A rotary assembly welding structure

Abstract

The invention relates to the technical field of prefabricated box girders, and in particular to a rotary assembly welding structure; the structure comprises a plurality of manipulators, a welding platform, two welding devices, a bending device, a clamping device and a controller, wherein the plurality of manipulators and the welding devices are movably connected above the welding platform, the bending device and the clamping device are arranged on the welding platform, the manipulators are used to move the welding devices, the web positioning mesh and the bottom plate positioning mesh, the clamping device is used to position the bottom plate positioning mesh, the welding device is used to weld the web positioning mesh and the bottom plate positioning mesh together, and the bending device is connected to the controller; each manipulator and the bending device is provided with a locator, and the controller analyzes the coordinate information of the welding device, the coordinate information of the bending device and the coordinate information of the web positioning mesh obtained by the locator, thereby controlling the manipulators to move according to their respective optimal paths; the continuity of bending and welding is ensured, and the processing efficiency of the welding process is improved.

Description

Technical Field

[0001] The invention relates to the technical field of prefabricated box beams, and in particular to a rotary assembly welding structure. Background Art

[0002] Box beam is a type of beam in bridge engineering, which is hollow inside and has flanges on both sides of the upper part. Box beams of reinforced concrete structures are divided into prefabricated box beams and cast-in-place box beams. Box beams prefabricated in independent sites can be erected in combination with bridge erection machines after the lower part of the project is completed. They are widely used because they can accelerate the progress of the project and save construction time. The box beam skeleton needs to be inserted with positioning steel mesh to assist the installation of the prestressed duct of the box beam, which plays a vital role in the installation position, installation linearity and quality of the prefabricated box beam.

[0003] Prior art CN118385420A discloses a railway box girder prestressed tendon positioning steel mesh production line and processing technology, the production line includes a straightening and cutting machine, a feeding buffer area, a mesh welding area and a welding discharge area; the feeding buffer area is provided with an intermediate transmission train, an outlet mechanism, a plate pusher, a longitudinal short tendon conveyor, a conveyor 1, a conveyor 2 and a bracket rail; the mesh welding area is provided with a conveyor 3, a conveyor 4 and a lifting device; the welding discharge area is provided with a welding table, a positioning device and an automatic welding tendon discharge bin; the single-piece prestressed tendon positioning steel mesh is fully automatically processed by first assembling and welding a tic-tac-toe frame, then assembling and welding a bottom plate positioning mesh and a web positioning mesh, and finally welding.

[0004] However, the bottom plate positioning mesh needs to be bent and then welded with the web positioning mesh. The prior art does not mention the bending process of the bottom plate positioning mesh, and the continuity of bending and welding cannot be guaranteed, which may lead to a decrease in the processing efficiency of the welding process.

[0005] Therefore, there is an urgent need to provide a rotary assembly welding structure that, compared with the prior art, ensures the continuity of bending and welding and improves the processing efficiency of the welding process. Summary of the invention

[0006] The invention solves the technical problems existing in the prior art and provides a rotary assembly welding structure.

[0007] To achieve the above purpose, the technical solution adopted by the present invention is as follows:

[0008] A rotary assembly welding structure, comprising a plurality of manipulators, a welding platform, two welding devices, a bending device, a clamping device and a controller, wherein the plurality of manipulators and the welding devices are movably connected above the welding platform, the bending device and the clamping device are arranged on the welding platform, the manipulators are used to move the welding devices, the web positioning mesh and the bottom plate positioning mesh, the clamping device is used to position the bottom plate positioning mesh, the welding device is used to weld the web positioning mesh and the bottom plate positioning mesh together, the bending device is connected to the controller, and the controller is used to determine the distance between the bending device and the position to be bent on the bottom plate positioning mesh, control the movement of the bending device and perform the bending operation;

[0009] Each manipulator is provided with a locator, and the bending equipment is also provided with a locator, and the locators are respectively used to obtain the coordinate information of the welding equipment, the coordinate information of the bending equipment and the coordinate information of the web positioning mesh, and the locators are connected to the controller, and the controller analyzes the coordinate information of the welding equipment, the coordinate information of the bending equipment and the coordinate information of the web positioning mesh, thereby controlling the manipulator moving the welding equipment and the manipulator moving the web positioning mesh to move according to their respective optimal paths.

[0010] Further, the bending device includes a distance sensor, a first bending component and a second bending component, the distance sensor is arranged at a middle position between the first bending component and the second bending component, the first bending component and the second bending component are respectively arranged on both sides of the clamping device, the distance sensor is used to measure the distance between it and the left end of the bottom plate positioning mesh, recorded as the first measurement distance, the sensor is also used to measure the distance between it and the right end of the bottom plate positioning mesh, recorded as the second measurement distance, the distance between the bending device and the position to be bent on the bottom plate positioning mesh includes the required moving distance of the first bending component and the required moving distance of the second bending component, and the controller obtains the required moving distance of the first bending component and the required moving distance of the second bending component according to the first measurement distance and the second measurement distance;

[0011] The structure of the second bending assembly is the same as that of the first bending assembly, and the second bending assembly and the first bending assembly are symmetrically arranged along the distance sensor.

[0012] Furthermore, the shortest distance from the distance sensor to the vertical line of the clamping device is set as the first set distance, the farthest distance between the first bending assembly and the second bending assembly is set as the second set distance, the position to be bent of the bottom plate positioning mesh is set on the bent steel bar, and there are two positions to be bent, and the distance between the position to be bent on the bent steel bar and the nearest end thereof is set as the third set distance; the required moving distance of the first bending assembly and the required moving distance of the second bending assembly are specifically calculated by the following formula:

[0013] ;

[0014] ;

[0015] In the above formula, Indicates the required moving distance of the first bending component, Indicates the required moving distance of the second bending component, Indicates the second set distance, Represents the correction coefficient of the distance sensor, represents the first measured distance, Indicates the first set distance, represents the second measurement distance, Indicates the third set distance.

[0016] Furthermore, the first bending assembly includes a U-shaped frame, a cam, a positioning rod, a positioning plate, a bending plate, a first cylinder and a first motor, the U-shaped frame is slidably connected to the welding platform, the positioning plate is fixedly connected to the inside of the U-shaped frame, the bending plate is rotatably connected to the positioning plate, the first cylinder is rotatably connected to the inside of the U-shaped frame, the output end of the first cylinder is hinged to the bending plate, the U-shaped frame includes an upper plate, a lower plate and a connecting plate, the upper plate is arranged parallel to the lower plate, the connecting plate is fixed between the upper plate and the lower plate, the upper plate and the lower plate are both provided with arc tracks, the upper end of the positioning rod is located in the arc track of the upper plate, the lower end of the positioning rod is located in the arc track of the lower plate, the upper end of the positioning rod is extended out of the upper plate and is fixedly connected to the cam, the lower end of the positioning rod is extended out of the lower plate and is fixedly connected to the cam, the cams are rotatably connected to the U-shaped frame, and the cams are driven by the first motor.

[0017] Furthermore, the length of the bending plate is the same as the length of the third set distance, and a locator is provided at the end of the bending plate away from the positioning plate and close to the lower plate.

[0018] Furthermore, the plurality of manipulators are respectively a first manipulator, a second manipulator, a third manipulator and a fourth manipulator, two web positioning meshes are provided, namely a left web positioning mesh and a right web positioning mesh, the two welding devices are respectively a first welding device and a second welding device, the first manipulator is used to clamp the left web positioning mesh, the second manipulator is used to clamp the right web positioning mesh, the third manipulator is used to clamp the first welding device, and the fourth manipulator is used to clamp the second welding device;

[0019] The first manipulator is provided with a first locator, the second manipulator is provided with a second locator, the third manipulator is provided with a third locator, the fourth manipulator is provided with a fourth locator, the first bending assembly is provided with a fifth locator, and the second bending assembly is provided with a sixth locator;

[0020] The controller controls the first manipulator to move along the optimal path according to the coordinate information of the fifth locator, and the controller controls the third manipulator to move along the optimal path according to the coordinate information of the fifth locator and the first locator;

[0021] The controller controls the second manipulator to move along the optimal path according to the coordinate information of the sixth locator, and the controller controls the fourth manipulator to move along the optimal path according to the coordinate information of the sixth locator and the second locator.

[0022] Furthermore, during the resetting process of the first bending assembly, a plurality of sampling times are set;

[0023] The optimal path planning method of the first manipulator is as follows: within each sampling time, the initial position of the first manipulator is set as the starting point coordinate, the coordinate information of the fifth locator when the first bending component just completes the bending operation is set as the end point coordinate, and the coordinate information of the fifth locator within each sampling time is set as the obstacle coordinate, and the RRT algorithm is used to obtain the optimal path of the first manipulator within each sampling time, and the controller controls the first manipulator to move according to the corresponding optimal path within each sampling time;

[0024] The optimal path planning method of the third manipulator is as follows: within each sampling time, the initial position of the third manipulator is set as the starting point coordinate, the coordinate information of the fifth positioner when the first bending component has just completed the bending operation is set as the end point coordinate, the coordinate information of the fifth positioner and the coordinate information of the first positioner within each sampling time are set as obstacle coordinates, and the RRT algorithm is used to obtain the optimal path of the third manipulator within each sampling time. The controller controls the third manipulator to move according to the corresponding optimal path within each sampling time.

[0025] Furthermore, during the resetting process of the second bending assembly, a plurality of sampling times are set;

[0026] The optimal path planning method of the second manipulator is as follows: within each sampling time, the initial position of the second manipulator is set as the starting point coordinate, the coordinate information of the sixth locator when the second bending component just completes the bending operation is set as the end point coordinate, and the coordinate information of the sixth locator within each sampling time is set as the obstacle coordinate, and the RRT algorithm is used to obtain the optimal path of the second manipulator within each sampling time, and the controller controls the second manipulator to move according to the corresponding optimal path within each sampling time;

[0027] The optimal path planning method of the fourth manipulator is as follows: within each sampling time, the initial position of the fourth manipulator is set as the starting point coordinate, the coordinate information of the sixth positioner when the second bending component has just completed the bending operation is set as the end point coordinate, the coordinate information of the sixth positioner and the coordinate information of the second positioner within each sampling time are set as obstacle coordinates, and the RRT algorithm is used to obtain the optimal path of the fourth manipulator within each sampling time. The controller controls the fourth manipulator to move according to the corresponding optimal path within each sampling time.

[0028] Furthermore, the specific method of the RRT algorithm is as follows: add the starting point coordinates to the search tree as the only node, randomly sample a point in the free space as a new sampling point, find the node closest to the new sampling point in the search tree as the nearest neighbor node, extend one step from the nearest neighbor node to the straight path between the sampling points to form an extended path, and check whether the obstacle coordinates are on the extended path. If the obstacle coordinates are not on the extended path, add the new sampling point to the search tree and add the edge connecting it to the search tree. Check whether the newly added node is close enough to the end point coordinates. If so, the algorithm terminates. When the algorithm terminates, extract the path from the starting point coordinates to the end point coordinates from the search tree as the optimal path.

[0029] Furthermore, a miniature camera is installed on the upper end of the distance sensor, the distance sensor is rotatably connected to the welding platform, the distance sensor is rotated by a second motor, the second motor drives the distance sensor and the miniature camera to rotate synchronously, and the miniature camera is used to take pictures when the second motor rotates 1°;

[0030] The specific method for obtaining the first measurement distance is: when the left end of the bent steel bar exists in the photo taken by the micro camera, and the left end of the bent steel bar is located at the center of the photo, the second motor stops rotating, and the controller controls the distance sensor to measure the distance, and sets the measurement value of the distance sensor at this time to the first measurement distance.

[0031] The specific method for obtaining the second measuring distance is: when the right end of the bent steel bar exists in the photo taken by the micro camera, and the right end of the bent steel bar is located at the exact center of the photo, the second motor stops rotating, and the controller controls the distance sensor to measure the distance, and sets the measurement value of the distance sensor at this time to the second measuring distance.

[0032] Compared with the prior art, the present invention has the following beneficial effects:

[0033] (1) During the resetting process of the bending equipment, the present invention moves the first manipulator, the second manipulator, the third manipulator, and the fourth manipulator that clamp the left web positioning mesh, the right web positioning mesh, the first welding equipment, and the second welding equipment, and uses the RRT algorithm to plan the optimal paths of the first manipulator, the second manipulator, the third manipulator, and the fourth manipulator to ensure that the bending process and the welding process are efficiently connected, thereby improving the processing efficiency of the welding process.

[0034] (2) In the calculation of the moving distance of the bending equipment, the present invention accurately obtains the distance between the distance sensor and the left end and the right end of the bottom plate positioning mesh, and then calculates the obtained distance to obtain the accurate moving distance of the first bending component and the second bending component, respectively, thereby ensuring the accuracy and efficiency of the bending process. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 It is a structural schematic diagram of the assembled and welded positioning mesh of the present invention.

[0036] Figure 2 It is a schematic diagram of the overall structure of the present invention.

[0037] Figure 3 It is a schematic diagram of the structure on the welding platform of the present invention.

[0038] Figure 4 It is a schematic structural diagram of the first bending component of the present invention.

[0039] Figure 5 It is a cross-sectional view showing the structure of the first bending component of the present invention.

[0040] Figure 6 It is a schematic diagram of the positional relationship between the distance sensor and the micro camera of the present invention.

[0041] Description of reference numerals:

[0042] 1. Bottom plate positioning mesh; 101. Bending steel bars; 2. Left web positioning mesh; 3. Right web positioning mesh; 4. Welding platform; 5. Bending equipment; 51. First bending assembly; 511. U-shaped frame; 512. Cam; 513. Positioning rod; 514. Positioning plate; 515. Bending plate; 516. First cylinder; 517. Arc track; 52. Second bending assembly; 53. Distance sensor; 54. Miniature camera; 55. L-shaped plate; 6. Clamping equipment; 61. Second cylinder; 62. Clamping plate; 7. First manipulator; 8. Second manipulator; 9. Third manipulator; 10. Fourth manipulator; 11. Fifth manipulator; 12. Rack; 121. Upper rack; 122. Lower rack. DETAILED DESCRIPTION

[0043] The technical solution of the present invention will be clearly described below in conjunction with the accompanying drawings. Obviously, the described embodiments are not all embodiments of the present invention. All other embodiments obtained by ordinary technicians in this field without creative work belong to the protection scope of the present invention. It should be noted that the orientation or position relationship indicated by the terms "center", "up", "down", "left", "right", "vertical", "horizontal", etc. is based on the orientation or position relationship shown in the accompanying drawings. It is only for the convenience of describing the present invention and simplifying the description. It does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0044] like Figure 1 As shown, a positioning steel mesh assembled and welded by a rotating assembly welding structure provided by the present invention includes a bottom plate positioning mesh 1, a left web positioning mesh 2 and a right web positioning mesh 3, the left web positioning mesh 2 is welded to the left end of the bottom plate positioning mesh 1, the right web positioning mesh 3 is welded to the right end of the bottom plate positioning mesh 1, the left web positioning mesh 2 and the right web positioning mesh 3 are symmetrically arranged along a vertical line of the center of the bottom plate positioning mesh 1; two welding points are arranged between the left web positioning mesh 2 and the bottom plate positioning mesh 1, and two welding points are also arranged between the right web positioning mesh 3 and the bottom plate positioning mesh 1, and welding is performed at the positions of these four welding points, so that the bottom plate positioning mesh 1, the left web positioning mesh 2, and the right web positioning mesh 3 can be welded and fixed together.

[0045] like Figure 2 , Figure 3As shown, the present invention provides a rotary assembly welding structure, including a frame 12, multiple manipulators, a welding platform 4, multiple welding equipment, a bending device 5, a clamping device 6 and a controller; the frame 12 includes an upper frame 121 and a lower frame 122, the upper frame 121 and the lower frame 122 are arranged in parallel, the upper frame 121 is arranged on the upper part of the lower frame 122, all the manipulators are movably connected to the upper frame 121, the manipulators are connected to the controller, and the controller controls the movement of the manipulators; a welding platform 4 is arranged inside the lower frame 122, and a bending device 5 and a clamping device 6 are arranged on the welding platform 4.

[0046] Five manipulators are provided, namely the first manipulator 7, the second manipulator 8, the third manipulator 9, the fourth manipulator 10 and the fifth manipulator 11, and two welding devices are provided, namely the first welding device and the second welding device; the first manipulator 7, the second manipulator 8, the third manipulator 9, the fourth manipulator 10 and the fifth manipulator 11 are movably connected to the upper frame 121, the first manipulator 7, the second manipulator 8, the third manipulator 9, the fourth manipulator 10 and the fifth manipulator 11 are all connected to the controller, and the controller controls the movement of the first manipulator 7, the second manipulator 8, the third manipulator 9, the fourth manipulator 10 and the fifth manipulator 11; the first manipulator 7 is used to clamp and move the left web positioning mesh 2, the second manipulator 8 is used to clamp and move the right web positioning mesh 3, the third manipulator 9 is used to clamp the first welding device, the fourth manipulator 10 is used to clamp the second welding device, and the fifth manipulator 11 is used to clamp the bottom plate positioning mesh 1.

[0047] The third manipulator 9 is provided with two clamping heads, each clamping head clamps a first welding device, and the distance between the two clamping heads on the third manipulator 9 is the same as the distance between the two welding points set between the left belly plate positioning mesh 2 and the bottom plate positioning mesh 1; the fourth manipulator 10 is also provided with two clamping heads, each clamping head clamps a second welding device; the distance between the two clamping heads on the fourth manipulator 10 is the same as the distance between the two welding points set between the right belly plate positioning mesh 3 and the bottom plate positioning mesh 1; the first welding device and the second welding device both use existing welding equipment, and the specific structure is not repeated here.

[0048] The first manipulator 7 is equipped with a first locator, the second manipulator 8 is equipped with a second locator, the third manipulator 9 is equipped with a third locator, and the fourth manipulator 10 is equipped with a fourth locator. The first locator, the second locator, the third locator and the fourth locator are all connected to the controller.

[0049] The clamping device 6 includes a plurality of clamping components. Figure 3The horizontal direction of the clamping assembly is spaced apart, and each clamping assembly includes two oppositely arranged second cylinders 61, the two opposite second cylinders 61 are spaced apart, the output end of each second cylinder 61 is fixedly connected to the clamping plate 62, the opposite clamping plates 62 are arranged in parallel, and the interval between the two opposite clamping plates 62 is the width of the bottom plate positioning mesh 1.

[0050] like Figure 4 , Figure 5 As shown, the bending device 5 includes a first bending component 51, a second bending component 52 and a distance sensor 53. The first bending component 51 and the second bending component 52 are respectively arranged at two ends of the clamping device 6. The distance sensor 53 is arranged corresponding to the center position of the clamping device 6. There is a certain distance between the distance sensor 53 and the clamping device 6, that is, the distance sensor 53 is also located at two ends of the first bending component 51 and the second bending component 52; the first bending component 51 and the second bending component 52 are symmetrically arranged along the vertical line of the center position of the bending device 5, and the first bending component 51 and the second bending component 52 have the same structure.

[0051] The first bending assembly 51 includes a U-shaped frame 511, a cam 512, a positioning rod 513, a positioning plate 514, a bending plate 515, a first cylinder 516 and a first motor. The U-shaped frame 511 includes an upper plate, a lower plate and a connecting plate. The upper plate and the lower plate are arranged in parallel. The connecting plate is integrally connected between the upper plate and the lower plate. The lower plate is slidably connected to the welding platform 4. The welding platform 4 is provided with a sliding groove (not shown in the figure) for sliding the first bending assembly 51 and the second bending assembly 52. ​​The lower plate is slidably connected in one of the sliding grooves; the positioning plate 514 is fixedly connected between the upper plate and the lower plate. The positioning plate 514 is arranged perpendicular to the upper plate and the lower plate. One end of the positioning plate 514 is rotatably connected to the bending plate 515. The upper end of the bending plate 515 contacts the upper plate, and the lower end of the bending plate 515 contacts the lower plate. The folding plate 515 can rotate inside the U-shaped frame 511. The U-shaped frame 511 is penetrated by a positioning rod 513. The upper plate and the lower plate are provided with an arc track 517. The arc track 517 of the upper plate and the arc track 517 of the lower plate are arranged correspondingly. The upper end of the positioning rod 513 is located in the arc track 517 of the upper plate, and the lower end of the positioning rod 513 is located in the arc track 517 of the lower plate. The outer wall of the upper plate is rotated to connect the cam 512, and the cam 512 is rotated by connecting to the first motor. The outer wall of the lower plate is also rotated to connect the cam 512, and the cam 512 is also rotated by connecting to the first motor. The two ends of the positioning rod 513 pass through the arc track 517 and are fixedly connected to the corresponding cam 512. After the cam 512 is rotated by the first motor, the positioning rod 513 moves inside the arc track 517; Figure 5As shown, when the positioning rod 513 moves to the lowermost end of the arc track 517, the positioning rod 513 corresponds to the rotational connection between the positioning plate 514 and the bending plate 515, and the distance between the rotational connection between the positioning rod 513 and the positioning plate 514 and the bending plate 515 is the diameter of the bent steel bar 101, and the length of the bending plate 515 is the same as the length that the bent steel bar 101 needs to be bent.

[0052] A fifth locator is installed on the bending plate 515 arranged in the first bending component 51, and the fifth locator is installed at the end of the bending plate 515 away from the positioning plate 514 and close to the lower plate; a sixth locator is installed on the bending plate 515 arranged in the second bending component 52; the fifth locator, the sixth locator, and the distance sensor 53 are all connected to the controller.

[0053] The distance sensor 53 is used to measure the distance between it and the left end of the bent steel bar 101 in the bottom plate positioning mesh 1, which is recorded as the first measurement distance. The sensor is also used to measure the distance between it and the right end of the bent steel bar 101 in the bottom plate positioning mesh 1, which is recorded as the second measurement distance. Two positions to be bent are provided on the bent steel bar 101. The distance between the bending device 5 and the positions to be bent on the bent steel bar 101 on the bottom plate positioning mesh 1 includes the required moving distance of the first bending component 51 and the required moving distance of the second bending component 52. The controller obtains the required moving distance of the first bending component 51 and the required moving distance of the second bending component 52 according to the first measurement distance and the second measurement distance.

[0054] The shortest distance between the distance sensor 53 and the vertical line of the clamping device 6 is set as the first set distance, the farthest distance between the first bending component 51 and the second bending component 52 is set as the second set distance, and the distance between the position to be bent on the bent steel bar 101 and the nearest end thereof is set as the third set distance; the required moving distance of the first bending component 51 and the required moving distance of the second bending component 52 are specifically calculated by the following formula:

[0055] ;

[0056] ;

[0057] In the above formula, represents the required moving distance of the first bending component 51, represents the required moving distance of the second bending component 52, Indicates the second set distance, represents the correction coefficient of the distance sensor 53, represents the first measured distance, Indicates the first set distance, represents the second measurement distance, Indicates the third set distance.

[0058] After the positioning bottom plate mesh is clamped and placed inside the clamping device 6 by the fifth manipulator 11, the first measuring distance and the second measuring distance are measured. The specific method for obtaining the first measuring distance and the second measuring distance is as follows: Figure 6 As shown, the distance sensor 53 is fixedly connected to the L-shaped plate 55, and the L-shaped plate 55 is rotatably connected to the welding platform 4. The L-shaped plate 55 is rotated by connecting to the second motor. A micro camera 54 is installed directly above the distance sensor 53, and the micro camera 54 is fixedly connected to the L-shaped plate 55. The micro camera 54 and the second motor are both connected to the controller. The controller controls the second motor to drive the distance sensor 53 and the micro camera 54 to rotate synchronously at multiple angles. The micro camera 54 is used to take pictures when the second motor rotates 1°.

[0059] When obtaining the first measurement distance: when the left end of the bent steel bar 101 exists in the photo taken by the micro camera 54, and the left end of the bent steel bar 101 is located at the center of the photo, the second motor stops rotating, and the controller controls the distance sensor 53 to measure the distance, and sets the measurement value of the distance sensor 53 at this time to the first measurement distance, that is, the straight-line distance from the distance sensor 53 to the left end of the bent steel bar 101.

[0060] When obtaining the second measurement distance: when the right end of the bent steel bar 101 exists in the photo taken by the micro camera 54, and the right end of the bent steel bar 101 is located at the center of the photo, the second motor stops rotating, and the controller controls the distance sensor 53 to measure the distance, and sets the measurement value of the distance sensor 53 at this time to the second measurement distance, that is, the straight-line distance from the distance sensor 53 to the right end of the bent steel bar 101.

[0061] The controller controls the first bending component 51 to move a first measuring distance toward the bottom plate positioning mesh 1, and controls the second bending component 52 to move a second measuring distance toward the bottom plate positioning mesh 1; when the first bending component 51 and the second bending component 52 are completely moved, the first motor is controlled so that the positioning rods 513 of the first bending component 51 and the second bending component 52 are both located at the lower end of the arc track 517, and the first cylinder 516 in the first bending component 51 and the second bending component 52 are synchronously driven to push the bending plates 515 in the first bending component 51 and the second bending component 52 respectively, so as to bend the bent steel bar 101 at a set angle.

[0062] After the first bending component 51 and the second bending component 52 complete the bending operation on the bent steel bar 101 and during the resetting process, the first manipulator 7, the second manipulator 8, the third manipulator 9 and the fourth manipulator 10 are controlled to move through the controller, and the optimal paths of the first manipulator 7, the second manipulator 8, the third manipulator 9 and the fourth manipulator 10 are respectively planned and selected, and the first manipulator 7, the second manipulator 8, the third manipulator 9 and the fourth manipulator 10 are controlled to move according to their optimal paths.

[0063] (1) The optimal path planning method of the first manipulator 7 is:

[0064] During the resetting process of the first bending component 51, multiple sampling times are set. In each sampling time, the RRT algorithm is used to obtain the optimal path of the first manipulator 7 in the sampling time, and the controller plans the first manipulator 7 to move according to the corresponding optimal path in each sampling time.

[0065] The optimal path planning method of the first manipulator 7 at each sampling time is:

[0066] Set the initial position of the first manipulator 7 as the starting point coordinate, set the coordinate information of the fifth positioner when the first bending component 51 just completes the bending operation as the end point coordinate, set the coordinate information of the fifth positioner in each sampling time as the obstacle coordinate, and set the coordinate information of the fifth positioner in each sampling time as a fixed value.

[0067] Add the starting point coordinates to the search tree as the only node, randomly sample a point in the free space as a new sampling point, find the node closest to the new sampling point in the search tree as the nearest neighbor node, extend one step from the nearest neighbor node to the straight path between the sampling points to form an extended path, and check whether the obstacle coordinates are on the extended path. If the obstacle coordinates are not on the extended path, add the new sampling point to the search tree and add the edge connecting it to the search tree, check whether the newly added node is close enough to the end point coordinates, if so, the algorithm terminates, and when the algorithm terminates, extract the path from the starting point coordinates to the end point coordinates from the search tree as the optimal path for the first manipulator 7 within the corresponding sampling time.

[0068] (2) The optimal path planning method for the second manipulator 8 is:

[0069] During the resetting process of the second bending component 52, multiple sampling times are set. In each sampling time, the RRT algorithm is used to obtain the optimal path of the second manipulator 8 in the sampling time, and the controller plans the second manipulator 8 to move according to the corresponding optimal path in each sampling time.

[0070] The optimal path planning method of the second manipulator 8 at each sampling time is:

[0071] Set the initial position of the second manipulator 8 as the starting point coordinate, set the coordinate information of the sixth positioner when the second bending component 52 just completes the bending operation as the end point coordinate, set the coordinate information of the sixth positioner in each sampling time as the obstacle coordinate, and the coordinate information of the sixth positioner in each sampling time is a fixed value.

[0072] Add the starting point coordinates to the search tree as the only node, randomly sample a point in the free space as a new sampling point, find the node closest to the new sampling point in the search tree as the nearest neighbor node, extend one step from the nearest neighbor node to the straight path between the sampling points to form an extended path, and check whether the obstacle coordinates are on the extended path. If the obstacle coordinates are not on the extended path, add the new sampling point to the search tree and add the edge connecting it to the search tree, check whether the newly added node is close enough to the end point coordinates, if so, the algorithm terminates, and when the algorithm terminates, extract the path from the starting point coordinates to the end point coordinates from the search tree as the optimal path for the second manipulator 8 within the corresponding sampling time.

[0073] (3) The optimal path planning method of the third manipulator 9 is:

[0074] During the resetting process of the first bending component 51, multiple sampling times are set. In each sampling time, the RRT algorithm is used to obtain the optimal path of the third manipulator 9 in the sampling time, and the controller plans the third manipulator 9 to move according to the corresponding optimal path in each sampling time.

[0075] The planning method of the optimal path of the third manipulator 9 at each sampling time is:

[0076] Set the initial position of the third manipulator 9 as the starting point coordinate, set the coordinate information of the fifth positioner when the first bending component 51 just completes the bending operation as the end point coordinate, set the coordinate information of the fifth positioner and the coordinate information of the first positioner in each sampling time as the obstacle coordinate, and the coordinate information of the fifth positioner and the coordinate information of the first positioner in each sampling time are both fixed values.

[0077] Add the starting point coordinates to the search tree as the only node, randomly sample a point in the free space as a new sampling point, find the node closest to the new sampling point in the search tree as the nearest neighbor node, extend one step from the nearest neighbor node to the straight path between the sampling points to form an extended path, and check whether the obstacle coordinates are on the extended path. If the obstacle coordinates are not on the extended path, add the new sampling point to the search tree and add the edge connecting it to the search tree, check whether the newly added node is close enough to the end point coordinates, if so, the algorithm terminates, and when the algorithm terminates, extract the path from the starting point coordinates to the end point coordinates from the search tree as the optimal path for the third manipulator 9 within the corresponding sampling time.

[0078] (4) The optimal path planning method of the fourth manipulator 10 is:

[0079] During the resetting process of the second bending component 52, multiple sampling times are set. In each sampling time, the RRT algorithm is used to obtain the optimal path of the fourth robot 10 in the sampling time, and the controller plans the fourth robot 10 to move according to the corresponding optimal path in each sampling time.

[0080] The planning method of the optimal path of the fourth manipulator 10 at each sampling time is:

[0081] Set the initial position of the fourth manipulator 10 as the starting point coordinate, set the coordinate information of the sixth positioner when the second bending component 52 just completes the bending operation as the end point coordinate, set the coordinate information of the sixth positioner and the coordinate information of the second positioner in each sampling time as the obstacle coordinate, and the coordinate information of the sixth positioner and the coordinate information of the second positioner in each sampling time are both fixed values.

[0082] Add the starting point coordinates to the search tree as the only node, randomly sample a point in the free space as a new sampling point, find the node closest to the new sampling point in the search tree as the nearest neighbor node, extend one step from the nearest neighbor node to the straight path between the sampling points to form an extended path, and check whether the obstacle coordinates are on the extended path. If the obstacle coordinates are not on the extended path, add the new sampling point to the search tree and add the edge connecting it to the search tree, check whether the newly added node is close enough to the end point coordinates, if so, the algorithm terminates, and when the algorithm terminates, extract the path from the starting point coordinates to the end point coordinates from the search tree as the optimal path for the fourth manipulator 10 within the corresponding sampling time.

[0083] In the resetting process of the bending device 5, the present invention moves the first manipulator 7, the second manipulator 8, the third manipulator 9, and the fourth manipulator 10 that clamp the left web positioning mesh 2, the right web positioning mesh 3, the first welding device, and the second welding machine device, and uses the RRT algorithm to plan the optimal path of the first manipulator 7, the second manipulator 8, the third manipulator 9, and the fourth manipulator 10 to ensure that the bending process and the welding process are efficiently connected, thereby improving the processing efficiency of the welding process. In the calculation of the moving distance of the bending device 5, the present invention accurately obtains the distance from the distance sensor 53 to the left end and the right end of the bottom plate positioning mesh 1, and then calculates the obtained distance to obtain the accurate moving distance of the first bending component 51 and the second bending component 52, respectively, to ensure the accuracy and efficiency of the bending process.

[0084] Finally, it should be noted that the above content is only used to illustrate the technical solution of the present invention, rather than to limit the scope of protection of the present invention. Simple modifications or equivalent substitutions of the technical solution of the present invention by ordinary technicians in this field do not deviate from the essence and scope of the technical solution of the present invention.

Claims

1. A rotary assembly welding structure, characterized in that: It includes a plurality of manipulators, a welding platform, two welding devices, a bending device, a clamping device and a controller. The plurality of manipulators and the welding devices are movably connected above the welding platform. The bending device and the clamping device are arranged on the welding platform. The manipulators are used to move the welding devices, the web positioning mesh and the bottom plate positioning mesh. The clamping device is used to position the bottom plate positioning mesh. The welding device is used to weld the web positioning mesh and the bottom plate positioning mesh together. The bending device is connected to the controller. The controller is used to determine the distance between the bending device and the position to be bent on the bottom plate positioning mesh, control the movement of the bending device and perform the bending operation. Each manipulator is provided with a locator, and the bending equipment is also provided with a locator, and the locators are respectively used to obtain the coordinate information of the welding equipment, the coordinate information of the bending equipment and the coordinate information of the web positioning mesh, and the locators are connected to the controller, and the controller analyzes the coordinate information of the welding equipment, the coordinate information of the bending equipment and the coordinate information of the web positioning mesh, thereby controlling the manipulator moving the welding equipment and the manipulator moving the web positioning mesh to move according to their respective optimal paths.

2. A rotary assembly welding structure according to claim 1, characterized in that: The bending device includes a distance sensor, a first bending component and a second bending component, the distance sensor is arranged at a middle position between the first bending component and the second bending component, the first bending component and the second bending component are arranged on both sides of the clamping device respectively, the distance sensor is used to measure the distance between it and the left end of the bottom plate positioning mesh, recorded as the first measurement distance, the sensor is also used to measure the distance between it and the right end of the bottom plate positioning mesh, recorded as the second measurement distance, the distance between the bending device and the position to be bent on the bottom plate positioning mesh includes the required moving distance of the first bending component and the required moving distance of the second bending component, and the controller obtains the required moving distance of the first bending component and the required moving distance of the second bending component according to the first measurement distance and the second measurement distance; The structure of the second bending assembly is the same as that of the first bending assembly, and the second bending assembly and the first bending assembly are symmetrically arranged along the distance sensor.

3. A rotary assembly welding structure according to claim 2, characterized in that: The shortest distance between the distance sensor and the vertical line of the clamping device is set as the first set distance, the farthest distance between the first bending component and the second bending component is set as the second set distance, the position to be bent of the bottom plate positioning mesh is set on the bent steel bar, and there are two positions to be bent, and the distance between the position to be bent on the bent steel bar and the nearest end thereof is set as the third set distance; the required moving distance of the first bending component and the required moving distance of the second bending component are specifically calculated by the following formula: ； ； In the above formula, Indicates the required moving distance of the first bending component, Indicates the required moving distance of the second bending component, Indicates the second set distance, Represents the correction factor of the distance sensor, represents the first measured distance, Indicates the first set distance, represents the second measurement distance, Indicates the third set distance.

4. A rotary assembly welding structure according to claim 3, characterized in that: The first bending assembly includes a U-shaped frame, a cam, a positioning rod, a positioning plate, a bending plate, a first cylinder and a first motor, wherein the U-shaped frame is slidably connected to the welding platform, the positioning plate is fixedly connected to the inside of the U-shaped frame, the bending plate is rotatably connected to the positioning plate, the first cylinder is rotatably connected to the inside of the U-shaped frame, and the output end of the first cylinder is hinged to the bending plate, the U-shaped frame includes an upper plate, a lower plate and a connecting plate, the upper plate is arranged parallel to the lower plate, the connecting plate is fixed between the upper plate and the lower plate, and the upper plate and the lower plate are both provided with arc tracks, the upper end of the positioning rod is located in the arc track of the upper plate, the lower end of the positioning rod is located in the arc track of the lower plate, the upper end of the positioning rod is extended out of the upper plate and is fixedly connected to the cam, and the lower end of the positioning rod is extended out of the lower plate and is fixedly connected to the cam, and the cams are rotatably connected to the U-shaped frame, and the cams are driven by the first motor.

5. The rotary assembly welding structure according to claim 4, characterized in that: The length of the bending plate is the same as the length of the third set distance, and a locator is arranged at the end of the bending plate away from the positioning plate and close to the lower plate.

6. The rotary assembly welding structure according to claim 5, characterized in that: The plurality of manipulators are respectively a first manipulator, a second manipulator, a third manipulator and a fourth manipulator, two web positioning meshes are provided, namely a left web positioning mesh and a right web positioning mesh, the two welding devices are respectively a first welding device and a second welding device, the first manipulator is used to clamp the left web positioning mesh, the second manipulator is used to clamp the right web positioning mesh, the third manipulator is used to clamp the first welding device, and the fourth manipulator is used to clamp the second welding device; The first manipulator is provided with a first locator, the second manipulator is provided with a second locator, the third manipulator is provided with a third locator, the fourth manipulator is provided with a fourth locator, the first bending assembly is provided with a fifth locator, and the second bending assembly is provided with a sixth locator; The controller controls the first manipulator to move along the optimal path according to the coordinate information of the fifth locator, and the controller controls the third manipulator to move along the optimal path according to the coordinate information of the fifth locator and the first locator; The controller controls the second manipulator to move along the optimal path according to the coordinate information of the sixth locator, and the controller controls the fourth manipulator to move along the optimal path according to the coordinate information of the sixth locator and the second locator.

7. The rotary assembly welding structure according to claim 6, characterized in that: During the resetting process of the first bending component, a plurality of sampling times are set; The optimal path planning method of the first manipulator is as follows: within each sampling time, the initial position of the first manipulator is set as the starting point coordinate, the coordinate information of the fifth locator when the first bending component just completes the bending operation is set as the end point coordinate, and the coordinate information of the fifth locator within each sampling time is set as the obstacle coordinate, and the RRT algorithm is used to obtain the optimal path of the first manipulator within each sampling time, and the controller controls the first manipulator to move according to the corresponding optimal path within each sampling time; The optimal path planning method of the third manipulator is as follows: within each sampling time, the initial position of the third manipulator is set as the starting point coordinate, the coordinate information of the fifth positioner when the first bending component has just completed the bending operation is set as the end point coordinate, the coordinate information of the fifth positioner and the coordinate information of the first positioner within each sampling time are set as obstacle coordinates, and the RRT algorithm is used to obtain the optimal path of the third manipulator within each sampling time. The controller controls the third manipulator to move according to the corresponding optimal path within each sampling time.

8. The rotary assembly welding structure according to claim 7, characterized in that: During the resetting process of the second bending component, a plurality of sampling times are set; The optimal path planning method of the second manipulator is as follows: within each sampling time, the initial position of the second manipulator is set as the starting point coordinate, the coordinate information of the sixth locator when the second bending component just completes the bending operation is set as the end point coordinate, and the coordinate information of the sixth locator within each sampling time is set as the obstacle coordinate, and the RRT algorithm is used to obtain the optimal path of the second manipulator within each sampling time, and the controller controls the second manipulator to move according to the corresponding optimal path within each sampling time; The optimal path planning method of the fourth manipulator is as follows: within each sampling time, the initial position of the fourth manipulator is set as the starting point coordinate, the coordinate information of the sixth positioner when the second bending component has just completed the bending operation is set as the end point coordinate, the coordinate information of the sixth positioner and the coordinate information of the second positioner within each sampling time are set as obstacle coordinates, and the RRT algorithm is used to obtain the optimal path of the fourth manipulator within each sampling time. The controller controls the fourth manipulator to move according to the corresponding optimal path within each sampling time.

9. The rotary assembly welding structure according to claim 8, characterized in that: The specific method of the RRT algorithm is as follows: add the starting point coordinates to the search tree as the only node, randomly sample a point in the free space as a new sampling point, find the node closest to the new sampling point in the search tree as the nearest neighbor node, and extend one step from the nearest neighbor node to the straight path between the sampling points to form an extended path, and check whether the obstacle coordinates are on the extended path. If the obstacle coordinates are not on the extended path, add the new sampling point to the search tree and add the edge connecting it to the search tree, check whether the newly added node is close enough to the end point coordinates, if so, the algorithm terminates, and when the algorithm terminates, extract the path from the starting point coordinates to the end point coordinates from the search tree as the optimal path.

10. The rotary assembly welding structure according to claim 3, characterized in that: A miniature camera is installed on the upper end of the distance sensor, the distance sensor is rotatably connected to the welding platform, the distance sensor is rotated by a second motor, the second motor drives the distance sensor and the miniature camera to rotate synchronously, and the miniature camera is used to take pictures when the second motor rotates 1°; The specific method for obtaining the first measurement distance is as follows: when the left end of the bent steel bar exists in the photo taken by the micro camera and the left end of the bent steel bar is located at the exact center of the photo, the second motor stops rotating, the controller controls the distance sensor to measure the distance, and the measurement value of the distance sensor at this time is set as the first measurement distance; The specific method for obtaining the second measuring distance is: when the right end of the bent steel bar exists in the photo taken by the micro camera, and the right end of the bent steel bar is located at the exact center of the photo, the second motor stops rotating, and the controller controls the distance sensor to measure the distance, and sets the measurement value of the distance sensor at this time to the second measuring distance.

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