Steel plate splicing and welding device based on steel structure precast beam machining

Abstract

The invention discloses a steel plate splicing and welding device based on steel structure precast beam machining, and belongs to the technical field of steel structure precast welding. The welding device comprises a welding base table, supporting inclined frames are symmetrically arranged at the two ends of the top of the welding base table, a transverse moving guide frame is arranged between the multiple sets of supporting inclined frames, a lifting type welding base is arranged at the top of the transverse moving guide frame, and the middle of the welding base table is sleeved with a gantry type welding regulation and control frame; high-precision positioning and clamping of the steel plates are achieved, welding deformation and deviation are effectively restrained, the welding efficiency is improved through linkage of the double mechanical arms, real-time collection of residues is facilitated through the design of the guide frame space and the residue collecting box, and the machining compatibility of the steel plates of multiple specifications is enhanced through the gantry type welding regulation and control frame; in addition, high-frequency data updating fusion is combined with a dynamic path planning algorithm and risk grade evaluation, a welding track is optimized, welding parameters are adjusted, weld defects are avoided, and the welding quality is guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of steel structure prefabrication welding, and particularly to a steel plate splicing and welding device based on the processing of steel structure prefabricated beams. Background Art

[0002] The wide application of steel structures in many fields such as construction and bridges has led to an increasing demand for the processing of steel structure prefabricated beams, and higher requirements have also been put forward for the steel plate splicing and welding technology in the processing process. In the actual production process of steel structure prefabricated beam processing, enterprises and workers have accumulated a lot of experience in steel plate splicing and welding, and have also found problems existing in traditional welding methods, such as low welding efficiency, unstable quality, and high labor intensity;

[0003] In the construction of some large bridges, a large number of steel plates need to be spliced to fabricate prefabricated beams. The lack of high-precision and efficient steel plate splicing accessories makes the manual welding efficiency low, which will seriously affect the project progress. The welding quality is greatly affected by factors such as the technical level, operating habits, working state of workers and the steel plate splicing state; there may be defects such as uneven welds, insufficient welding strength, pores or slag inclusions, etc. These defects will reduce the overall performance and safety of steel structure prefabricated beams; especially for some projects with high requirements for welding quality, such as the steel structure framework of high-rise buildings, tiny welding defects may bring serious potential safety hazards.

[0004] In view of the above technical defects, a solution is now proposed. Summary of the Invention

[0005] The purpose of the present invention is to provide a steel plate splicing and welding device based on the processing of steel structure prefabricated beams to solve the problems raised.

[0006] To achieve the above purpose, the present invention provides the following technical solution: A steel plate splicing and welding device based on the processing of steel structure prefabricated beams, including a welding base, two ends of the top of the welding base are symmetrically provided with support inclined frames, a transverse movement guide frame is arranged between multiple groups of the support inclined frames, a lifting type welding seat is arranged on the top of the transverse movement guide frame, a gantry type welding control frame is sleeved in the middle of the welding base, a cross beam is slidably sleeved on the top of the gantry type welding control frame, and a sleeve type welding seat facing the lifting type welding seat is arranged at the bottom of the cross beam;

[0007] Two ends of the welding base are symmetrically provided with plate auxiliary limiting frames connected with the support inclined frames in a matching manner. A stabilizing beam is arranged on the top of the plate auxiliary limiting frame. An inclined pressure arm rod is slidably sleeved inside the stabilizing beam in an inclined manner. A plate conveying frame connected with the welding base is arranged at the bottom of the plate auxiliary limiting frame. A number of conveying rollers are equidistantly arranged on the top surface of the plate conveying frame. A number of universal guiding members are arranged between the number of conveying rollers. Calibration push plates are symmetrically arranged on both sides of the plate conveying frame;

[0008] A control panel is provided on the outer side of the welding base. Inside the control panel, a calibration center platform is provided as the core control part, which integrates the following modules and coordinates data interaction and instruction execution; the splicing data acquisition module obtains the steel plate position, surface state and welding environment parameters in real time; the welding posture analysis module calculates the welding path and robotic arm movement parameters based on the acquired data; the splicing risk analysis module evaluates the welding quality risk and generates a warning signal; the regulation decision processing module generates a regulation instruction based on the comprehensive analysis result and drives the actuator to act.

[0009] Furthermore, a lifting inclined arm is sleeved on the top of the support inclined frame in an inclined manner. A guide frame space is reserved between multiple groups of the support inclined frames. A plurality of groups of aggregate inclined grooves are equidistantly arranged on the inner wall of the support inclined frame close to the guide frame space. A slag collection box connected to the bottom of the aggregate inclined groove is slidably sleeved at the bottom of the support inclined frame.

[0010] Furthermore, a lifting cylinder embedded in the bottom wall of the guide frame space is provided at the bottom of the transverse guide frame. A groove matching and sleeving with the lifting type welding seat is provided at the top of the transverse guide frame. A clamping groove matching and sleeving with the gantry type welding regulation frame is provided at the center of the bottom of the welding base. Moving rails connected to a plurality of groups of plate auxiliary limiting frames are symmetrically arranged on both sides of the welding base.

[0011] Furthermore, lifting cylinders connected to the cross beam are embedded on the inner walls on both sides of the gantry type welding regulation frame. A moving base connected to the sleeve type welding seat is slidably sleeved in the middle of the cross beam.

[0012] Furthermore, a support cylinder connected to the stabilizing beam is embedded on the inner wall at the top of the plate auxiliary limiting frame. A window through which an inclined pressure arm rod is sleeved is provided inside the stabilizing beam, and a pressure relief cylinder connected to the inclined pressure arm rod is provided inside the window.

[0013] Furthermore, a plurality of long grooves sleeved with conveying rollers are recessed at the top of the plate conveying frame. A circular groove for fitting and installing a universal guide is provided between the plurality of long grooves. An extension frame is provided at the top of one end of the plate conveying frame close to the welding base. A center guide rail located between the long grooves and the circular groove is recessed at the center of the top of the plate conveying frame. An adjusting sliding seat connected to the center guide rail is provided at the bottom of the inner wall of the calibration push plate, and the adjusting sliding seat is composed of an adjusting cylinder and a driving motor.

[0014] Furthermore, a jacking cylinder embedded in the bottom wall of the circular groove is provided at the bottom of the universal guide. An internal roller is provided at the center of the top of the universal guide. A rotary cylinder sleeved with the jacking cylinder is provided at the bottom of the universal guide.

[0015] Further, the splicing data acquisition module obtains the steel plate plane coordinate parameters X, Y, and Z and the butt joint offset ΔL through the displacement sensor of the calibration push plate, the universal guide, and the encoder with built-in rollers, and marks them as position data P; it acquires the surface flatness S, temperature T, and oxide layer thickness D of the steel plate weld area through a laser scanner, and marks them as surface state data Q; it detects and obtains the welding fume concentration C through the pressure sensor of the slag collection box of the welding base, and marks it as environmental parameter E, and sends the obtained position data P to the welding posture analysis module, and sends the surface state data Q and the welding fume concentration C to the splicing risk analysis module.

[0016] Further, after receiving the position data P, the welding posture analysis module calculates the path trajectory and speed V of the welding robot arm based on the kinematic formula, retrieves the preset speed threshold range from the calibration center platform and compares it with the speed V for analysis. If V exceeds the speed threshold range, it is determined that the path planning is abnormal, and a path abnormality signal is generated and sent to the regulation and decision-making processing module;

[0017] After receiving the surface state data Q and the welding fume concentration C, the splicing risk analysis module calculates the risk coefficient R using the linear weighting method, retrieves the risk threshold range from the calibration center platform and compares it with the risk coefficient R for analysis. If the risk coefficient R > the risk threshold range, an early warning signal is generated, and the R value and the early warning signal are sent to the regulation and decision-making processing module.

[0018] The beneficial effects of the present invention are as follows:

[0019] 1. The present invention realizes the three-dimensional space positioning error of the steel plate through the collaborative design of the support inclined frame, the transverse movement guide frame, and the plate auxiliary limit frame. The calibration push plate cooperates with the universal guide, and combined with the multi-point clamping of the inclined pressure arm rod, effectively inhibits the deformation and offset during the steel plate welding process, and realizes high-precision positioning and clamping; the double robotic arm linkage design of the lifting type welding seat and the sleeve type welding seat improves the welding efficiency.

[0020] 2. The present invention realizes the real-time collection of welding residues through the inclined surface diversion structure of the guide frame space and the slag collection box, reduces the frequency of shutdown for cleaning, and realizes efficient welding and residue management; the lifting cylinder and the moving base of the gantry type welding control frame support the processing of steel plates of multiple specifications, improving the compatibility.

[0021] 3. The present invention realizes high-frequency data update and fusion. The welding posture analysis module adopts a dynamic path planning algorithm, automatically optimizes the movement trajectory and speed of the welding robotic arm according to the butt joint position of the steel plate, ensures the high precision and consistency of the welding path, generates a real-time risk level through weighted calculation, reduces the welding current intensity, adjusts the steel plate gap to relieve the thermal stress, and enhances the clamping force to inhibit deformation, thereby avoiding weld defects. Description of the Drawings

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the attached drawings required for use in the description of the embodiments or the prior art. Obviously, the attached drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other attached drawings can be obtained based on these attached drawings.

[0023] Figure 1 It is a three-dimensional view of the overall structure of the present invention;

[0024] Figure 2 It is a schematic structural diagram of the welding base of the present invention;

[0025] Figure 3 It is a schematic structural diagram of the lifting type welding seat of the present invention;

[0026] Figure 4 It is a schematic structural diagram of the gantry type welding control frame of the present invention;

[0027] Figure 5 It is a schematic structural diagram of the plate auxiliary limiting frame of the present invention;

[0028] Figure 6 It is a schematic connection structure diagram of the lifting type welding seat and the socket type welding seat of the present invention;

[0029] Figure 7 It is a schematic structural diagram of the plate conveying frame of the present invention;

[0030] Figure 8 It is a schematic structural diagram of the universal guide of the present invention;

[0031] Figure 9 It is a system flow block diagram of the present invention.

[0032] Reference numerals: 1, welding base; 101, support inclined frame; 102, lifting inclined arm; 103, lifting cylinder; 104, transverse movement guide frame; 105, card slot; 106, slag collection box; 107, moving guide rail; 108, aggregate inclined chute; 109, lifting type welding seat; 2, gantry type welding control frame; 201, lifting cylinder; 202, cross beam; 203, moving base; 204, socket type welding seat; 3, plate auxiliary limiting frame; 301, stable beam; 302, inclined pressure arm rod; 303, support cylinder; 4, plate conveying frame; 401, conveying roller; 402, extension frame; 403, central guide rail; 404, calibration push plate; 5, universal guide; 501, built-in roller; 502, slewing cylinder; 503, jacking cylinder. Detailed implementation manners

[0033] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0034] Embodiment 1: Please refer to Figure 1 - Figure 8 As shown in the figure, this embodiment is a steel plate splicing and welding device based on the processing of steel structure precast beams, including a welding base 1. At both ends of the top of the welding base 1, support inclined frames 101 are symmetrically arranged. Between multiple groups of support inclined frames 101, a transverse movement guide frame 104 is arranged. On the top of the transverse movement guide frame 104, a lifting type welding seat 109 is arranged. In the middle of the welding base 1, a gantry type welding control frame 2 is sleeved. On the top of the gantry type welding control frame 2, a cross beam 202 is slidably sleeved. At the bottom of the cross beam 202, a socket type welding seat 204 facing the lifting type welding seat 109 is arranged.

[0035] At the top of the support inclined frame 101, a lifting inclined arm 102 is inclined and sleeved. A guide frame space is reserved between multiple groups of support inclined frames 101. On the inner wall of the support inclined frame 101 close to the guide frame space, a number of aggregate inclined grooves 108 are equally spaced. At the bottom of the support inclined frame 101, a slag collection box 106 slidably sleeved and connected to the bottom of the aggregate inclined groove 108 is arranged.

[0036] When two groups of inclined pressure arm rods 302 are started synchronously, a support arm cylinder connected to the lifting arm rod is arranged inside the support inclined frame 101. The support arm cylinder is used to drive the lifting arm rod to slide upward until the top of the lifting arm rod contacts the bottom of the steel plate, and cooperate with the inclined pressure arm rod 302 to perform multiple clamps on the upper and lower surfaces of the steel plate near the welding area.

[0037] At the bottom of the transverse movement guide frame 104, a lifting cylinder 103 embedded in the bottom wall of the guide frame space is arranged. On the top of the transverse movement guide frame 104, a groove matching the lifting type welding seat 109 is arranged. At the center of the bottom of the welding base 1, a card slot 105 matching the gantry type welding control frame 2 is arranged. On both sides of the welding base 1, moving guide rails 107 connected to a number of sheet metal auxiliary limiting frames 3 are symmetrically arranged.

[0038] The lifting cylinder 103 drives the transverse guide frame 104 to slide upward until the first group of welding robotic arms installed on the lifting-type welding seat 109 approach the welding area at the bottom of the two steel plates. The first group of welding robotic arms weld the bottom of the two steel plates. The impurities generated by the welding contact friction and welding at the bottom of the two steel plates fall into the interior of the guide frame space after falling off. During the movement of the lifting-type welding seat 109, the impurities accumulated on the surfaces at both ends of the transverse guide frame 104 are pushed and cleaned into the aggregate chute 108, and the impurities fall into the slag collection box 106 along the aggregate chute 108, which is used to clean the slag collection box 106 regularly.

[0039] On the inner walls on both sides of the gantry-type welding control frame 2, there are embedded lifting cylinders 201 connected to the cross beam 202. A moving base 203 connected to the socket-type welding seat 204 is slidably sleeved in the middle of the cross beam 202.

[0040] The gantry-type welding control frame 2 drives the cross beam 202 to adjust its position up and down through the lifting cylinder 201, prompting the second group of welding robotic arms installed at the bottom of the socket-type welding seat 204 to approach the welding area of the two steel plates, and welding the welding area of the two steel plates through the second group of welding robotic arms.

[0041] Embodiment 2: This embodiment is a steel plate splicing and welding device based on the processing of steel structure precast beams, including plate auxiliary limiting frames 3 symmetrically arranged at both ends of the welding base 1 and cooperatively connected with the support inclined frames 101. A stabilizing beam 301 is arranged on the top of the plate auxiliary limiting frame 3. An inclined pressure arm rod 302 is slidably sleeved inside the stabilizing beam 301 in an inclined manner. A plate conveying frame 4 connected to the welding base 1 is arranged at the bottom of the plate auxiliary limiting frame 3. A plurality of groups of conveying rollers 401 are equidistantly arranged on the top surface of the plate conveying frame 4. A plurality of groups of universal guiding members 5 are arranged between the plurality of groups of conveying rollers 401. Calibration push plates 404 are symmetrically arranged on both sides of the plate conveying frame 4.

[0042] The steel plates used for the processing of steel structure precast beams are transported to one end of the plate conveying frame 4 by a steel plate flatbed truck in the factory area. A rectangular groove cooperatively sleeved with the steel plate flatbed truck is arranged in the bottom groove at one end of the plate conveying frame 4 away from the welding base 1 for transferring the steel plates onto the plate conveying frame. It should be noted that the plate conveying frame is built in a long section according to actual needs and is not limited to the display in the drawings.

[0043] A support cylinder 303 connected to the stabilizing beam 301 is embedded on the inner wall at the top of the plate auxiliary limiting frame 3. A window penetrating through the stabilizing beam 301 and sleeved with the inclined pressure arm rod 302 is arranged inside the stabilizing beam 301, and a pressure relief cylinder connected to the inclined pressure arm rod 302 is arranged inside the window.

[0044] After the two groups of steel plates are adjusted and the waiting welding sections of the two groups of steel plates are close to each other, the sheet auxiliary limiting frame 3 adjusts the distance between the waiting welding sections of the two groups of steel plates by means of the moving guide rail 107. The pressure relief cylinder drives the inclined pressure arm 302 to slide down obliquely until it contacts the top surfaces of the two groups of steel plates, and applies a squeezing force from top to bottom to the two groups of steel plates, so as to cooperate with the lifting inclined arm 102 to hold and limit the two groups of steel plates in a coordinated manner up and down.

[0045] A number of long grooves sleeved with the conveying rollers 401 are recessed at the top of the sheet conveying frame 4. Circular grooves for cooperating with the universal guide 5 are arranged between the several long grooves. An extension frame 402 is arranged at the top of one end of the sheet conveying frame 4 close to the welding base 1. A central guide rail 403 located between the long grooves and the circular grooves is recessed at the center of the top of the sheet conveying frame 4. An adjusting sliding seat connected to the central guide rail 403 is arranged at the bottom of the inner wall of the calibration push plate 404. The adjusting sliding seat is composed of an adjusting cylinder and a driving motor.

[0046] When the steel plate enters the top of the sheet conveying frame 4, first, a conveying cylinder is arranged inside the long groove and is connected with the conveying roller 401 in a matching manner. The conveying cylinder drives the conveying roller 401 to slide up and contact the bottom surface of the steel plate, thereby driving the steel plate to continuously move along the top of the sheet conveying frame 4 until the first group of steel plates are transported through the welding base 1 and reach the sheet conveying frame 4 at the other end of the welding base 1. The cross-section of this group of steel plates waiting for welding pauses when it is about to cross the welding base 1. The steel plate flatbed transporter continues to transport the second group of steel plates to the sheet transport frame until the waiting welding cross-section of the second group of steel plates is close to the welding cross-section of the first group of steel plates and then stops, realizing that the two groups of steel plates waiting for welding remain static and uncalibrated.

[0047] During the process of the universal guide 5 limiting and adjusting the steel plate, the adjusting cylinder drives the adjusting sliding seat to slide up until the adjusting sliding seat is lifted to the top of the central guide rail 403. The driving motor drives the adjusting sliding seat to axially slide along the top of the central guide rail 403, prompting the calibration push plate 404 to move closer to the middle and contact the two side cross-sections of the steel plate, so that the steel plate is effectively adjusted to be centered. It should be noted that calibration cooperation plates or expansion air bags can be arranged on the inner wall of the calibration push plate 404. The calibration cooperation plates are auxiliary parts for adjusting the difference between the calibration push plate 404 and the two sides of the steel plates of the same batch. The expansion air bags control the expansion to achieve the difference compensation between the calibration push plate 404 and the two sides of the steel plate.

[0048] A jacking cylinder 503 embedded in the inner bottom wall of the circular groove is arranged at the bottom of the universal guide 5. A built-in roller 501 is arranged at the center of the top of the universal guide 5. A rotary cylinder 502 sleeved with the jacking cylinder 503 is arranged at the bottom of the universal guide 5.

[0049] According to actual usage requirements, the conveying cylinder drives the conveying roller 401 to slide down, while the lifting cylinder 503 drives the universal guide 5 to slide up, realizing their alternating contact with the bottom of the steel plate. The universal guide 5 temporarily supports and lifts the steel plate. A micro motor is arranged at the bottom of the built-in roller 501. The micro motor is started according to needs, prompting the built-in roller 501 to rotate at a low speed, thereby driving the steel plate to move and adjust its position above several groups of universal guides 5, and keeping the cross-sections of two groups of steel plates waiting for welding treatment calibrated.

[0050] Meanwhile, several groups of universal guides 5 cooperate to jack up the bottom of the steel plate. By using the adjustability of several groups of universal guides 5, the horizontal calibration of the steel plate is realized. It can not only cooperate with the conveying roller 401 to carry out fixed-point cooperative support for the surface abnormal area of the steel plate, but also cooperate with the inclined pressure arm 302 in the plate auxiliary limiting frame 3 and the lifting inclined arm 102 in the welding base 1 to jointly clamp the steel plate waiting for welding.

[0051] Embodiment Three: Please refer to Figure 9 As shown, this embodiment is a steel plate splicing and welding device based on the processing of steel structure prefabricated beams. A control panel is arranged outside the welding base 1. A calibration center platform is arranged inside the control panel as the core control part, integrating the following modules and coordinating data interaction and instruction execution.

[0052] When the control panel is started, the calibration center platform generates supervision instructions and sends them to the splicing data acquisition module. The splicing data acquisition module operates jointly through the displacement sensor arranged on the surface of the calibration push plate 404 and the encoders arranged on the universal guide 5 and the built-in roller 501 components to obtain the plane coordinate parameters X, Y, and Z of the steel plate and the docking offset ΔL, mark them as position data P, and send the obtained position data P to the welding posture analysis module;

[0053] The splicing data acquisition module obtains the position, surface state, and welding environment parameters of the steel plate in real time; the welding posture analysis module calculates the welding path and the movement parameters of the robotic arm based on the acquired data. The robotic arm is composed of the first group of welding robotic arms and the second group of welding robotic arms on the lifting type welding seat 109 and the socket type welding seat 204; after receiving the position data P, the welding posture analysis module calculates the path trajectory and speed V of the welding robotic arm based on the kinematic formula:

[0054]

[0055] Among them, t represents the preset welding cycle, Y1 and Y2 represent the starting coordinates, and X1 and X2 represent the ending coordinates, all provided by the position data P, and are specifically substituted according to actual parameters;

[0056] Retrieve the preset speed threshold range from the calibration center platform and compare it with the speed V. The ideal range of the speed V is determined according to the steel plate material and welding process requirements. For example, for a steel plate material such as Q345B, the preset speed threshold range is V min <V<V max , for example, taking the value 10mm / s ≤ V ≤ 30mm / s:

[0057] If V is within the speed threshold range, it is determined that the path planning is normal, and no signal is generated;

[0058] If V exceeds the speed threshold range, it is determined that the path planning is abnormal. For example, the steel plate is offset too much or the movement of the welding manipulator is blocked. A path abnormality signal is generated and sent to the regulation and decision-making processing module to re-plan the welding path. The universal guide 5 is started to cooperate with the conveying roller 401 to adjust the steel plate conveying trajectory, and the calibration push plate 404 is combined to adjust the steel plate trajectory from both sides to the middle.

[0059] The splicing data acquisition module collects the surface flatness S, temperature T, and oxide layer thickness D of the steel plate weld area through a laser scanner and marks them as surface state data Q;

[0060] The splicing data acquisition module detects and obtains the welding fume concentration C through the pressure sensor of the slag collection box 106 of the welding base 1, marks it as the environmental parameter E, and sends the surface state data Q and the welding fume concentration C to the splicing risk analysis module;

[0061] The splicing risk analysis module evaluates the welding quality risk and generates a warning signal; after receiving the surface state data Q and the welding fume concentration C, the splicing risk analysis module calculates the risk coefficient R using the linear weighted method:

[0062] R = k1·S + k2·(T - T0) + k3·D + k4·C

[0063] Among them, k1, k2, k3, and k4 represent the weight coefficients of the surface flatness S, temperature T, oxide layer thickness D, and welding fume concentration C. k1 - k4 are obtained through training with historical welding data, and the formula is transparent and can be adjusted according to actual data. T0 represents the reference temperature;

[0064] Retrieve the risk threshold range from the calibration center platform and compare it with the risk coefficient R for analysis:

[0065] If the risk coefficient R is within the risk threshold range, no signal is generated, and the lifting type welding seat 109 and the socket type welding seat 204 are driven to perform welding according to the preset path;

[0066] If the risk coefficient R ≥ the maximum value of the risk threshold range, a warning signal is generated, and the R value and the warning signal are sent to the regulation and decision-making processing module. The regulation and decision-making module triggers the following controls:

[0067] ·Adjust the welding current to reduce it to a safe value;

[0068] ·Control the lifting cylinder 103 to lift the transverse guide frame 104 to increase the steel plate gap to relieve thermal stress;

[0069] ·Start the pressure relief cylinder 302 to increase the clamping force of the inclined pressure arm 302 to inhibit the deformation of the steel plate.

[0070] The risk coefficient R interval calculated by the splicing risk analysis module is retrieved from the preset risk level interval in the calibration center platform:

[0071] Low risk: R < 0.5, indicating stable welding quality;

[0072] Medium risk: 0.5 ≤ R < 0.8, indicating that real-time monitoring and adjustment are required;

[0073] High risk: R ≥ 0.8, indicating that emergency intervention is required.

[0074] Specific example 1: In the low-risk interval, R = 0.3, and V is within the normal range;

[0075] Operations of the regulation and decision-making processing module:

[0076] First instruction: Drive the lifting type welding seat 109 to perform welding at a speed of V = 20 mm / s according to the preset path / coordinate sequence;

[0077] Second instruction: Control the synchronous movement of the sleeve-type welding seat 204 to ensure the symmetry of double-sided welding;

[0078] Third instruction: Maintain the height of the lifting cylinder 103 to keep the transverse guide frame 104 stable.

[0079] Specific example 2: In the low-risk interval, R = 0.9, and V = 35 mm / s is exceeded:

[0080] Operations of the regulation and decision-making processing module:

[0081] First instruction: Reduce the welding current to a safe value;

[0082] Second instruction: Control the lifting cylinder 103 to lift the transverse guide frame 104 by 5 mm to increase the steel plate gap and relieve thermal stress;

[0083] Third instruction: Start the pressure relief cylinder 302 to increase the clamping force of the inclined pressure arm 302 to 1500 N to inhibit the deformation of the steel plate;

[0084] Fourth instruction: Re-plan the welding path, reduce V to 25 mm / s, and avoid the surface uneven area S > 0.5 mm.

[0085] Specific Example 2: Low-risk range, R = 0.6, V is normal, but T = 300 °C is abnormal:

[0086] Operation of the regulation and decision-making processing module:

[0087] First instruction: Trigger an audible and visual alarm to prompt the operator to check the welding area;

[0088] Second instruction: Reduce the welding current by 10% to reduce heat input;

[0089] Third instruction: Control the partial lifting of the lifting cylinder 503 of the universal guide 5 to compensate for the deformation of the steel plate.

[0090] Combining Example 1, Example 2 and Example 3, through intelligent data analysis and automated regulation mechanisms, the efficiency, precision and reliability of steel structure prefabricated beam welding have been significantly improved, providing an efficient and stable solution for large-scale engineering applications.

[0091] The above content is only an example and explanation of the structure of the present invention. Those skilled in the art of the present technology can make various modifications or supplements to the described specific embodiments or use similar methods for substitution, as long as they do not deviate from the structure of the invention or exceed the scope defined by the claims of this patent, they should fall within the protection scope of the present invention.

[0092] In the description of this specification, the description with reference to terms such as "one embodiment", "example", "specific example", etc. means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic descriptions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. Related fittings include commonly used mechanical connection components in this field such as couplings, lead screws, gears, gaskets, etc., and are not limited thereto. Specifically, they are replaced and adapted according to actual use.

[0093] The preferred embodiments of the present invention disclosed above are only used to help illustrate the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the present invention to only the specific implementation manners. Obviously, according to the content of this specification, many modifications and changes can be made. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and utilize the present invention well. The present invention is only limited by the claims and their full scope and equivalents.

Claims

1. A steel plate splicing and welding device based on steel structure prefabricated beam processing, comprising a welding base (1), characterized in that: The two ends of the top of the welding base (1) are symmetrically provided with supporting oblique frames (101), a transverse guide frame (104) is provided between the multiple groups of the supporting oblique frames (101), a lifting type welding seat (109) is provided on the top of the transverse guide frame (104), a gantry type welding regulating frame (2) is sleeved in the middle of the welding base (1), a crossbeam (202) is slidably sleeved on the top of the gantry type welding regulating frame (2), and a buckle type welding seat (204) facing the lifting type welding seat (109) is provided at the bottom of the crossbeam (202); The welding base (1) is symmetrically provided with plate auxiliary limit frames (3) at both ends thereof, which are connected to the supporting inclined frame (101); a stabilizing beam (301) is provided at the top of the plate auxiliary limit frame (3); an inclined pressure arm (302) is slidably sleeved inside the stabilizing beam (301); and the plate auxiliary limit frame (3) is provided with a plate conveying frame (4) connected to the welding base (1) at the bottom; a plurality of groups of conveying rollers (401) are evenly spaced on the top surface of the plate conveying frame (4); a plurality of groups of universal guides (5) are provided between the plurality of groups of conveying rollers (401); calibration push plates (404) are symmetrically provided on both sides of the plate conveying frame (4); The welding base (1) is provided with a control panel on the outside, and a calibration center platform is provided inside the control panel as a core control part, which integrates the following modules and coordinates data interaction and instruction execution: a splicing data acquisition module acquires the position, surface state and welding environment parameters of the steel plate in real time; a welding posture analysis module calculates the welding path and the motion parameters of the robot arm based on the collected data; and a splicing risk analysis module evaluates the welding quality risk and generates an early warning signal; The control decision processing module generates control instructions based on comprehensive analysis results to drive the actuator to act.

2. The steel plate splicing and welding device based on steel structure prefabricated beam processing according to claim 1 is characterized in that: The top of the supporting inclined frame (101) is provided with a lifting inclined arm (102) in an inclined sleeve manner, a guide frame space is reserved between multiple groups of the supporting inclined frames (101), and a plurality of groups of aggregate chute (108) are provided at equal intervals on the inner wall of the supporting inclined frame (101) close to the guide frame space, and a slag collection box (106) connected to the bottom of the aggregate chute (108) is slidably sleeved at the bottom of the supporting inclined frame (101).

3. The steel plate splicing and welding device based on steel structure prefabricated beam processing according to claim 2 is characterized in that: The bottom of the transverse guide frame (104) is provided with a lifting cylinder (103) embedded in the bottom wall of the guide frame space, the top of the transverse guide frame (104) is provided with a groove that cooperates with a lifting type welding seat (109), the bottom center of the welding base (1) is provided with a slot (105) that cooperates with a gantry type welding control frame (2), and the two sides of the welding base (1) are symmetrically provided with movable guide rails (107) that cooperate with a plurality of groups of plate auxiliary limit frames (3).

4. The steel plate splicing and welding device based on steel structure prefabricated beam processing according to claim 1 is characterized in that: Lifting cylinders (201) connected to the crossbeam (202) are embedded on the inner walls on both sides of the gantry-type welding control frame (2), and a movable base (203) connected to the buckle-type welding seat (204) is slidably sleeved in the middle of the crossbeam (202).

5. The steel plate splicing and welding device based on steel structure prefabricated beam processing according to claim 1 is characterized in that: A supporting cylinder (303) connected to the stabilizing beam (301) is embedded on the top inner wall of the plate auxiliary limiting frame (3); a window sleeved with the oblique pressure arm (302) is provided inside the stabilizing beam (301); and a pressure relief cylinder connected to the oblique pressure arm (302) is provided inside the window.

6. The steel plate splicing and welding device based on steel structure prefabricated beam processing according to claim 1 is characterized in that: The top of the plate conveying frame (4) is recessed with a plurality of groups of long grooves sleeved with the conveying rollers (401), and a circular groove is provided between the plurality of groups of long grooves and is installed in cooperation with the universal guide (5). An extension frame (402) is provided at the top of one end of the plate conveying frame (4) close to the welding base (1), and a center guide rail (403) located between the long groove and the circular groove is provided in the center recessed at the top of the plate conveying frame (4), and an adjustment slide seat connected to the center guide rail (403) is provided at the bottom of the inner wall of the calibration push plate (404).

7. The steel plate splicing and welding device based on steel structure prefabricated beam processing according to claim 6 is characterized in that: The bottom of the universal guide (5) is provided with a lifting cylinder (503) embedded in the bottom wall of the circular groove, the top center of the universal guide (5) is provided with a built-in roller (501), and the bottom of the universal guide (5) is provided with a rotary cylinder (502) sleeved with the lifting cylinder (503).

8. The steel plate splicing and welding device based on steel structure prefabricated beam processing according to claim 1 is characterized in that: The splicing data acquisition module obtains the plane coordinate parameters X, Y and Z of the steel plate and the docking offset ΔL by calibrating the push plate (404) and the universal guide (5), and marks them as position data P; collects the surface flatness S, temperature T and oxide layer thickness D of the steel plate weld area, and marks them as surface state data Q; obtains the welding fume concentration C through the pressure sensor detection of the slag collecting box (106) of the welding base (1), and marks it as the environmental parameter E; sends the obtained position data P to the welding posture analysis module, and sends the surface state data Q and the welding fume concentration C to the splicing risk analysis module.

9. The steel plate splicing and welding device based on steel structure prefabricated beam processing according to claim 8 is characterized in that: After receiving the position data P, the welding posture analysis module calculates the path trajectory and speed V of the welding robot arm based on the kinematic formula, and retrieves the preset speed threshold range from the calibration center platform for comparison and analysis with the speed V. If V exceeds the speed threshold range, it is determined that the path planning is abnormal, and a path abnormality signal is generated and sent to the control decision processing module; After receiving the surface state data Q and welding fume concentration C, the splicing risk analysis module uses the linear weighted method to calculate the risk coefficient R, retrieves the risk threshold range from the calibration center platform and compares and analyzes the risk coefficient R. If the risk coefficient R is greater than the risk threshold range, a warning signal is generated and the R value and the warning signal are sent to the control decision processing module.

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