A fully automated intelligent numerical control production system for steel arch frames

Abstract

The present invention relates to the technical field of steel arch production, and more specifically, to a fully automated intelligent numerical control production system for steel arches. It includes a feeding component, a preliminary cutting component, a continuous welding component, a cold bending and discharging component, a rotating and transporting component, a limiting feeding component, a stop plate welding component, and a blanking component; the preliminary cutting component includes a head trimming sawing machine device and a cutting movable frame, and the head trimming sawing machine device is arranged at both ends of the cutting movable frame; continuous welding robots are arranged on both sides of the continuous welding fixed frame body, and the continuous welding conveying frame corresponds to the positions of the cutting movable frame and the cold bending and discharging component; the rotating and transporting component is arranged between the cold cutting sawing machine and the limiting feeding component, the stop plate welding component is arranged behind the limiting feeding component, and the blanking component is arranged on the side of the stop plate welding component away from the limiting feeding component. The present invention can efficiently manufacture steel arches of various specifications in an intelligent and automated manner, reduce labor costs, and improve industrial efficiency. The present invention is mainly applied to the automated production of steel arches.

Description

Technical Field

[0001] The present invention relates to the technical field of steel arch production, and more specifically, to a fully automated intelligent numerical control production system for steel arches. Background Art

[0002] With the continuous acceleration of infrastructure construction in my country, the country's investment in various types of infrastructure has continued to increase. In particular, in the construction of key projects such as high-grade highways, high-speed railways, urban integrated pipelines and urban rail transit, tunnel projects, as a key component, are increasing year by year. These tunnel projects are not only huge in number, but also often pass through complex and changeable geological environments. Therefore, in the construction process of tunnel projects, scientific and effective support measures must be taken to ensure the stability of the tunnel structure and the safety of the overall construction in view of the particularity of different types of bedrock geological conditions. As one of the core support structures in tunnel construction, the steel arch frame bears important bearing and protection functions, and plays an irreplaceable role in preventing deformation of the tunnel surrounding rock and ensuring construction safety and progress.

[0003] However, the traditional processing method of steel arches is highly dependent on manual operation, and a large amount of manual intervention is required in each link from material preparation to finished product assembly. This processing mode is not only inefficient in production, but also severely restricted by subjective factors such as the operator's proficiency and the number of laborers. In actual operation, it is often difficult to accurately control the dimensional accuracy, assembly angle and welding quality of the steel arch, which affects the support effect and even leaves safety hazards. In addition, the processing of steel arches involves a series of high-risk processes such as cutting, bending, and welding. These processes are not only labor-intensive, but also very likely to cause work-related accidents, posing a serious threat to the life safety and physical health of operators.

[0004] At the same time, with the progress of the times and the development of social economy, the construction industry is facing unprecedented challenges, among which the rising labor costs and the serious shortage of professional skilled workers are particularly prominent. This situation not only further aggravates the labor cost burden of the steel arch frame processing industry, but also makes it difficult for the traditional manual processing mode to adapt to the rapid development needs of modern tunnel engineering construction in terms of efficiency, quality and cost control. Therefore, exploring and promoting a new efficient, accurate and safe steel arch frame processing system has become an important issue that needs to be solved in the current tunnel engineering construction field. Summary of the invention

[0005] To overcome the deficiencies existing in the above-mentioned prior art, the present invention provides a fully automated intelligent numerical control production system for steel arch frames. This production system can realize intelligent and automated high-efficiency production of steel arch frames with different specifications; it not only improves production efficiency and product quality, reduces production costs and manpower requirements, but also enhances production safety and flexibility, and promotes the industrial upgrading and sustainable development of the entire industry. Therefore, this invention has broad application prospects and important economic value.

[0006] To solve the above technical problems, the technical solution adopted by the present invention is as follows:

[0007] A fully automated intelligent numerical control production system for steel arch frames, including a loading component, a preliminary cutting component, a continuous welding component, a cold bending and discharging component, a rotating and transporting component, a limiting feeding component, a stop plate welding component and a blanking component. The loading component includes a loading robotic arm and a raw material rack, and the loading robotic arm is arranged on one side of the raw material rack; the preliminary cutting component includes a head trimming sawing machine device and a cutting movable frame, the cutting movable frame is arranged parallel to the raw material rack, and the head trimming sawing machine device is arranged at both ends of the cutting movable frame;

[0008] The continuous welding component includes a continuous welding fixed frame body, a continuous welding conveying frame and a continuous welding robot. The continuous welding conveying frame is arranged on both sides of the continuous welding fixed frame body, and the continuous welding robot is arranged on both sides of the continuous welding fixed frame body. The two continuous welding conveying frames on both sides are respectively arranged corresponding to the positions of the cutting movable frame and the cold bending and discharging component; the cold bending and discharging component includes a rotary cold bending machine and a cold cutting sawing machine. The rotating and transporting component is arranged between the cold cutting sawing machine and the limiting feeding component, the stop plate welding component is arranged behind the limiting feeding component, and the blanking component is arranged on the side of the stop plate welding component away from the limiting feeding component.

[0009] Both ends of the cutting movable frame are provided with a cleaning component, and the cleaning component includes a cleaning outer shell and a cleaning rubber strip. Both sides of the cleaning outer shell are of an open structure, and the cleaning rubber strip is arranged at the open structure.

[0010] Below the stop plate welding component is provided with a stop plate cutting and conveying component, and the stop plate cutting and conveying component includes a stop plate laser cutting machine, a stop plate transfer robotic arm and a stop plate conveying frame. The stop plate conveying frame adopts an L-shaped frame structure. One end of the stop plate conveying frame is arranged below the limiting feeding component. The stop plate laser cutting machine and the stop plate transfer robotic arm are arranged at the end of the stop plate conveying frame away from the limiting feeding component. The stop plate transfer robotic arm is arranged between the stop plate conveying frame and the stop plate laser cutting machine, and a stop plate storage bin is arranged between the stop plate transfer robotic arm and the stop plate conveying frame.

[0011] The rotary transfer assembly includes a walking slide base, a walking slide, a rotary slide, and a clamping cylinder. The walking slide is slidably arranged on the walking slide base. The rotary slide is rotatably arranged on the walking slide. The clamping cylinder is arranged on the walking slide. Side guiding rollers are also arranged on the walking slide and are arranged corresponding to the clamping cylinder.

[0012] The limit feeding assembly includes a slide base, an adjustable-width chain conveyor frame, and an end positioning baffle. There are two groups of slide bases arranged in parallel. There are two groups of adjustable-width chain conveyor frames arranged in parallel on the slide bases. The adjustable-width chain conveyor frames are arranged perpendicular to the slide bases. An adjustable-width roller support is also arranged on the slide base. A roller lifting frame is arranged on the adjustable-width roller support. An electric roller is arranged on the roller lifting frame. The electric roller is arranged parallel to the adjustable-width chain conveyor frame. The end positioning baffle is arranged on one side of the slide base away from the rotary transfer assembly.

[0013] The stop plate welding assembly includes a welding base frame, a turning and positioning machine, a stop bar, a clamping mechanism, a connecting plate handling robot, and a connecting plate welding robot. The welding base frame is connected to the limit feeding assembly. The turning and positioning machine and the clamping mechanism are arranged on the welding base frame. The stop bar is arranged between the turning and positioning machine and the clamping mechanism. The connecting plate handling robot and the connecting plate welding robot are symmetrically arranged on both sides of the welding base frame. A gun cleaning station is arranged on the welding base frame.

[0014] The blanking assembly includes two groups of cantilever beam walking tracks arranged in parallel, a cantilever beam walking trolley, a cantilever beam column track, and a cantilever beam. The cantilever beam walking trolley is movably arranged on the cantilever beam walking tracks. The cantilever beam column track is fixedly arranged on the cantilever beam walking trolley. The cantilever beam is arranged on the cantilever beam column track. The cantilever beam is arranged perpendicular to the cantilever beam column track. A clamping jaw mechanism is arranged at one end of the cantilever beam away from the cantilever beam column track. The clamping jaw mechanism can move in the vertical direction to complete the grabbing operation of the steel arch.

[0015] A finished product storage rack is arranged between the stop plate welding assembly and the blanking assembly. The finished product storage rack includes a finished product rack and an adjustable-width bracket. The adjustable-width brackets are symmetrically arranged on the finished product rack. A bracket slide rail is arranged on the finished product rack. Both sides of the adjustable-width bracket are slidably connected to the bracket slide rail through pulleys.

[0016] The loading assembly further includes an image recognition device. The image recognition device includes a camera frame body and an image shooting device. The camera frame body is fixedly arranged on one side of the loading robotic arm. The image shooting device is arranged at the top of the camera frame body.

[0017] The cutting movable frame is arranged in parallel with the continuous welding conveying frame. A plurality of transfer rack assemblies are arranged between the cutting movable frame and the continuous welding conveying frame. The transfer rack assembly includes a transfer slide rail and a transfer lifting frame. The transfer slide rail is arranged between the cutting movable frame and the continuous welding conveying frame, and is perpendicular to the positions of the cutting movable frames and the continuous welding conveying frame on both sides. The transfer lifting frame is movably arranged on the transfer slide rail.

[0018] The loading robotic arm includes a grasping mechanism and an electric hoist. The grasping mechanism is arranged below the electric hoist, and the electric hoist is used to drive the grasping mechanism to move up and down.

[0019] The grasping mechanism includes a blowing device and a power-off type electromagnet. The blowing device is arranged at the end of the grasping mechanism and is used to blow off the floating dust on the surface of the I-beam. The power-off type electromagnet is used to adsorb and lift the I-beam.

[0020] The cleaning assembly further includes a driving motor, which is connected to the cleaning rubber strip and is used to drive the cleaning rubber strip to reciprocate at the opening structure.

[0021] A pushing cylinder is further arranged on the stop plate conveying frame, and the pushing cylinder is used to push the stop plate from the horizontal stop plate conveying frame to the vertical stop plate conveying frame.

[0022] A guiding rail is arranged on the walking slide base, and the walking slide is slidably connected to the guiding rail through guiding wheels.

[0023] A deceleration sensor and a position stop sensor are arranged on the adjustable-width chain conveying frame, which are used to control the conveying speed and stop position of the I-beam.

[0024] The turning and positioning machine includes a turning driving motor and a turning frame. The turning driving motor is used to drive the turning frame to rotate so as to realize the turning and positioning of the I-beam.

[0025] A vertical movement driving mechanism is further arranged on the cantilever beam, which is used to drive the cantilever beam to move vertically on the cantilever beam column track.

[0026] The finished product storage rack further includes a counting sensor, which is used to count the number of steel arch frames on the finished product storage rack.

[0027] The image capturing device includes a high-definition camera and a light source device. The light source device is used to provide illumination for the high-definition camera.

[0028] The transfer rack assembly further includes a position sensor, which is used to detect the position state of the transfer lifting frame.

[0029] It also includes a control system, which is electrically connected to the feeding component, the preliminary cutting component, the continuous welding component, the cold bending and discharging component, the rotary transfer component, the limit feeding component, the stop plate welding component and the blanking component, and is used to control the coordinated work of each component.

[0030] The control system includes a PLC controller and a human-machine interface. The PLC controller is used to execute control logic, and the human-machine interface is used to display the production status and set production parameters.

[0031] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0032] The setting of the feeding component and the image recognition device has a visual recognition function, can accurately grasp the raw materials of the steel arch, ensure the accuracy of feeding, and at the same time greatly improve the efficiency and save manpower; the setting of the preliminary cutting component can accurately cut both sides of the material, reduce the floor area of the equipment, and improve the cutting efficiency; the setting of the cleaning component can clean the waste residue while cutting the two ends of the arch evenly, clean the virtual residue without affecting the efficiency, and lay the foundation for continuous welding without manual input; during continuous welding, the two sides of the arch are clamped and aligned by the continuous welding fixing frame, and the joint measurement continuous welding robot works at the same time, with high welding efficiency and good welding finished product quality; through the setting of the limit feeding component, the I-beam arch adjusts its posture accurately and enters the grasping area position of the positioner; the setting of the stop plate welding component can meet the efficient and rapid welding and fixing of the two side baffles of the arch; reduce the number of traditional positioners, reduce costs, increase flexibility. After the positioner grasps the I-beam, it directly performs front welding and then moves to flip for back welding, solving the requirement of placing the final finished product upward in some designs; the stop plate transfer manipulator grasps the cut stop plate and places it in the stop plate storage bin of different specifications of stop plates. When it is detected that there is no stop plate on the stop plate conveyor, the stop plate transfer manipulator grasps the stop plate and places it on the stop plate conveyor. The stop plate conveyor has two branches, which are respectively connected to the grasping areas of the connecting plate handling robots on both sides of the welding area. When the stock of stop plates at one end is reduced to a certain number, the corresponding branch switch is opened, and the stop plate is conveyed over. The connecting plate handling robot grasps the stop plate and places it in the stock area; by moving the cantilever beam walking trolley back and forth, the upper cantilever beam grasps the finished product of the steel arch and places it on the finished product storage rack. The adjustable-width brackets set on the finished product storage rack can sort and align the arches, providing convenience for subsequent hoisting and increasing the number of arches that can be placed on the finished product storage rack. The production system of the present invention can achieve intelligent and automated high-efficiency manufacturing of various specifications of steel arches; it can realize automatic conveying and positioning of connecting plates, automatic conveying, welding, forming, cutting, etc. of I-beams, greatly reducing the labor intensity of workers, and thus achieving the purpose of reducing labor costs and improving industrial efficiency. Description of the Drawings

[0033] Figure 1 Schematic diagram of the structure of the present invention;

[0034] Figure 2 Schematic diagram of the structure of the present invention from another angle;

[0035] Figure 3 Top view of the present invention;

[0036] Figure 4 Schematic diagram of the rotary transfer assembly in the present invention;

[0037] Figure 5 Schematic diagram of the limit feeding assembly in the present invention;

[0038] Figure 6 Schematic diagram of the stop plate welding assembly in the present invention;

[0039] Figure 7 Schematic diagram of the finished product storage rack in the present invention;

[0040] Figure 8 Schematic diagram of the transfer rack assembly in the present invention;

[0041] In the figure: 1 is the loading assembly, 101 is the loading robotic arm, 102 is the raw material rack, 2 is the preliminary cutting assembly, 201 is the end trimming sawing device, 202 is the cutting movable frame, 3 is the cleaning assembly, 4 is the continuous welding assembly, 401 is the continuous welding fixed frame body, 402 is the continuous welding robot, 403 is the continuous welding conveyor rack, 5 is the cold bending and discharging assembly, 501 is the rotary cold bending machine, 502 is the cooling cutting sawing machine, 6 is the rotary transfer assembly, 601 is the walking slide base, 602 is the walking slide, 603 is the slewing slide, 604 is the clamping cylinder, 605 is the side guiding roller, 7 is the limit feeding assembly, 701 is the slide base, 702 is the adjustable width chain conveyor rack, 703 is the end positioning baffle, 704 is the adjustable width roller support seat, 705 is the roller lifting frame, 706 is the electric roller, 8 is the stop plate welding assembly, 801 is the welding base frame, 802 is the turning and positioning machine, 803 is the stop bar, 804 is the clamping mechanism, 805 is the connecting plate handling robot, 806 is the connecting plate welding robot, 807 is the gun cleaning station, 9 is the stop plate cutting and transfer assembly, 901 is the stop plate laser cutting machine, 902 is the stop plate transfer manipulator, 903 is the stop plate conveyor rack, 904 is the stop plate storage bin, 10 is the unloading assembly, 1001 is the cantilever beam walking track, 1002 is the cantilever beam walking trolley, 1003 is the cantilever beam column track, 1004 is the cantilever beam, 11 is the finished product storage rack, 111 is the finished product rack, 112 is the adjustable width bracket, 113 is the bracket slide rail, 12 is the image recognition device, 13 is the transfer rack assembly, 131 is the transfer slide rail, 132 is the transfer lifting frame. Detailed implementation manners

[0042] In order to more clearly understand the above-mentioned objects, features, and advantages of the present invention, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that, without conflict, the embodiments of the present application and the features in the embodiments can be combined with each other.

[0043] In the following description, many specific details are set forth in order to fully understand the present invention. However, the present invention can also be implemented in other ways different from this description. Therefore, the protection scope of the present invention is not limited by the specific embodiments disclosed below.

[0044] As Figures 1 to 8 shown, a fully automated intelligent numerical control production system for steel arch frames includes a feeding component 1, a preliminary cutting component 2, a continuous welding component 4, a cold bending and discharging component 5, a rotating and transporting component 6, a limiting feeding component 7, a retaining plate welding component 8, and a blanking component 10. The feeding component 1 includes a feeding robotic arm 101 and a raw material rack 102, and the feeding robotic arm 101 is arranged on one side of the raw material rack 102; the preliminary cutting component 2 includes a head trimming sawing machine device 201 and a cutting movable frame 202, the cutting movable frame 202 is arranged parallel to the raw material rack 102, and the head trimming sawing machine device 201 is arranged at both ends of the cutting movable frame 202;

[0045] The continuous welding component 4 includes a continuous welding fixed frame body 401, a continuous welding conveying frame 403, and a continuous welding robot 402. The continuous welding conveying frame 403 is arranged on both sides of the continuous welding fixed frame body 401, and the continuous welding robot 402 is arranged on both sides of the continuous welding fixed frame body 401. The two continuous welding conveying frames 403 on both sides are respectively arranged corresponding to the positions of the cutting movable frame 202 and the cold bending and discharging component 5; the cold bending and discharging component 5 includes a rotary cold bending machine 501 and a cold cutting sawing machine 502. The rotating and transporting component 6 is arranged between the cold cutting sawing machine 502 and the limiting feeding component 7, the retaining plate welding component 8 is arranged behind the limiting feeding component 7, and the blanking component 10 is arranged on the side of the retaining plate welding component 8 away from the limiting feeding component 7.

[0046] The feeding robotic arm 101 transfers the I-beam raw material on the raw material rack 102 to the cutting movable frame 202, and the head trimming sawing machine device 201 on both sides of the cutting movable arch frame 202 cuts and processes the uneven surfaces at both ends of the I-beam. The preliminarily cut I-beam moves to the continuous welding conveying frame 403, and the continuous welding robot 402 welds two sections of I-beams into a whole. After being processed by the cold bending and discharging component 5, the I-beam forms an I-beam main body that meets the design requirements, and is sent to the limiting feeding component 7 through the rotating and transporting component 6. The limiting feeding component 7 can control the processing speed of the arch frame. The retaining plates on both sides of the arch frame are welded and fixed by the retaining plate welding component 8, and the blanking component 10 collects and stacks the processed arch frames.

[0047] Preferably, cleaning components 3 are arranged at both ends of the cutting movable frame 202. The cleaning components 3 include cleaning outer shells and cleaning rubber strips. Both sides of the cleaning outer shells are arranged as open structures, and the cleaning rubber strips are arranged at the open structures. The cleaning components 3 can clean debris when performing flush cuts at both ends of the arch frame.

[0048] Preferably, a stop plate cutting and conveying component 9 is arranged below the stop plate welding component 8. The stop plate cutting and conveying component 9 includes a stop plate laser cutting machine 901, a stop plate transfer manipulator 902, and a stop plate conveying rack 903. The stop plate conveying rack 903 adopts an L-shaped frame structure. One end of the stop plate conveying rack 903 is arranged below the limit feeding component 7. The stop plate laser cutting machine 901 and the stop plate transfer manipulator 902 are arranged at the end of the stop plate conveying rack 903 away from the limit feeding component 7. The stop plate transfer manipulator 902 is arranged between the stop plate conveying rack 903 and the stop plate laser cutting machine 901. A stop plate storage bin 904 is arranged between the stop plate transfer manipulator 902 and the stop plate conveying rack 903. The stop plate raw materials are cut into several finished products by the stop plate laser cutting machine 901. The stop plate transfer manipulator 902 transfers the stop plates to the stop plate conveying rack 903, and the stop plates are moved to the welding position through the stop plate conveying rack 903. The stop plate storage bin 904 can be used as a position for storing the stop plate finished products and is temporarily stored during transfer.

[0049] Preferably, the rotary transfer component 6 includes a walking slide base 601, a walking slide 602, a rotary table 603, and a clamping cylinder 604. The walking slide 602 is slidably arranged on the walking slide base 601. The rotary table 603 is rotatably arranged on the walking slide 602. The clamping cylinder 604 is arranged on the walking slide 602. Side guiding rollers 605 are also arranged on the walking slide 602, and the side guiding rollers 605 are arranged corresponding to the clamping cylinder 604. The walking slide 602 can move on the slide base 601, and the rotary table 603 can rotate at any angle on the walking slide 602. The cold-bent arch frame can be clamped and displaced by the clamping cylinder 604 and the side guiding rollers 605 and sent to the limit feeding component 7.

[0050] Preferably, the limit feeding assembly 7 includes a sliding table base 701, an adjustable-width chain conveyor frame 702, and an end positioning baffle 703. There are two groups of sliding table bases 701 arranged in parallel. There are two groups of adjustable-width chain conveyor frames 702 arranged in parallel on the sliding table base 701. The adjustable-width chain conveyor frame 702 is arranged perpendicular to the sliding table base 701. An adjustable-width roller support 704 is also arranged on the sliding table base 701. A roller lifting frame 705 is arranged on the adjustable-width roller support 704. An electric roller 706 is arranged on the roller lifting frame 705. The electric roller 706 is arranged in parallel with the adjustable-width chain conveyor frame 702. The end positioning baffle 703 is arranged on the side of the sliding table base 701 away from the rotary transfer assembly 6. The end positioning baffle 703 can limit the arch transported by the rotary transfer assembly 6 to accurately place it on the electric roller 706. Both the adjustable-width chain conveyor frame 702 and the adjustable-width roller support 704 are moved to a suitable width according to the size of the produced arch. The arch is stably placed on the limit feeding assembly 7 through the electric roller 706. After the arch is placed stably, the roller lifting frame 705 is controlled to descend, and the arch is transferred to the adjustable-width chain conveyor frame 702, and the arch is transferred to the baffle welding assembly 8 through the adjustable-width chain conveyor frame 702.

[0051] Preferably, the baffle welding assembly 8 includes a welding base frame 801, a turning and positioning machine 802, a baffle 803, a clamping mechanism 804, a connecting plate handling robot 805, and a connecting plate welding robot 806. The welding base frame 801 is connected to the limit feeding assembly 7. The turning and positioning machine 802 and the clamping mechanism 804 are arranged on the welding base frame 801. The baffle 803 is arranged between the turning and positioning machine 802 and the clamping mechanism 804. The connecting plate handling robot 805 and the connecting plate welding robot 806 are symmetrically arranged on both sides of the welding base frame 801. A gun cleaning station 807 is arranged on the welding base frame 801. The processing speed of the arch is controlled by the baffle 803 and the clamping mechanism 804. The arch is turned and positioned by the turning and positioning machine 802. The baffle plates transported by the baffle plate conveyor 903 are welded to both ends of the arch by using the connecting plate handling robot 805 and the connecting plate welding robot 806 to complete the assembly operation of the arch.

[0052] Preferably, the blanking assembly 10 includes a cantilever beam walking track 1001, a cantilever beam walking trolley 1002, a cantilever beam column track 1003 and a cantilever beam 1004. Two groups of cantilever beam walking tracks 1001 are arranged in parallel. The cantilever beam walking trolley 1002 is movably arranged on the cantilever beam walking track 1001. The cantilever beam column track 1003 is fixedly arranged on the cantilever beam walking trolley 1002. The cantilever beam 1004 is arranged on the cantilever beam column track 1003, and the cantilever beam 1004 is perpendicular to the cantilever beam column track 1003. A clamping jaw mechanism is arranged at one end of the cantilever beam 1004 far from the cantilever beam column track 1003. The clamping jaw mechanism can move in the vertical direction to complete the grasping operation of the steel arch. The cantilever beam walking trolley 1002 can move along the cantilever beam walking track 1001, and through the vertical movement of the cantilever beam 1004 on the cantilever beam column track 1003, the clamping of the arch is completed.

[0053] Preferably, a finished product storage rack 11 is arranged between the stop plate welding assembly 8 and the blanking assembly 10. The finished product storage rack 11 includes a finished product rack 111 and an adjustable-width bracket 112. The adjustable-width brackets 112 are symmetrically arranged on the finished product rack 111. A bracket slide rail 113 is arranged on the finished product rack 111. Both sides of the adjustable-width bracket 112 are slidably connected to the bracket slide rail 113 through pulleys. The adjustable-width bracket 112 can be adjusted in width according to the size of the produced arch. The cantilever beam 1004 clamps and places the arch on the finished product storage rack 11 for stacking.

[0054] Preferably, the feeding assembly 1 further includes an image recognition device 12. The image recognition device 12 includes a camera frame body and an image shooting device. The camera frame body is fixedly arranged on one side of the feeding robotic arm. The image shooting device is arranged at the top of the camera frame body. The image shooting device on the camera frame body scans and recognizes the position. The feeding robotic arm 101 sends a signal to the PLC control system according to the position data of the I-beam transmitted by the image shooting device, and then the motor on the feeding robotic arm 101 moves forward and backward, and after running to the positioned position, it clamps.

[0055] Preferably, the cutting movable frame 202 is arranged in parallel with the continuous welding conveying frame 403. A plurality of transfer rack assemblies 13 are arranged between the cutting movable frame 202 and the continuous welding conveying frame 403. The transfer rack assembly 13 includes a transfer slide rail 131 and a transfer lifting frame 132. The transfer slide rail 131 is arranged between the cutting movable frame 202 and the continuous welding conveying frame 403, and is perpendicularly arranged with respect to the positions of the cutting movable frames 202 and the continuous welding conveying frame 403 on both sides. The transfer lifting frame 132 is movably arranged on the transfer slide rail 131. Open positions corresponding to the transfer slide rail 131 are provided on both the cutting movable frame 202 and the continuous welding conveying frame 403. When the transfer lifting frame 132 rises to lift the I-beam, the I-beam is transferred to the continuous welding conveying frame 403 by the translation of the transfer lifting frame 132 on the transfer slide rail 131, and then the transfer lifting frame 132 lowers the I-beam onto the continuous welding conveying frame 403.

[0056] Preferably, the loading manipulator 101 includes a grasping mechanism and an electric hoist. The grasping mechanism is arranged below the electric hoist, and the electric hoist is used to drive the grasping mechanism to move up and down.

[0057] Preferably, the grasping mechanism includes a blowing device and a power-off electromagnet. The blowing device is arranged at the end of the grasping mechanism and is used to blow off the floating dust on the surface of the I-beam, and the power-off electromagnet is used to adsorb and lift the I-beam.

[0058] Preferably, the cleaning assembly 3 further includes a driving motor, which is connected to the cleaning rubber strip and is used to drive the cleaning rubber strip to reciprocate at the opening structure.

[0059] Preferably, a pushing cylinder is further arranged on the stop plate conveying frame 903, and the pushing cylinder is used to push the stop plate from the horizontal stop plate conveying frame 903 to the vertical stop plate conveying frame 903.

[0060] Preferably, a guide rail is arranged on the walking slide base 601, and the walking slide 602 is slidably connected to the guide rail through guide wheels.

[0061] Preferably, a deceleration sensor and a position-in-place stop sensor are arranged on the adjustable-width chain conveying frame 702, which are used to control the conveying speed and stop position of the I-beam.

[0062] Preferably, the flipping and positioning machine 802 includes a flipping drive motor and a flipping frame. The flipping drive motor is used to drive the flipping frame to rotate so as to realize the flipping and positioning of the I-beam.

[0063] Preferably, a vertical movement driving mechanism is further arranged on the cantilever beam 1004, which is used to drive the cantilever beam 1004 to move vertically on the cantilever beam column track 1003.

[0064] Preferably, the finished product storage rack 11 further includes a counting sensor for counting the number of steel arch frames on the finished product storage rack 11.

[0065] Preferably, the image capturing device includes a high-definition camera and a light source device, and the light source device is used to provide illumination for the high-definition camera.

[0066] Preferably, the transfer rack assembly 13 further includes a position sensor for detecting the position state of the transfer lifting frame 132.

[0067] Preferably, a control system is further included. The control system is electrically connected to the feeding assembly 1, the preliminary cutting assembly 2, the continuous welding assembly 4, the cold bending and discharging assembly 5, the rotary transfer assembly 6, the limit feeding assembly 7, the stop plate welding assembly 8, and the blanking assembly 10, and is used to control the coordinated operation of each assembly.

[0068] Preferably, the control system includes a PLC controller and a human-machine interface. The PLC controller is used to execute the control logic, and the human-machine interface is used to display the production status and set the production parameters.

[0069] The processing operation flow of this system: The raw I-beams to be processed are placed in bundles on the raw material rack. The image shooting device on the camera frame scans and identifies the positions. The feeding robotic arm 101 sends a signal to the PLC control system according to the position data of the I-beams transmitted by the image shooting device. Then, the motor on the feeding robotic arm 101 moves forward and backward, and after running to the positioned position, the electric hoist drives the grasping mechanism to move up and down. There is a blowing device at the end of the grasping mechanism, which can blow off the floating dust on the surface of the I-beams. Then, the power-off type electromagnet attracts and lifts the workpiece. The power-off type electromagnet has magnetism when powered off, avoiding the I-beams falling due to equipment power-off and causing safety accidents. The feeding robotic arm 101 transports the lifted workpiece forward to the cutting movable frame 202. There is a motor on the cutting movable frame 202 driving a chain to make the rollers on the cutting movable frame 202 transport the I-beams forward and backward. There is a head trimming sawing device 201 at each end of the cutting movable frame 202. The head trimming sawing device 201 is equipped with positioning and sawing functions, which can cut off the burrs on the end face of the I-beam raw material to ensure the stability of subsequent welding. After the sawing device trims one end, the cutting movable frame 202 transports the I-beam to the other end, and then realizes the head trimming treatment of the other end. After both ends are trimmed, the transfer rack assembly 13 lifts and transfers it to the continuous welding conveyor rack 403. The continuous welding conveyor rack 403 transports forward, and transports the I-beam to the position of the continuous welding fixed frame 401. The continuous welding fixed frame 401 is equipped with a positioning mechanism, a clamping mechanism, and a detection mechanism. When the tail material of the previous workpiece is transmitted to the detection mechanism, the detection mechanism detects no material, then the front clamping mechanism clamps the previous I-beam, and the subsequent continuous welding conveyor rack 403 transports the next workpiece forward. After being transmitted to the detection switch, the clamping mechanism clamps the subsequent I-beam. Then, the two continuous welding robots 402 start welding at the butt joint of the I-beam. After welding is completed, the clamping mechanism loosens, and the rotary cold bending machine 501 continues to transport the I-beam forward. After being transported to the required size of the workpiece, the cold cutting sawing machine 502 cuts off the workpiece. If it is necessary to cut holes in the web of the I-beam, the plasma cutting robot automatically cuts the holes. The cut workpiece is automatically adjusted in angle and position by the rotary transfer assembly 6. After adjusting the position, the clamping cylinder 604 of the rotary transfer assembly 6 loosens the workpiece, and the electric rollers 706 automatically transport the workpiece left and right. After being transported to the end positioning baffle 703, the detection switch on the end positioning baffle 703 controls the lowering of the roller lifting frame 705 to drop the workpiece onto the adjustable-width chain conveyor rack 702. The adjustable-width chain conveyor rack 702 moves the workpiece forward and backward. The two adjustable-width chain conveyor racks 702 can be controlled separately. Each adjustable-width chain conveyor rack 702 is equipped with two detection switches. The first detection switch is a deceleration signal, and the second detection switch is a signal for stopping in place. After the I-beam transportation stops, the centering baffles on both sides align it, and then the adjustable-width chain conveyor rack 702 continues to transport the workpiece forward to the end plate welding assembly 8. After being transported to the first welding station, the workpiece is positioned by the stop bar 803 and the clamping mechanism 804. While transporting the workpiece,The connecting plate handling robot 805 grabs the connecting plate from the stop plate conveying rack 903 and then places it on the positioning mechanism for precise positioning. The camera on the connecting plate welding robot 806 at the first station takes a photo of the workpiece end face. After identifying the workpiece position, it transmits the data to the connecting plate handling robot 805. Then the connecting plate handling robot 805 grabs the connecting plate and places it on the end face of the I-beam. The connecting plate welding robot 806 spot-welds, and the connecting plate handling robot 805 moves away. The connecting plate welding robot 806 at the first station completes the welding of the welds that need to be welded above. Then the stop bar 803 and the clamping mechanism 804 move downward, and the adjustable-width chain conveying rack 702 conveys the workpiece of the welded semi-finished product forward. After being conveyed to the turnover positioner 802, the turnover positioner 802 lifts the workpiece and then rotates it 180°, so that the weld that was not welded just now is on the top. Then the image capturing device carried by the robot at the second station automatically takes a photo to identify the weld position. At the same time, the next workpiece repeats the previous actions and is conveyed to the first station, which can satisfy the first and second stations, and four connecting plate welding robots 806 weld simultaneously. After welding is completed, the turnover positioner 802 places the welded workpiece with the arch facing upward. The cantilever beam 1004 automatically moves back and forth to the C-shaped opening position of the turnover positioner 802 to automatically grab the finished workpiece, places the finished workpiece on the finished product storage rack 11, and waits for five workpieces to be welded. Then the worker transports the finished products away for subsequent processing. At the same time, the stop plate laser cutting machine 901 places the raw material steel plate in the processing area and automatically cuts it into the required connecting plates. After all cutting is completed, the stop plate transfer manipulator 902 automatically grabs the cut connecting plates and places them in the stop plate storage bin 904. After all the connecting plates are placed in the stop plate storage bin 904, the stop plate transfer manipulator 902 automatically places the connecting plates that need to be welded on the stop plate conveying rack 903. The stop plate conveying rack 903 automatically conveys the connecting plates. When it reaches the corner, the pusher cylinder pushes the connecting plates onto the stop plate conveying rack 903 in the vertical direction. Then the connecting plates are conveyed forward along the stop plate conveying rack 903. When it reaches the positioning plate, the detection signal feeds back the signal that the connecting plates have been conveyed in place and waits for the connecting plate handling robot 805 to grab them.,

[0070] The above only elaborates in detail on the preferred embodiments of the present invention. However, the present invention is not limited to the above embodiments. Within the knowledge scope of those of ordinary skill in the art, various changes can be made without departing from the purpose of the present invention, and all such changes should be included within the protection scope of the present invention.

Claims

1. An all - automated intelligent numerically - controlled production system for steel arch frames, characterized in that: It includes a loading component (1), a preliminary cutting component (2), a continuous welding component (4), a cold bending and discharging component (5), a rotating transfer component (6), a limit feeding component (7), a stop plate welding component (8) and a blanking component (10). The loading component (1) includes a loading robotic arm (101) and a raw material rack (102), and the loading robotic arm (101) is arranged on one side of the raw material rack (102); the preliminary cutting component (2) includes a head trimming sawing machine device (201) and a cutting movable frame (202), the cutting movable frame (202) is arranged in parallel with the raw material rack (102), and the head trimming sawing machine device (201) is arranged at both ends of the cutting movable frame (202). The continuous welding component (4) includes a continuous welding fixed frame body (401), a continuous welding conveying rack (403) and a continuous welding robot (402). The continuous welding conveying rack (403) is arranged on both sides of the continuous welding fixed frame body (401), and the continuous welding robot (402) is arranged on both sides of the continuous welding fixed frame body (401). The two continuous welding conveying racks (403) on both sides are respectively arranged corresponding to the positions of the cutting movable frame (202) and the cold bending and discharging component (5); the cold bending and discharging component (5) includes a rotary cold bender (501) and a cold cutting sawing machine (502). The rotating transfer component (6) is arranged between the cold cutting sawing machine (502) and the limit feeding component (7), the stop plate welding component (8) is arranged behind the limit feeding component (7), and the blanking component (10) is arranged on one side of the stop plate welding component (8) away from the limit feeding component (7). Cleaning components (3) are arranged at both ends of the cutting movable frame (202). The cleaning components (3) include cleaning outer shells and cleaning rubber strips. Both sides of the cleaning outer shells are of an open structure, and the cleaning rubber strips are arranged at the open structures. The limit feeding component (7) includes a slide base (701), an adjustable-width chain conveying rack (702) and an end positioning baffle (703). There are two groups of slide bases (701) arranged in parallel, and there are two groups of adjustable-width chain conveying racks (702) arranged in parallel on the slide bases (701). The adjustable-width chain conveying racks (702) are arranged perpendicular to the slide bases (701). An adjustable-width idler support (704) is also arranged on the slide bases (701). A roller lifting frame (705) is arranged on the adjustable-width idler support (704), and an electric idler (706) is arranged on the roller lifting frame (705). The electric idler (706) is arranged in parallel with the adjustable-width chain conveying rack (702). The end positioning baffle (703) is arranged on one side of the slide base (701) away from the rotating transfer component (6). The stop plate welding assembly (8) includes a welding base frame (801), a tilting and positioning machine (802), a stop bar (803), a clamping mechanism (804), a connecting plate handling robot (805) and a connecting plate welding robot (806). The welding base frame (801) is connected to the limit feeding assembly (7). The tilting and positioning machine (802) and the clamping mechanism (804) are arranged on the welding base frame (801). The stop bar (803) is arranged between the tilting and positioning machine (802) and the clamping mechanism (804). The connecting plate handling robot (805) and the connecting plate welding robot (806) are symmetrically arranged on both sides of the welding base frame (801). A gun cleaning station (807) is arranged on the welding base frame (801).

2. An all - automated intelligent numerically - controlled production system for steel arch frames according to claim 1, wherein: A stop plate cutting and conveying assembly (9) is arranged below the stop plate welding assembly (8). The stop plate cutting and conveying assembly (9) includes a stop plate laser cutting machine (901), a stop plate transfer manipulator (902) and a stop plate conveying rack (903). The stop plate conveying rack (903) adopts an L-shaped frame structure. One end of the stop plate conveying rack (903) is arranged below the limit feeding assembly (7). The stop plate laser cutting machine (901) and the stop plate transfer manipulator (902) are arranged at the end of the stop plate conveying rack (903) far away from the limit feeding assembly (7). The stop plate transfer manipulator (902) is arranged between the stop plate conveying rack (903) and the stop plate laser cutting machine (901). A stop plate storage bin (904) is arranged between the stop plate transfer manipulator (902) and the stop plate conveying rack (903).

3. An all - automated intelligent numerically controlled production system for steel arch frames according to claim 1, characterized in that: The rotary transfer assembly (6) includes a walking slide base (601), a walking slide (602), a rotary slide (603) and a clamping cylinder (604). The walking slide (602) is slidably arranged on the walking slide base (601). The rotary slide (603) is rotatably arranged on the walking slide (602). The clamping cylinder (604) is arranged on the walking slide (602). Side guiding rollers (605) are also arranged on the walking slide (602), and the side guiding rollers (605) are arranged corresponding to the clamping cylinder (604).

4. An all - automated intelligent numerically controlled production system for steel arch frames according to claim 1, characterized in that: The blanking assembly (10) includes a cantilever beam walking track (1001), a cantilever beam walking trolley (1002), a cantilever beam column track (1003), and a cantilever beam (1004). Two groups of the cantilever beam walking tracks (1001) are arranged in parallel. The cantilever beam walking trolley (1002) is movably arranged on the cantilever beam walking track (1001). The cantilever beam column track (1003) is fixedly arranged on the cantilever beam walking trolley (1002). The cantilever beam (1004) is arranged on the cantilever beam column track (1003), and the cantilever beam (1004) is perpendicular to the cantilever beam column track (1003). One end of the cantilever beam (1004) far from the cantilever beam column track (1003) is provided with a jaw mechanism, and the jaw mechanism can move in the vertical direction to complete the operation of grasping the steel arch.

5. A fully automated intelligent numerically controlled production system for steel arch frames according to claim 1, characterized in that: A finished product storage rack (11) is arranged between the stop plate welding assembly (8) and the blanking assembly (10). The finished product storage rack (11) includes a finished product rack (111) and an adjustable-width bracket (112). The adjustable-width brackets (112) are symmetrically arranged on the finished product rack (111). A bracket slide rail (113) is arranged on the finished product rack (111), and both sides of the adjustable-width bracket (112) are slidably connected to the bracket slide rail (113) through pulleys.

6. The fully automated intelligent numerical control production system for steel arch frames according to claim 1, characterized in that: The loading assembly (1) further includes an image recognition device (12). The image recognition device (12) includes a camera frame body and an image shooting device. The camera frame body is fixedly arranged on one side of the loading robotic arm, and the image shooting device is arranged at the top of the camera frame body.

7. An all - automated intelligent numerical control production system for steel arch frames according to claim 1, characterized in that: The cutting movable frame (202) is arranged in parallel with the continuous welding conveying frame (403). A plurality of groups of transfer rack assemblies (13) are arranged between the cutting movable frame (202) and the continuous welding conveying frame (403). The transfer rack assembly (13) includes a transfer slide rail (131) and a transfer lifting frame (132). The transfer slide rail (131) is arranged between the cutting movable frame (202) and the continuous welding conveying frame (403), and the transfer slide rail (131) is perpendicular to the positions of the cutting movable frames (202) and the continuous welding conveying frame (403) on both sides. The transfer lifting frame (132) is movably arranged on the transfer slide rail (131).

8. An all - automated intelligent numerically controlled production system for steel arch frames according to claim 1, characterized in that: The loading robotic arm (101) includes a grasping mechanism and an electric hoist. The grasping mechanism is arranged below the electric hoist, and the electric hoist is used to drive the grasping mechanism to move up and down.

9. An all - automated intelligent numerically - controlled production system for steel arch frames according to claim 8, characterized in that: The grasping mechanism includes a blowing device and a power-off type electromagnet. The blowing device is arranged at the end of the grasping mechanism and is used to blow off the floating dust on the surface of the I-beam. The power-off type electromagnet is used to adsorb and lift the I-beam.

10. An all - automated intelligent numerical control production system for steel arch frames according to claim 1, characterized in that: The cleaning assembly (3) further includes a driving motor, and the driving motor is connected to the cleaning rubber strip and is used to drive the cleaning rubber strip to reciprocate at the opening structure.

11. The fully automated intelligent numerical control production system for steel arch frames according to claim 2, wherein: A pusher cylinder is further provided on the stop plate conveyor rack (903), and the pusher cylinder is used to push the stop plate from the stop plate conveyor rack (903) in the horizontal direction to the stop plate conveyor rack (903) in the vertical direction.

12. The fully automated intelligent numerical control production system for steel arch frames according to claim 3, characterized in that: A guide rail is provided on the walking slide base (601), and the walking slide (602) is slidably connected to the guide rail through guide wheels.

13. An all - automated intelligent numerical control production system for steel arch frames according to claim 1, wherein: A deceleration sensor and a position stop sensor are provided on the adjustable-width chain conveyor rack (702) for controlling the conveying speed and stop position of the I-beam.

14. A fully automated intelligent numerical control production system for steel arch frames according to claim 1, characterized in that: The turning and positioning machine (802) includes a turning drive motor and a turning frame, and the turning drive motor is used to drive the turning frame to rotate to achieve the turning and positioning of the I-beam.

15. An all - automated intelligent numerically - controlled production system for steel arch frames according to claim 4, wherein: A vertical movement drive mechanism is further provided on the cantilever beam (1004) for driving the cantilever beam (1004) to move vertically on the cantilever beam column track (1003).

16. A fully automated intelligent numerical control production system for steel arch frames, characterized in that: The finished product storage rack (11) further includes a counting sensor for counting the number of steel arch frames on the finished product storage rack (11).

17. The fully automated intelligent numerical control production system for steel arch frames according to claim 6, characterized in that: The image capturing device includes a high-definition camera and a light source device, and the light source device is used to provide illumination for the high-definition camera.

18. A fully automated intelligent numerically controlled production system for steel arch frames according to claim 7, characterized in that: The transfer rack assembly (13) further includes a position sensor for detecting the position state of the transfer lifting frame (132).

19. A fully automated intelligent numerical control production system for steel arch frames according to claim 1, characterized in that: It further includes a control system, and the control system is electrically connected to the loading assembly (1), the preliminary cutting assembly (2), the continuous welding assembly (4), the cold bending and discharging assembly (5), the rotary transfer assembly (6), the limit feeding assembly (7), the stop plate welding assembly (8) and the unloading assembly (10) for controlling the coordinated operation of each assembly.

20. An all - automated intelligent numerical control production system for steel arch frames according to claim 19, characterized in that: The control system includes a PLC controller and a human-machine interface. The PLC controller is used to execute the control logic, and the human-machine interface is used to display the production status and set the production parameters.

Images