Intelligent adaptive steel structure welding device and welding method

Abstract

The present invention relates to the technical field of welding equipment, and in particular to an intelligent and adaptive steel structure welding device and welding method, comprising a loading and unloading unit, a welding unit, an adjustable clamping unit, a visual recognition unit and a transfer manipulator, wherein the loading and unloading unit and the transfer manipulator are located on the same side of the welding unit, the adjustable clamping unit is located on both sides of the welding frame of the welding unit, the camera 1 of the visual recognition unit is located on the transfer manipulator, the camera 2 is located on the welding manipulator of the welding unit, the welding manipulator is located on the opposite side of the transfer manipulator, and the welding unit, the adjustable clamping unit, the visual recognition unit and the transfer manipulator are all electrically connected to a controller. The present invention adopts the above-mentioned intelligent and adaptive steel structure welding device and welding method, the adjustable clamping unit can be adjusted according to the shape of the parts to be welded, and is used in conjunction with the visual recognition unit to ensure the accuracy of the welding process and the welding quality.

Description

Technical Field

[0001] The present invention relates to the technical field of welding equipment, and in particular to an intelligent self-adaptive steel structure welding device and a welding method. Background Art

[0002] In the construction field, a large number of steel structures are used in high-rise buildings, large-span bridges, and stadiums, which has promoted the development of steel structure welding technology. In marine engineering, offshore oil platforms, port terminals, shipbuilding, etc., due to the excellent corrosion resistance and load-bearing capacity of steel structures, their welding technology has also been widely used. In addition, new energy facilities such as wind power towers and solar brackets also use a large number of steel structures, and the demand for welding technology continues to grow.

[0003] Steel structure welding is a key link in the process of steel structure manufacturing and installation. Robotic welding systems are increasingly used in large steel structures, complex components and welding tasks with high repetition, with the advantages of high speed, high precision and high efficiency. Although automated welding equipment is constantly developing, the adaptability and flexibility of automated equipment for steel structure components with complex shapes and non-standard sizes are still insufficient, making it difficult to meet diverse welding needs. Summary of the invention

[0004] The purpose of the present invention is to provide an intelligent and adaptive steel structure welding device and welding method. The adjustable clamping unit can be adjusted according to the shape of the parts to be welded, and is used in conjunction with a visual recognition unit to ensure the accuracy and quality of the welding process.

[0005] To achieve the above-mentioned objectives, the present invention provides an intelligent and adaptive steel structure welding device, comprising a loading and unloading unit, a welding unit, an adjustable clamping unit, a visual recognition unit and a transfer robot, the loading and unloading unit and the transfer robot are located on the same side of the welding unit, the adjustable clamping unit is located on both sides of the welding frame of the welding unit, camera 1 of the visual recognition unit is located on the transfer robot, camera 2 is located on the welding robot of the welding unit, the welding robot is located on the opposite side of the transfer robot, and the welding unit, the adjustable clamping unit, the visual recognition unit and the transfer robot are all electrically connected to the controller.

[0006] Preferably, the loading rack and unloading rack of the loading and unloading unit are respectively located on both sides of the transfer robot, and the loading rack and the unloading rack have the same structure. A plurality of threaded holes are provided on the loading rack, and the threaded holes are threadedly connected to the lower part of the positioning piece, and a positioning baffle is provided on the upper part of the positioning piece.

[0007] Preferably, a welding slide rail is provided in the center of the welding fixed seat of the welding unit, and the welding slide rail is slidably connected to the welding base of the welding robot. A moving motor is provided on one side of the welding base, and the moving motor is connected to a moving gear under the welding base. The moving gear is meshed with a fixed rack on the inner side of the welding slide rail, and sliders are provided on both sides of the welding base, which are slidably connected to the outer side of the welding slide rail.

[0008] Preferably, the fixed clamping assembly and the adjustable clamping assembly of the adjustable clamping unit are both located on the welding frame, the fixed clamping assembly is symmetrically arranged at both ends of the welding frame, and the adjustable clamping assembly is symmetrically arranged on both sides of the welding frame.

[0009] Preferably, the fixed plate of the adjustable clamping assembly is connected to the welding frame, and a driving motor is connected to one side of the fixed plate. A driving gear is sleeved on the driving motor, the driving gear is meshed with a gear ring, the gear ring is meshed with a driven gear, the driven gear is connected to a threaded rod hinged on the fixed frame, and a movable frame is threadedly connected to the threaded rod.

[0010] Preferably, a rotating frame is hinged on the top of the movable frame, the rear side of the rear end of the rotating frame is connected to the first clamping cylinder, the front side of the rear end of the rotating frame is connected to the second clamping cylinder, the first clamping cylinder is connected to the first clamping block in the through groove of the rotating frame, the second clamping cylinder is connected to the second clamping block, the rotating plate at the bottom of the rotating frame is hinged to the limit frame, and the limit frame is connected to the rotating cylinder at the bottom of the fixed frame.

[0011] Preferably, the image processing module of the visual recognition unit is located in the controller, and both camera one and camera two are provided with LED light sources.

[0012] Preferably, both ends of the fixing seat of the fixed clamping assembly are provided with U-shaped fixing grooves, the fixing grooves are connected to the outer side of the welding frame, and L-shaped limit blocks are symmetrically provided on the top of the fixing seat to form a limit groove between the limit blocks and the top of the fixing seat.

[0013] Preferably, the welding robot is provided with a first rotating motor, a second rotating motor, a third rotating motor and a fourth rotating motor in sequence.

[0014] The above-mentioned welding method of the intelligent adaptive steel structure welding device comprises the following steps: S1. Place positioning pieces on the loading rack according to the shape of the parts to be welded, and the positioning pieces surround the parts to be welded. Set positioning pieces on the unloading rack according to the shape of the welded steel structure, and the positioning pieces surround the welded steel structure. S2. The transfer manipulator sucks the parts to be welded from the loading rack to the welding rack, and the adjustable clamping assembly fixes both sides of the parts to be welded. It is selected whether to move the fixed clamping assembly to fix both ends of the parts to be welded; S3, the transfer robot continues to absorb the remaining parts to be welded, and confirms the position of the welded parts through the visual recognition unit. The welding robot confirms the welding position and then welds; S4. After the welded steel structure is sucked by the transfer robot, the adjustable clamping unit is removed and the welded steel structure is transferred to the unloading rack.

[0015] Therefore, the present invention adopts the above-mentioned intelligent adaptive steel structure welding device and welding method, and its beneficial effects are: 1. The adjustable clamping unit provided in the welding device provided by the present invention can be adjusted according to the shape of the parts to be welded, and the adjustable clamping assembly can adjust the angles of the first clamping block and the second clamping block to ensure smooth clamping of the parts to be welded; 2. The positions of the loading rack, unloading rack and positioning member of the welding device provided by the present invention are set according to the shapes of the parts to be welded and the welded steel structure, so that the parts to be welded are placed in different areas and the welded steel structure is collected uniformly; 3. The welding device provided by the present invention is used in conjunction with a visual recognition unit to ensure the accuracy and quality of the welding process.

[0016] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a top view of an intelligent self-adaptive steel structure welding device of the present invention; Figure 2 The present invention Figure 1 Schematic diagram of the left half of ; Figure 3 The present invention Figure 1 Schematic diagram of the right half of ; Figure 4 It is a side view of an intelligent self-adaptive steel structure welding device of the present invention; Figure 5 The present invention Figure 4 A in the enlarged view; Figure 6 The present invention Figure 4 The enlarged view of point B in the figure; Figure 7 It is a partial schematic diagram of a fixing and clamping assembly of an intelligent and adaptive steel structure welding device of the present invention; Figure 8 It is a side view schematic diagram of an adjustable clamping unit of an intelligent self-adaptive steel structure welding device of the present invention; Fig. 9 It is a schematic diagram of an adjustable clamping unit of an intelligent self-adaptive steel structure welding device of the present invention; Fig.10 It is a side view of a positioning member in an intelligent self-adaptive steel structure welding device of the present invention.

[0018] Reference numerals: 1. Loading and unloading unit; 11. Loading rack; 12. Unloading rack; 13. Threaded hole groove; 14. Positioning piece; 15. Positioning baffle; 2. Welding unit; 21. Welding manipulator; 211. First rotating motor; 212. Second rotating motor; 213. Third rotating motor; 214. Fourth rotating motor; 22. Welding fixed seat; 23. Welding slide rail; 24. Moving motor; 25. Moving gear; 26. Fixed rack; 27. Sliding block; 28. Welding rack; 3. Adjustable clamping unit; 31. Adjustable clamping assembly; 311. Driving motor; 312, driven gear; 313, threaded rod; 314, rotating frame; 315, moving frame; 316, fixed plate; 317, first clamping cylinder; 318, second clamping cylinder; 319, first clamping block; 3110, second clamping block; 3111, rotating cylinder; 3112, limiting frame; 32, fixed clamping assembly; 321, fixed seat; 322, limiting block; 323, limiting groove; 4, visual recognition unit; 41, camera 1; 42, camera 2; 43, LED light source; 5, transfer robot. DETAILED DESCRIPTION

[0019] The present invention is further described below in conjunction with the accompanying drawings and embodiments. Unless otherwise defined, the technical terms or scientific terms used in the present invention should be the common meanings understood by people with ordinary skills in the field to which the present invention belongs. The above-mentioned features or features mentioned in the specific examples mentioned in the present invention can be combined arbitrarily, and these specific embodiments are only used to illustrate the present invention and are not used to limit the scope of the present invention.

[0020] Example 1 like Figure 1 As shown, the present invention provides an intelligent adaptive steel structure welding device, including a loading and unloading unit 1, a welding unit 2, an adjustable clamping unit 3, a visual recognition unit 4 and a transfer robot 5. The loading and unloading unit 1 and the transfer robot 5 are located on the same side of the welding unit 2, and the adjustable clamping unit 3 is located on both sides of the welding frame 28 of the welding unit 2. The camera 1 41 of the visual recognition unit 4 is located on the transfer robot 5, and the camera 2 42 is located on the welding robot 21 of the welding unit 2. The welding robot 21 is located on the opposite side of the transfer robot 5, and the welding unit 2, the adjustable clamping unit 3, the visual recognition unit 4 and the transfer robot 5 are all electrically connected to the controller.

[0021] The loading and unloading unit 1 collects and organizes the parts to be welded and the welded steel structure in a unified manner, so as to facilitate the transfer of the transfer robot 5. The adjustable clamping unit 3 fixes the parts to be welded of the main body, and the transfer robot 5 absorbs the remaining parts to be welded and places them on the parts to be welded of the main body according to the welding requirements, and the welding robot 21 welds the two together. The visual recognition unit 4 recognizes the welding position, the position and angle between the parts to be welded and the parts to be welded of the main body.

[0022] like Figure 2 and Figure 3 As shown, the loading and unloading unit 1 has a loading rack 11 and a unloading rack 12 located on both sides of the transfer robot 5, and the loading rack 11 and the unloading rack 12 have the same structure. The loading rack 11 is provided with a plurality of threaded holes 13, which are threadedly connected to the lower part of the positioning member 14, and the upper part of the positioning member 14 is provided with a positioning baffle 15.

[0023] like Fig.10 As shown, the positions of the threaded holes 13 on the loading rack 11 can be evenly arranged, or can be arranged according to the shapes of the parts to be welded. The positioning member 14 is inserted into the threaded holes 13 and tightened to fix the positioning member 14 on the loading rack 11. After all the positioning members 14 are installed, the positioning baffles 15 form a placement area for the parts to be welded, so that different parts to be welded can be placed in different areas, which is convenient for the transfer robot 5 to quickly absorb different parts to be welded.

[0024] The threaded hole grooves 13 on the unloading rack 12 are arranged according to the shape of the welded steel structure, and a plurality of placement areas for the welded steel structures are formed between the positioning baffles 15, so as to facilitate the unified collection of the welded steel structures.

[0025] like Figure 4-Figure 6 As shown, a welding slide rail 23 is provided in the center of the welding fixed seat 22 of the welding unit 2, and the welding slide rail 23 is slidably connected to the welding base of the welding manipulator 21. A moving motor 24 is provided on one side of the welding base, and the moving motor 24 is connected to a moving gear 25 below the welding base. The moving gear 25 is meshed with a fixed rack 26 on the inner side of the welding slide rail 23, and sliders 27 slidably connected to the outer side of the welding slide rail 23 are provided on both sides of the welding base.

[0026] The welding manipulator 21 can be moved relative to the welding fixed seat 22 under the drive of the welding base, thereby changing the position of the welding manipulator 21 relative to the welding frame 28, so as to facilitate welding of parts to be welded at different positions. When the welding base moves, the moving motor 24 is started to drive the moving gear 25 to rotate. After the moving gear 25 rotates, it moves along the fixed rack 26, thereby driving the welding manipulator 21 to move. During the movement of the welding manipulator 21, the slider 27 slides along the outer side of the welding slide rail 23, thereby limiting the moving welding base.

[0027] The fixed clamping assembly 32 and the adjustable clamping assembly 31 of the adjustable clamping unit 3 are both located on the welding frame 28. The fixed clamping assembly 32 is symmetrically arranged at both ends of the welding frame 28, and the adjustable clamping assembly 31 is symmetrically arranged at both sides of the welding frame 28. The fixed clamping assembly 32 fixes both ends of the parts to be welded of the main body, and the adjustable clamping assembly 31 fixes both sides of the parts to be welded of the main body, or the adjustable clamping assembly 31 clamps and fixes the welding parts at different positions, so that the transfer robot 5 can absorb the remaining welding parts and connect them after welding.

[0028] like Figure 8-Figure 9 As shown, the fixed plate 316 of the adjustable clamping assembly 31 is connected to the welding frame 28, and a driving motor 311 is connected to one side of the fixed plate 316. A driving gear is sleeved on the driving motor 311, and the driving gear is meshed with a gear ring, and the gear ring is meshed with a driven gear 312. The driven gear 312 is connected to a threaded rod 313 hinged on the fixed frame, and a movable frame 315 is threadedly connected to the threaded rod 313.

[0029] The adjustable clamping assembly 31 is located on the welding frame 28. After the driving motor 311 is started, the driving gear drives the gear ring to rotate, thereby driving the driven gear 312 to rotate accordingly. The threaded rod 313 rotates under the drive of the driven gear 312, thereby driving the moving frame 315 to move forward and backward. The moving frame 315 is slidably connected to the limit rod at the upper and lower sides of the screw rod. The setting of the limit rod ensures that the moving frame 315 moves smoothly forward and backward under the drive of the threaded rod 313.

[0030] The top of the mobile frame 315 is hinged with a rotating frame 314, the rear side of the rear end of the rotating frame 314 is connected to the first clamping cylinder 317, and the front side of the rear end of the rotating frame 314 is connected to the second clamping cylinder 318. The first clamping cylinder 317 is connected to the first clamping block 319 in the through groove of the rotating frame 314, and the second clamping cylinder 318 is connected to the second clamping block 3110. The rotating plate at the bottom of the rotating frame 314 is hinged to the limiting frame 3112, and the limiting frame 3112 is connected to the rotating cylinder 3111 at the bottom of the fixed frame.

[0031] The rotating frame 314 rotates under the drive of the rotating cylinder 3111 and the limiting frame 3112. The rotating cylinder 3111 is started to drive the limiting frame 3112 to move forward and backward, and the limiting frame 3112 drives the rotating plate hinged thereto to move. The movement of the rotating plate drives the rotating frame 314 to move accordingly. Since the rotating frame 314 is hinged to the moving frame 315, the rotating frame 314 rotates relative to the moving frame 315 under the drive of the rotating plate.

[0032] The first clamping cylinder 317 drives the first clamping block 319 to move, and the second clamping cylinder 318 drives the second clamping block 3110 to move. The first clamping block 319 and the second clamping block 3110 are at different positions, which is convenient for clamping different positions of the parts to be welded. The rotation of the rotating frame 314 drives the first clamping block 319 and the second clamping block 3110 to adjust the angle relative to the welding frame 28, which is convenient for clamping parts to be welded of different shapes. The setting of the through groove is convenient for the first clamping cylinder 317 to drive the first clamping block 319 to move during the rotation of the rotating frame 314 relative to the moving frame 315 without affecting the movement of the first clamping block 319.

[0033] The image processing module of the visual recognition unit 4 is located in the controller, and the camera 1 41 and the camera 2 42 are both provided with an LED light source 43. The LED light source 43 provides light to the camera 1 41 and the camera 2 42, so that the camera 1 41 and the camera 2 42 can clearly collect images and clearly display the outline and details of the weld. The image processing module uses the means in the prior art to process and analyze the collected images, and then controls the work of the transfer manipulator 5 and the welding manipulator 21 through the controller.

[0034] like Figure 7 As shown, both ends of the fixing seat 321 of the fixing clamping assembly 32 are provided with U-shaped fixing grooves, and the fixing grooves are connected to the outer side of the welding frame 28. The top of the fixing seat 321 is symmetrically provided with L-shaped limit blocks 322, and a limit groove 323 is formed between the limit blocks 322 and the top of the fixing seat 321. The two ends of the parts to be welded of the main body are inserted into the limit grooves 323, and then the fixing seat 321 is fixed on the welding frame 28. The setting of the fixing groove facilitates the fast and limited movement of the fixing seat 321 along the welding frame 28, and then the fixing groove is connected to the welding frame 28 through locking bolts.

[0035] The welding robot 21 is provided with a first rotating motor 211 , a second rotating motor 212 , a third rotating motor 213 and a fourth rotating motor 214 in sequence, which provide the welding robot 21 with multi-degree-of-freedom movement, facilitating welding at different positions and angles.

[0036] Example 2 A welding method of an intelligent self-adaptive steel structure welding device comprises the following steps: S1. Place positioning pieces 14 on the loading rack 11 according to the shape of the parts to be welded, and the positioning pieces 14 surround the parts to be welded. Set positioning pieces 14 on the unloading rack 12 according to the shape of the welded steel structure, and the positioning pieces 14 surround the welded steel structure.

[0037] S2. The transfer robot 5 sucks the parts to be welded from the loading rack 11 to the welding rack 28. The adjustable clamping assembly 31 fixes both sides of the parts to be welded. It is selected whether to move the fixed clamping assembly 32 to fix both ends of the parts to be welded.

[0038] S3, the transfer robot 5 continues to absorb the remaining parts to be welded, and confirms the position of the welded parts through the visual recognition unit 4, and the welding robot 21 welds after confirming the welding position.

[0039] S4, after the welded steel structure is sucked by the transfer robot 5, the adjustable clamping unit 3 is removed, and the welded steel structure is transferred to the unloading rack 12.

[0040] Therefore, the present invention adopts the above-mentioned intelligent adaptive steel structure welding device and welding method, and the adjustable clamping unit can be adjusted according to the shape of the parts to be welded, and is used in conjunction with the visual recognition unit to ensure the accuracy and quality of the welding process.

[0041] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that they can still modify or replace the technical solution of the present invention with equivalents, and these modifications or equivalent replacements cannot cause the modified technical solution to deviate from the spirit and scope of the technical solution of the present invention.

Claims

1. An intelligent and adaptive steel structure welding device, characterized in that: It includes a loading and unloading unit, a welding unit, an adjustable clamping unit, a visual recognition unit and a transfer robot. The loading and unloading unit and the transfer robot are located on the same side of the welding unit, the adjustable clamping unit is located on both sides of the welding frame of the welding unit, camera 1 of the visual recognition unit is located on the transfer robot, camera 2 is located on the welding robot of the welding unit, the welding robot is located on the opposite side of the transfer robot, and the welding unit, the adjustable clamping unit, the visual recognition unit and the transfer robot are all electrically connected to the controller.

2. The intelligent adaptive steel structure welding device according to claim 1, characterized in that: The loading and unloading racks of the loading and unloading unit are respectively located on both sides of the transfer robot. The loading and unloading racks have the same structure. A plurality of threaded holes are arranged on the loading rack, which are threadedly connected to the lower part of the positioning piece, and a positioning baffle is arranged on the upper part of the positioning piece.

3. The intelligent adaptive steel structure welding device according to claim 1, characterized in that: A welding slide rail is provided in the center of the welding fixed seat of the welding unit. The welding slide rail is slidably connected to the welding base of the welding manipulator. A moving motor is provided on one side of the welding base. The moving motor is connected to a moving gear under the welding base. The moving gear is meshed with a fixed rack on the inner side of the welding slide rail. Slide blocks are provided on both sides of the welding base, which are slidably connected to the outer side of the welding slide rail.

4. The intelligent adaptive steel structure welding device according to claim 1, characterized in that: The fixed clamping assembly and the adjustable clamping assembly of the adjustable clamping unit are both located on the welding frame. The fixed clamping assembly is symmetrically arranged at both ends of the welding frame, and the adjustable clamping assembly is symmetrically arranged on both sides of the welding frame.

5. The intelligent adaptive steel structure welding device according to claim 4, characterized in that: The fixed plate of the adjustable clamping assembly is connected to the welding frame, and a driving motor is connected to one side of the fixed plate. A driving gear is sleeved on the driving motor, and the driving gear is meshed with a gear ring, and the gear ring is meshed with a driven gear. The driven gear is connected to a threaded rod hinged on the fixed frame, and a movable frame is threadedly connected to the threaded rod.

6. The intelligent adaptive steel structure welding device according to claim 5, characterized in that: A rotating frame is hinged on the top of the mobile frame, the rear side of the rear end of the rotating frame is connected to the first clamping cylinder, the front side of the rear end of the rotating frame is connected to the second clamping cylinder, the first clamping cylinder is connected to the first clamping block in the through groove of the rotating frame, the second clamping cylinder is connected to the second clamping block, the rotating plate at the bottom of the rotating frame is hinged to the limiting frame, and the limiting frame is connected to the rotating cylinder at the bottom of the fixed frame.

7. The intelligent adaptive steel structure welding device according to claim 1, characterized in that: The image processing module of the visual recognition unit is located in the controller, and LED light sources are provided on both camera one and camera two.

8. The intelligent adaptive steel structure welding device according to claim 4, characterized in that: Both ends of the fixing seat of the fixed clamping assembly are provided with U-shaped fixing grooves, the fixing grooves are connected to the outer side of the welding frame, and L-shaped limit blocks are symmetrically provided on the top of the fixing seat to form a limit groove between the limit blocks and the top of the fixing seat.

9. The intelligent adaptive steel structure welding device according to claim 1, characterized in that: The welding manipulator is provided with a first rotating motor, a second rotating motor, a third rotating motor and a fourth rotating motor in sequence.

10. A welding method of the intelligent adaptive steel structure welding device according to any one of claims 1 to 9, characterized in that: The following steps are included: S1. Place positioning pieces on the loading rack according to the shape of the parts to be welded, and the positioning pieces surround the parts to be welded. Set positioning pieces on the unloading rack according to the shape of the welded steel structure, and the positioning pieces surround the welded steel structure. S2. The transfer manipulator sucks the parts to be welded from the loading rack to the welding rack, and the adjustable clamping assembly fixes both sides of the parts to be welded. It is selected whether to move the fixed clamping assembly to fix both ends of the parts to be welded; S3, the transfer robot continues to absorb the remaining parts to be welded, and confirms the position of the welded parts through the visual recognition unit. The welding robot confirms the welding position and then welds; S4. After the welded steel structure is sucked by the transfer robot, the adjustable clamping unit is removed and the welded steel structure is transferred to the unloading rack.

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