAILED DESCRIPTION

[0055] It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0056] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0057] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion.

[0058] like Figures 1 to 11 As shown, the intelligent transfer and multi-station collaborative assembly system for sheet-like truss processing of the present invention includes an electromagnetic track 11, a truss transfer robot, a shot blasting machine 2, a truss packing robot 6, and a forklift robot 8.

[0059] An AGV trolley 9 is moved and connected to the electromagnetic track 11 for transporting rods.

[0060] The truss moving robot includes a first truss transfer robot 12, a second truss transfer robot 13, and a third truss transfer robot 7. The first truss transfer robot 12, the second truss transfer robot 13, and the third truss transfer robot 7 are distributed along the electromagnetic track 11 and are used for loading and unloading rods.

[0061] The first truss transfer robot 12, the second truss transfer robot 13, and the third truss transfer robot 7 all include a second support frame 701, a second truss 702, a transverse trolley 705, a rotating arm 703, a crossbeam 707, and a second gripper 704. The second truss 702 is located between the two second support frames 701. The transverse trolley 705 is movably connected to the second truss 702. The rotating arm 703 is connected to the bottom of the transverse trolley 705 and is connected to the crossbeam 707 via a rotating component 706. The second gripper 704 is located at both ends of the crossbeam 707. The second support frame 701 improves the stability and reliability of the installation of the second truss 702. The transverse trolley 705 can drive the rotating arm 703 to move back and forth along the second truss 702, and then drive the rods to move through the crossbeam 707 and the second gripper 704, greatly improving the transportation efficiency.

[0062] The second clamping jaw 704 comprises a clamping motor 708, clamping plates 712, an arc-shaped piece 710 and positioning columns 711. The clamping motor 708 is arranged at the top end of the cross beam 707, the output shaft of the clamping motor 708 is connected with a gear 709, the clamping plates 712 are connected to the end of the cross beam 707, the adjacent two clamping plates 712 are connected through the positioning columns 711, the arc-shaped piece 710 is arranged between the positioning columns 711 and the clamping plates 712, the arc-shaped piece 710 is provided with external teeth, the external teeth are meshed with the gear 709, the gear 709 is driven to rotate through the clamping motor 708, and then the arc-shaped piece 710 can be driven to rotate to open and close, so that the clamping and conveying requirements of the rod piece are achieved. The clamping plates 712 and the positioning columns 711 improve the stability and reliability of the installation of the arc-shaped piece 710, and then the strength of the entire second clamping jaw 704 is improved.

[0063] The truss mobile manipulator can transport the transfer box 5 through teaching by setting the action path of the manipulator, or can be transported through manual operation of the manipulator. Turn on the power supply of the truss mobile manipulator, start the control system, connect the teach pendant, and ensure that the driving systems of the truss, the rotating arm and the clamping jaw are operating normally.

[0064] Use the vision system to scan the initial position of the AGV trolley and the transfer box, mark the start and end coordinates, and attach an RFID tag to the parking position of the AGV trolley to assist positioning.

[0065] Path teaching: switch the manipulator to "Teach Mode" through the teach pendant, and release the safety lock;

[0066] Start point grabbing: manually control the manipulator to move above the transfer box, adjust the opening angle of the clamping jaw, lower to the grabbing height, trigger the clamping jaw closing action, and complete the grabbing teaching.

[0067] Path key points: guide the manipulator through truss movement, rotating arm deflection and other actions, avoid obstacles and record intermediate path points.

[0068] End point position: move above the target position of the AGV trolley, adjust the placement posture (such as horizontal / vertical), and release the clamping jaw teaching.

[0069] Path saving: store the recorded point sequence in "transfer box transfer_path1", which supports subsequent calling.

[0070] The shot blasting machine 2 is located between the second truss transfer manipulator 13 and the third truss transfer manipulator 7, and is used for shot blasting treatment of the rod piece. The shot blasting machine 2 can adopt a steel pipe shot blasting machine 2 or a drum passing type shot blasting machine 2, which is selected according to actual conditions on the premise that the rod piece will not be deformed.

[0071] The two sides of the shot blasting machine 2 are respectively provided with an inlet position 1 and an outlet 3, and a V-shaped roller outlet line 4 is connected to one side of the outlet 3, and the V-shaped roller outlet line 4 is located below a truss boxing robot 6 and used to receive the rods flowing out of the shot blasting machine 2.

[0072] The V-shaped roller outlet line 4 comprises a support 401, a stop block 402, receiving ends 403 and V-shaped supporting rollers 404, the stop block 402 is connected to the output end of the support 401, the receiving ends 403 are distributed on the top surface of the support 401 at an inclined angle, the V-shaped supporting rollers 404 are connected to each receiving end 403, the side surface of each V-shaped supporting roller 404 is provided with a chain wheel 405, the chain wheels 405 are connected by a chain, a conveying motor is arranged on the support 401, the output shaft of the conveying motor is connected to the chain, the chain wheels 405 of the V-shaped supporting rollers 404 distributed in the inclined direction share one chain and are connected to one side of the conveying motor, and the chain wheels 405 of the V-shaped supporting rollers 404 distributed in the horizontal direction share one chain and are connected to the other side of the conveying motor, wherein the rotating speed of the conveying motor connected to the inclined direction is lower than that of the conveying motor connected to the horizontal direction, so as to achieve the purpose of smoothly transferring the rods, and the stop block 402 is designed to determine the end position of the rod parking, so as to facilitate the truss boxing robot 6 to pick up the rods.

[0073] The truss boxing robot 6 is located between the shot blasting machine 2 and a third truss transferring manipulator 7 and used to box the rods after the shot blasting treatment.

[0074] The truss boxing robot 6 comprises first support frames 601, linear guides 602, a first truss 604 and rod taking and placing manipulators 605, the linear guides 602 are arranged between the two first support frames 601, the first truss 604 is arranged between the two linear guides 602, one end of the first truss 604 is provided with a servo motor 603, the bottom of the first truss 604 is connected with a cantilever 606 through a connecting column 607, and the two rod taking and placing manipulators 605 are arranged at the two ends of the cantilever 606, the first support frames 601 improve the stability and reliability of the installation of the linear guides 602, the first truss 604 can move back and forth along the two linear guides 602, and then the rod taking and placing manipulators 605 can be driven to move through the connecting column 607 and the cantilever 606, so as to realize the hoisting and conveying of the rods, and the rod taking and placing manipulators 605 are collinear with the V-shaped supporting rollers 404, so as to facilitate accurate grabbing of the rods.

[0075] The rod taking and placing manipulator 605 comprises a connecting part 608, an electric rod 610, a clamping block 611, first clamping jaws 614 and a driving assembly. The connecting part 608 is provided with a limiting groove 609 matched with the cantilever 606. The clamping block 611 is connected to the connecting part 608 through the electric rod 610. The driving assembly and the first clamping jaws 614 are both connected to the clamping block 611. The two first clamping jaws 614 are brought together or apart through the driving assembly, so as to clamp or loosen the rod. The electric rod 610 can drive the clamping block 611 and the first clamping jaws 614 to move up and down, and in turn drive the rod to move up and down, so as to meet the transportation requirements. The connecting piece 617 can be a screw.

[0076] The driving assembly can comprise a driving motor 612, a moving block 613, a bevel gear set and a transmission rod. The driving motor 612 is arranged on the outer side of the clamping block 611. The first clamping jaws 614 are movably connected to the clamping block 611 through the moving block 613. The clamping block 611 is provided with the bevel gear set and the transmission rod. The driving motor 612 is connected to the transmission rod through a transmission belt. The transmission rod is connected to the moving block 613 through a boost block, so as to realize the back-and-forth movement of the first clamping jaws.

[0077] The first clamping jaws 614 comprise a rigid part 615, a flexible part 616 and a connecting piece 617. The bottom end of the rigid part 615 is provided with a clamping groove 618. The top end of the flexible part 616 is provided with a clamping block 619 matched with the clamping groove 618. The connecting piece 617 passes through the clamping block 619 and the clamping groove 618, so as to realize the stable connection between the flexible part 616 and the rigid part 615. The flexible part 616 comprises a rubber layer 620 and a magnetic layer 621. The magnetic layer 621 is located between the two rubber layers 620. Through the composite structure design of magnetic attraction and soft jaws, the first clamping jaws 614 can be adapted to rods with different diameters, avoid damage caused by the collision between the end and the V-shaped carrier roller 404, and increase the friction force. The design of the connecting piece 617, the clamping block 619 and the clamping groove 618 facilitates the installation and disassembly of the first clamping jaws 614.

[0078] The forklift robot 8 is used to transport the rods on the AGV trolley 9 at the material receiving station to the girder car. The rods are transported to the assembly station, the welding station, the polishing and shaping station and the paint shed through the girder car. The right side of the assembly station, the welding station, the polishing and shaping station and the paint shed is provided with an AGV trolley buffer section 10 for storing the AGV trolley 9.

[0079] The forklift robot 8 includes a frame 801, slide rails 802, a moving plate 804, a rotating base 806, and a forklift arm 809. The slide rails 802 are located on the top surface of the frame 801. The moving plate 804 is slidably connected to the slide rails 802 and is connected to the frame 801 via a cable chain 803. A limit switch 805 is located on the top surface of the frame 801 between the two slide rails 802. The rotating base 806 is connected to the moving plate 804, and a fixed frame 807 is located on the top surface of the rotating base 806. The forklift arm 809 is connected to the fixed frame 807 via a lifting hydraulic cylinder 808. The above structure enables the forklift arm 809 to rotate. When picking up a rod, its rotating base 806 has the ability to rotate 180°, which facilitates flexible adjustment of direction. During use, when there is no need for human operation, the forklift robot 8 does not need to unload the transfer box 5, thus serving as a buffer for the rod assembly, avoiding material shortages, and greatly improving the continuity and stability of production. At the same time, the forklift robot 8 can be flexibly arranged according to actual production needs, without being restricted by fixed tracks, thereby better meeting the requirements of flexible production and adapting to diverse and ever-changing production modes.

[0080] The above structural design not only improves the transportation efficiency of the rods, but also allows the AGV trolley 9 to receive and buffer the rods, ensuring the continuity of production, greatly reducing the labor intensity of manual operation, and improving the processing efficiency and quality of the sheet truss.

[0081] In the assembly system of this invention, the AGV vehicle transportation path includes: intersection line – first truss transfer robot – AGV vehicle – second truss transfer robot – loading station – shot blasting machine – truss packing robot – third truss transfer robot – AGV vehicle – receiving stations 1 to 4 – AGV vehicle buffer section.

[0082] The internal process flow path includes: receiving stations 1-4 - forklift robot - assembly station - welding station - grinding and shaping station - paint booth - material unloading and transfer.

[0083] like Figure 12 The diagram illustrates the method of using the intelligent transfer and multi-station collaborative assembly system for sheet-like tubular truss processing of the present invention, comprising the following steps:

[0084] S1. Preparation stage: Cut the members that make up the sheet-like tubular truss to the required length according to the intersection line, and complete the numbering work to provide precise parts for subsequent assembly;

[0085] S2. Bundling: Based on the component number, the cut components are bundled together to facilitate batch processing and transportation, and to ensure that each component is matched in an orderly manner.

[0086] S3, shot blasting and transfer: the bundled rod pieces are sent into the shot blasting machine 2 for shot blasting treatment to remove surface impurities and improve the adhesion of the subsequent process. The numbered rod pieces are then loaded into the transfer box 5 by the truss boxing robot 6 to improve transfer efficiency and safety. The transfer box 5 is then transferred to the AGV trolley 9 by the third truss transfer robot 7 to improve automation.

[0087] S4, assembly forming: the transfer box 5 is transported to the receiving station by the AGV trolley 9, and the forklift robot 8 is used to receive and spot weld the assembly to preliminarily construct the basic framework of the tube truss, ensuring accurate positioning and connection of the components.

[0088] S5, welding reinforcement: the assembled rod pieces are transported to the welding station by the truss trolley for welding operation to ensure firm connection of the rod pieces and enhance the overall stability of the tube truss, making it have more reliable load-bearing capacity.

[0089] S6, polishing and shaping treatment: the welded truss is polished to remove welding slag and burrs and improve surface flatness. The welded sheet truss is then shaped to create good conditions for subsequent processes and ensure the smooth progress of subsequent processes. The shaped truss meets the shape and size accuracy requirements of the design level construction, ensuring the fit and functionality of the tube truss in actual application.

[0090] S7, pre-assembly and painting: the sheet tube truss is pre-assembled to ensure the accuracy of on-site installation, identify and solve potential installation problems in advance, reduce on-site construction risks and costs, and improve installation efficiency. The sheet tube truss is then disassembled for painting. After painting is completed, the truss is packed and shipped to the site to prepare for subsequent construction and ensure smooth assembly and application of the tube truss on the construction site.

[0091] The use method is simple and can realize "cutting-cleaning-transportation" closed-loop assembly line operation through the truss boxing robot 6, truss transfer robot, AGV trolley 9, etc. to reduce the rhythm gap caused by manual intervention, improve overall productivity, accurately receive the rod pieces transported by the AGV trolley 9 and deliver them to the receiving station, eliminate the traditional material transfer storage time, compress the production cycle, and expose potential problems such as rod piece interface tea and welding thermal deformation in advance by simulating the on-site working conditions through factory pre-assembly, reducing the on-site installation rework rate to less than 1%.

[0092] The above is only a specific embodiment of the present application, but the technical features of the present application are not limited thereto. Any simple change, equivalent replacement or modification made on the basis of the present application to achieve substantially the same technical effect is covered by the protection scope of the present application.

Claims

1. A sheet tube truss processing intelligent transfer and multi-station collaborative assembly system, characterized in that: It includes an electromagnetic track, an AGV car is movably connected on the electromagnetic track, and is used for conveying a rod piece; The truss transfer manipulator includes a first truss transfer manipulator, a second truss transfer manipulator and a third truss transfer manipulator, the first truss transfer manipulator, the second truss transfer manipulator and the third truss transfer manipulator are distributed along the electromagnetic track, and are used for feeding and discharging the rod piece; A shot blasting machine is located between the second truss transfer manipulator and the third truss transfer manipulator, and is used for shot blasting the rod piece; A truss boxing robot is located between the shot blasting machine and the third truss transfer manipulator, and is used for boxing the rod piece after the shot blasting; And a forklift robot is used for conveying the rod piece on the AGV car at a receiving station to a truss truck, and conveying the rod piece to an assembling station, a welding station, a polishing and shaping station and a paint shed through the truss truck.

2. The sheet tube truss processing intelligent transfer and multi-station collaborative assembly system according to claim 1, characterized in that: The first truss transfer manipulator, the second truss transfer manipulator and the third truss transfer manipulator each include a second support frame, a second truss, a transverse transfer trolley, a rotating arm, a cross beam and a second clamping jaw, the second truss is arranged between two second support frames, the transverse transfer trolley is movably connected to the second truss, the rotating arm is connected to the bottom of the transverse transfer trolley, the rotating arm is connected to the cross beam through a rotating piece, and the second clamping jaw is arranged at two ends of the cross beam.

3. The sheet tube truss processing intelligent transfer and multi-station collaborative assembly system according to claim 2, characterized in that: The second clamping jaw includes a clamping motor, a clamping plate, an arc-shaped piece and a positioning column, the clamping motor is arranged at the top end of the cross beam, a gear is connected to the output shaft of the clamping motor, the clamping plate is connected to the end of the cross beam, two adjacent clamping plates are connected through the positioning column, the arc-shaped piece is arranged between the positioning column and the clamping plate, an external gear is arranged on the arc-shaped piece, and the external gear is meshed with the gear.

4. The sheet tube truss processing intelligent transfer and multi-station collaborative assembly system according to claim 1, characterized in that: The truss boxing robot includes a first support frame, a linear guide rail, a first truss and a rod piece taking and placing manipulator, the linear guide rail is arranged between two first support frames, the first truss is arranged between two linear guide rails, one end of the first truss is provided with a servo motor, the bottom of the first truss is connected with a cantilever through a connecting column, and two rod piece taking and placing manipulators are arranged at two ends of the cantilever.

5. The sheet-tube truss processing intelligent transfer and multi-station collaborative assembly system according to claim 4, characterized in that: The rod piece taking and placing manipulator includes a connecting portion, an electric rod, a clamping block, a first clamping jaw and a driving assembly, a limiting groove is arranged on the connecting portion and matched with the cantilever, the clamping block is connected to the connecting portion through the electric rod, the driving assembly and the first clamping jaw are connected to the clamping block, two first clamping jaws are closed or opened through the driving assembly, and the rod piece is clamped or released.

6. The sheet tube truss processing intelligent transfer and multi-station collaborative assembly system according to claim 5, characterized in that: The first clamping jaw comprises a rigid part, a flexible part and a connecting piece, the bottom end of the rigid part is provided with a clamping groove, the top end of the flexible part is provided with a clamping block matched with the clamping groove, the connecting piece passes through the clamping block and the clamping groove to realize the stable connection between the flexible part and the rigid part, the flexible part comprises a rubber layer and a magnetic layer, and the magnetic layer is located between the rubber layers on both sides.

7. The sheet tube truss processing intelligent transfer and multi-station collaborative assembly system according to claim 1, characterized in that: The both sides of the shot blasting machine are respectively provided with an inlet and an outlet, and a V-shaped roller outlet line is connected to one side of the outlet.

8. The sheet tube truss processing intelligent transfer and multi-station collaborative assembly system according to claim 7, characterized in that: The V-shaped roller outlet line comprises a support, a stop block, an accommodating end and V-shaped rollers, the stop block is connected to the output end of the support, the accommodating ends are distributed on the top surface of the support at an inclined angle, the V-shaped rollers are connected to each of the accommodating ends, the side surfaces of the V-shaped rollers are provided with sprockets, the sprockets are connected by a chain, and a conveying motor is arranged on the support and connected to the chain.

9. The sheet tube truss processing intelligent transfer and multi-station collaborative assembly system according to claim 1, characterized in that: The forklift robot comprises a frame, sliding rails, a moving plate, a rotating base and a forklift arm, the sliding rails are arranged on the top surface of the frame, the moving plate is slidingly connected to the sliding rails, the moving plate is connected to the frame by a drag chain, a travel switch is arranged on the top surface of the frame between the two sliding rails, the rotating base is connected to the moving plate, the top surface of the rotating base is provided with a fixing frame, and the forklift arm is connected to the fixing frame by a lifting hydraulic cylinder.

10. The method of using the sheet-tube truss processing intelligent transfer and multi-station collaborative assembly system according to any one of claims 1-9, characterized in that The method comprises the following steps: S1, preparation stage: the rod members constituting the sheet-shaped tube truss are cut to the required length according to the intersecting line, and the numbering work is completed; S2, combination and bundling: the rod members after cutting are combined and bundled according to the numbering; S3, shot blasting treatment and transfer: the bundled rod members are sent into a shot blasting machine for shot blasting treatment to remove surface impurities, then the numbered and combined rod members are loaded into a transfer box by a truss boxing robot, and then the transfer box is transferred to an AGV trolley by a third truss transfer manipulator; S4, assembly and forming: the transfer box is transported to a receiving station by the AGV trolley, received by a forklift robot, and spot-welded and assembled; S5, welding reinforcement: the assembled and formed rod members are transported to a welding station by a truss vehicle for welding operation; S6, polishing and shaping treatment: the truss after welding is polished to remove welding slag and burrs, and the sheet-shaped truss after welding is shaped; S7, pre-assembly and painting: the sheet-shaped tube truss is pre-assembled, and the sheet-shaped tube truss is split for painting, and after painting is completed, it is packed and sent to the site.

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