Dynamic cooperative control steel structure welding assembly production line and operation method thereof

Abstract

The invention relates to the technical field of steel structure welding assembly, and discloses a dynamic cooperative control steel structure welding assembly production line and an operation method thereof, which are used for automatic welding and deformation correction of H-shaped steel components. The production line comprises a feeding area, an assembling area, a welding station and a correction detection area. Global cooperative control is achieved through a distributed supporting system, a multi-dimensional sensor monitoring system and a cooperative robot system. The distributed supporting system is composed of dynamic roller bed units, the supporting height is adjusted in real time through a pressure sensor array and a micro hydraulic actuator, and workpiece droop is counteracted. The multi-dimensional sensor monitoring system collects temperature, strain and morphology data in real time; the welding robot and the correction robot synchronously apply electromagnetic stirring to optimize a welding seam during welding, and ultrasonic peening and laser heating are combined to reduce residual stress during correction. The industrial control computer dynamically adjusts welding parameters, supporting force and a correction strategy through sensor data, and high-precision straightness and low-residual-stress control is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of steel structure welding and assembly, and specifically to a steel structure welding and assembly production line with dynamic collaborative control and its operation method. Background Art

[0002] Extra-large H-shaped steel is widely used in scenarios such as bridges, wind power tower barrels, and super high-rise buildings. Extra-large H-shaped steel generally has a length greater than 30m and a weight greater than 50 tons. The welding of extra-large H-shaped steel needs to meet the requirements of high straightness ≤ 1mm / m and low residual stress; however, the existing production line equipment and technology face the following problems when dealing with such components; The current H-shaped steel welding production line mainly fixes the position of the steel plate through fixtures, transports workpieces using segmented conveyor rollers, and completes assembly using the high-power welding technology of multi-wire submerged arc welding.

[0003] These devices can meet the requirements for conventional-sized H-shaped steel within 20 meters in length, but when faced with extra-long and overweight components, obvious deficiencies are exposed. When the length of the steel component exceeds 30 meters and the weight exceeds 50 tons, the existing fixtures can only fix the workpiece locally and cannot restrain the overall deformation; at the same time, because each section of the segmented roller conveyor runs independently, the middle part of the extra-long H-shaped steel sags under its own weight. For a 30-meter-long workpiece, it may sag by 5 - 10 millimeters. At the same time, the high heat input during welding will cause the temperature in the local area to rise rapidly, forming an uneven temperature distribution, further increasing the risk of deformation.

[0004] During the welding process, the heat dissipation rate of the extra-long workpiece is slow, resulting in a temperature difference of more than 300°C between the head and the tail. This temperature difference will cause uneven thermal expansion and contraction, resulting in complex deformation of the workpiece.

[0005] Therefore, we propose a steel structure welding and assembly production line with dynamic collaborative control and its operation method to solve the problems in the above background. Summary of the Invention

[0006] The present invention provides a steel structure welding and assembly production line with dynamic collaborative control and its operation method, which can solve the problem that in the prior art, when welding and assembling extra-long and overweight H-shaped steel components and transporting workpieces through segmented conveyor rollers, the middle part of the extra-long H-shaped steel sags under its own weight due to the independent operation of each section of the segmented roller conveyor.

[0007] In order to solve the above technical problems, the present invention provides the following technical solutions: A steel structure welding and assembly production line with dynamic collaborative control includes a welding station, on which a distributed support system, a multi-dimensional sensor monitoring system, and a collaborative robot system for steel structure welding and correction are provided; The distributed support system is composed of a number of linearly distributed dynamic roller track units connected in series. Each dynamic roller track unit includes a roller track base (101). In the middle of the roller track base (101), there is a support roller track (102). On the surface of the support roller track (102), there is a support plate (103) for supporting the steel structure. A clamping drive unit for driving the movement of the steel structure is installed on the roller track base (101). The support plate (103) is connected to a dynamic adjustment unit for multi-point support adjustment. The dynamic adjustment unit cooperates with the support plate (103) to detect the gravity distribution of the workpiece in real time and adjust the height of the support roller track (102). The dynamic adjustment unit includes a pressure sensor array arranged on the upper surface of the support plate (103) and a micro hydraulic actuator (132) installed inside the support roller track (102). The multi-dimensional sensor monitoring system includes a distributed optical fiber sensor attached along the surface of the H-shaped steel, an infrared thermal imager aligned with the weld seam, and a lidar for scanning the H-shaped steel structure. The collaborative robot system includes welding robots symmetrically arranged on both sides of the support roller track (102) and a calibration robot located downstream. It also includes an industrial control computer for steel structure welding and deformation control. The industrial control computer is connected to the distributed support system, the multi-dimensional sensor monitoring system, and the collaborative robot system through an industrial bus, and is used to achieve the following controls: adjusting the dynamic adjustment unit according to the data of the pressure sensor array to control the height of the support plate and maintain uniform support for the H-shaped steel; dynamically adjusting the welding parameters of the welding robot based on the strain data of the distributed optical fiber sensor and the temperature data of the infrared thermal imager; triggering the calibration robot to correct the over-standard deformation area according to the H-shaped steel profile data scanned by the lidar, and compensating the support in cooperation with the dynamic adjustment unit; synchronously controlling the motion timing of the welding robot and the calibration robot to form a closed-loop control chain for welding, detection, and calibration.

[0008] Preferably, the clamping drive unit includes roller frames (111) symmetrically arranged on both sides of the support roller track (102). The roller frame (111) includes a roller seat (112), a support plate (113), and a sliding seat (114). Guide rails (115) are provided on both sides of the roller track base (101). The sliding seat (114) is a rectangular slider, which is slidably connected inside the guide rail (115). The support plate (113) is perpendicular to the roller track base (101) and is fixedly connected to the sliding seat (114) at the bottom. A horizontally arranged first electric push rod (116) is installed in the middle of the support plate (113). The back of the roller seat (112) is fixedly connected to the telescopic end of the first electric push rod (116).

[0009] Preferably, a driving roller (117) is rotatably installed in a roller seat (112) on one side of the supporting roller path (102), and a driven roller (118) is rotatably installed in a roller seat (112) on the other side of the supporting roller path (102). A servo motor (119) is provided on the roller seat (112) where the driving roller (117) is installed, and the servo motor (119) drives the driving roller (117) to rotate; a first force sensor (120) is installed between the first electric push rod (116) and the roller seat (112). A friction block (121) is slidably connected to one side of the sliding seat (114) that fits against the guide rail (115). An inclined surface is provided inside the friction block (121). A wedge block (122) that cooperates with the inclined surface is slidably provided inside the sliding seat (114). One end of the wedge block (122) is rotatably connected to a threaded rod (123). The threaded rod (123) extends outside the sliding seat (114) and is in threaded cooperation with the inside of the sliding seat (114). One end of the threaded rod (123) located outside the sliding seat (114) is fixedly connected to a knob (124). Rotating the knob (124) drives the threaded rod (123) to rotate. The threaded rod (123) is in threaded cooperation with the inside of the sliding seat (114) to move up and down. The threaded rod (123) drives the wedge block (122) to move up and down, thereby pushing the friction block (121) to slide outside the sliding seat (114) and clamp or separate from the guide rail (115).

[0010] Preferably, the micro hydraulic actuator (132) is connected to a hydraulic power unit through a hydraulic oil pipe, and the hydraulic power unit is used to control the expansion and contraction of the micro hydraulic actuator (132); An installation groove (134) is longitudinally formed on the roller path base (101). The micro hydraulic actuator (132) is fixedly connected in the installation groove (134). The expansion and contraction end of the micro hydraulic actuator (132) is movably connected to the support plate (103) through a spherical hinge (133).

[0011] Preferably, four micro hydraulic actuators (132) are provided and are distributed in a matrix at the bottom of the support plate (103).

[0012] Preferably, the pressure sensor array is a plurality of piezoelectric film sensors (131) distributed in a matrix. The plurality of piezoelectric film sensors (131) are embedded below the surface of the support plate (103) for real-time detection of the local pressure distribution of the H-shaped steel.

[0013] Preferably, a thermal expansion gap is reserved between two adjacent dynamic roller table units; a quick-connection assembly is arranged between adjacent roller table units. The quick-connection assembly includes a T-shaped connector (51). The T-shaped connector (51) is fixedly connected to one end of the roller table base (101). A T-shaped limiting groove (52) adapted to the T-shaped connector (51) is provided at the other end of the roller table base (101). A quick-connection slot (53) is arranged inside the T-shaped limiting groove (52). The quick-connection slot (53) includes an industrial bus interface and a hydraulic quick-change joint; a quick-connection plug (54) matching the quick-connection slot (53) is arranged on one side of the T-shaped connector (51) close to the quick-connection slot (53); A locking assembly is arranged inside the T-shaped limiting groove (52). The locking assembly includes a positioning pin (55). A guiding groove (56) is opened on the inner side of the T-shaped limiting groove (52). The guiding groove (56) is vertically communicated with the T-shaped limiting groove (52). The positioning pin (55) is slidably connected inside the guiding groove (56). A micro electric push rod (57) is installed at one end of the guiding groove (56) far from the positioning pin (55). The micro electric push rod (57) pushes the positioning pin (55) to slide and stretch. A locking groove (58) is opened at one end of the T-shaped connector (51) close to the guiding groove (56). A chamfer is arranged at the front end of the positioning pin (55).

[0014] Preferably, the welding robot is equipped with a multi-wire submerged arc welding torch and an electromagnetic stirring device, and the calibration robot is equipped with an ultrasonic impact head and a laser heater; a base is installed at the bottom of the welding robot. Driving slide rails parallel to the production line are arranged on both sides of the welding station. The driving slide rails drive the base to move along the welding and assembly production line; A moving platform for carrying the calibration robot to slide along the production line track is arranged at the bottom of the calibration robot. And the movement tracks of the calibration robot and the welding robot are arranged in a staggered manner; and both the welding robot and the calibration robot are internally provided with independent controllers.

[0015] Preferably, the distributed optical fiber sensors are arranged in parallel on both sides of the weld at the junction of the H-shaped steel flange and web; the infrared thermal imager is installed behind the welding torch of the welding robot and is aligned with the molten pool area on the steel structure; the lidar is fixedly installed on the columns on both sides of the production line, and the scanning height is aligned with the center line of the H-shaped steel.

[0016] An operation method of a steel structure welding and assembly production line with dynamic collaborative control includes the following steps: Step S1: Transport the flange and web to the feeding area at the head end of the production line, fix and assemble them into an H-shaped steel structure through a fixture, and the welding robot spot-welds and temporarily fixes the junction of the flange and web; Step S2: S21. Detect the initial contact pressure of the H-beam in real time through the pressure sensor array of the distributed support system. The dynamic adjustment unit automatically adjusts the height of the micro hydraulic actuator (132) according to the pressure distribution of the H-beam, so as to lift the support plate (103) to compensate for the self-weight sag of the workpiece. S22. The welding robot moves synchronously along both sides of the roller path, starts the multi-wire submerged arc welding torch for continuous welding, and at the same time the electromagnetic stirring device applies an alternating magnetic field to the welding area to improve the weld quality. S23. The pressure sensor array monitors the pressure distribution of each section of the H-beam in real time. If the local pressure is detected to be lower than 2 kN / m², the micro hydraulic actuator (132) adjusts the support height according to the diagonal cooperation strategy to restore the pressure to the range of 2 - 5 kN / m². S24. The infrared thermal imager collects the temperature distribution data of the welding area in real time. The industrial control computer predicts the deformation trend according to the temperature change, and the dynamic adjustment unit reduces the support force in the high-temperature area and increases the support force in the low-temperature area. Step S3: S31. After welding is completed, the calibration robot moves to the target position, impacts the weld with an ultrasonic impact head, and at the same time the laser heater locally heats the deformed area. S32. The lidar scans the full-length profile data of the H-beam, and the dynamic roller path unit cooperatively adjusts the height of the support plate (103) according to the scanning result to ensure that the straightness is ≤ 1 mm / m. Step S4: When the dynamic roller path unit fails: S41. Release the lock of the T-shaped connector (51) of the faulty dynamic roller path unit, and separate the quick-connect plug (54) from the quick-connect socket (53). S42. Horizontally move out the faulty dynamic roller path unit and replace it with a new one. After replacement, the industrial bus automatically identifies the new dynamic roller path unit, and the hydraulic system reforms a closed-loop circuit.

[0017] Compared with the prior art, the beneficial effects achieved by the present invention are: The present invention solves the technical problem of deformation during the welding process of ultra-large-sized H-beams through a dynamic cooperative control scheme. First, aiming at the problem of self-weight sag of ultra-long components, the distributed support system adopts a modular design of dynamic roller path units. Each dynamic roller path unit is equipped with a high-precision pressure sensor array and a micro hydraulic actuator. By real-time monitoring the contact pressure distribution of the H-beam, it quickly responds at a sampling frequency of 1 kHz and adopts a "diagonal cooperation" adjustment strategy to dynamically compensate for deformation.

[0018] When the detected local pressure is lower than 2 kN / m², the system can complete the adjustment of the support height within 0.1 second and control the sag within 1 mm / m. Compared with the traditional segmented roller table, this system realizes full-length continuous adaptive support and solves the problem of discontinuous deformation of ultra-long workpieces caused by segmented support.

[0019] Secondly, to address the problem of welding thermal deformation, this system is equipped with a multi-dimensional sensing network. Distributed fiber optic sensors are arranged along both sides of the weld to monitor strain changes in real time; an infrared thermal imager tracks the temperature field of the molten pool at an interval of 0.5 m; a lidar conducts full-size three-dimensional scanning; and then these data are analyzed in real time through the thermodynamic model of an industrial control computer to dynamically adjust welding parameters and the distribution of support forces, controlling the temperature gradient within 50 °C / m, fundamentally suppressing thermal stress deformation; and furthermore, through a 0.3 T transverse alternating magnetic field generated by an electromagnetic stirring device, the crystallization quality of the weld is further improved and the residual stress is reduced.

[0020] In terms of system coordination, the present invention breaks through the isolated control mode of traditional equipment and establishes a closed-loop control for welding, support, and correction; when the welding robot completes a certain section of the weld, the correction robot performs ultrasonic impact treatment within a 0.5-second delay and cooperates with laser heating to achieve immediate deformation correction. Through the collaborative mode of welding, monitoring, and correction, the straightness of the final product reaches the industry-leading level of ≤1 mm / m. And through the modular T-type quick connection structure and redundant hydraulic design, it supports the replacement of faulty units on the production line without stopping the machine, greatly improving the availability of the equipment.

[0021] The creativity of the present invention is prominently reflected in its distributed support system: on the first hand, through the millisecond-level response system of pressure sensing and hydraulic regulation, it can achieve continuous adaptive support for ultra-long components; on the second hand, through the "diagonal coordination" hydraulic control algorithm, intelligent ratio matching of four actuators is carried out to ensure the horizontal support surface while compensating for deformation; on the third hand, through the intelligent linkage control of temperature and mechanics, the temperature field data are converted into support force adjustment instructions in real time, solving the limitation of traditional mechanical independent adjustment only; the above innovations enable the production line to stably process 40-meter-class H-shaped steel, reducing the sag from 5 - 10 mm in the traditional process to less than 1 mm, and reducing the residual stress, further improving production efficiency and effectively solving the problems in the manufacturing of super-large steel structures. Description of the Drawings

[0022] Figure 1 It is a schematic diagram of the connection structure of the dynamic roller table unit of the present invention; Figure 2 It is of the present invention Figure 1 The enlarged structure schematic diagram at position A of Figure 3 It is a schematic diagram of the end structure of the roller table base of the present invention; Figure 4 Schematic diagram of the installation structure of the driving roller and the driven roller of the present invention; Figure 5 Schematic cross-sectional view of the dynamic roller path unit of the present invention; Figure 6 For the present invention Figure 5 Enlarged structure diagram at position B; Figure 7 Schematic side cross-sectional view of the dynamic roller path unit of the present invention; Figure 8 For the present invention Figure 7 Enlarged structure diagram at position C; Figure 9 Flow chart of the operation method of the steel structure welding and assembly production line with dynamic cooperative control of the present invention.

[0023] Wherein: 101, roller path base; 102, support roller path; 103, support plate; 111, roller frame; 112, roller seat; 113, support plate; 114, sliding seat; 115, guide rail; 116, first electric push rod; 117, driving roller; 118, driven roller; 119, servo motor; 120, first force sensor; 121, friction block; 122, wedge block; 123, threaded rod; 124, knob; 131, piezoelectric film sensor; 132, micro hydraulic actuator; 133, spherical hinge; 134, installation groove; 51, T-shaped connector; 52, T-shaped limit groove; 53, quick-connect slot; 54, quick-connect plug; 55, positioning pin; 56, guide groove; 57, micro electric push rod; 58, locking groove. Detailed implementation manners

[0024] The following describes in detail the specific implementation manners of the present invention, but it should be understood that the protection scope of the present invention is not limited by the specific implementation manners.

[0025] Embodiment 1: Please refer to Figures 1-9 , the present invention provides a technical solution: A steel structure welding and assembly production line with dynamic cooperative control, the production line includes a feeding area and an assembly area located at the head end of the production line. The feeding area is used for the transportation of the webs and flanges of H-shaped steel members, and the assembly area assembles the webs and flanges into an H-shape and preliminarily fixes them by spot welding; a welding station and a calibration and inspection area located in the middle. The welding station makes the H-shaped steel firmly connected by full-seam welding, and the calibration and inspection area corrects the deformation during the welding and transportation of the H-shaped steel.

[0026] A distributed support system, a multi-dimensional sensor monitoring system, and a cooperative robot system for steel structure welding and correction are arranged on the welding station; The distributed support system is composed of several linearly distributed dynamic roller track units connected in series. Each dynamic roller track unit includes a roller track base 101. In the middle of the roller track base 101, there is a support roller track 102. On the surface of the support roller track 102, there is a support plate 103 for supporting the steel structure. A clamping drive unit for driving the movement of the steel structure is installed on the roller track base 101. The support plate 103 is connected with a dynamic adjustment unit for multi-point support adjustment. The dynamic adjustment unit cooperates with the support plate 103 to detect the gravity distribution of the workpiece in real time and adjust the height of the support roller track 102; The multi-dimensional sensor monitoring system is used to monitor the welding temperature and deformation of the steel structure; It also includes an industrial control computer for steel structure welding and deformation control. The industrial control computer is connected to the above-mentioned systems through an industrial bus for global collaborative control.

[0027] The specific implementation of the above solution is as follows: The steel structure welding production line with dynamic collaborative control solves the problems of overall deformation, sagging and welding temperature control in the processing of ultra-long H-shaped steel through the global collaborative mechanism of the distributed support system, multi-dimensional sensor monitoring and industrial control computer.

[0028] Its specific working principle is as follows: First, the dynamic roller track unit of the distributed support system, through the linkage of the clamping drive unit and the dynamic adjustment unit, detects the gravity distribution of the workpiece in real time and adjusts the height of each support point to form a continuous and uniform support force field, effectively offsetting the non-uniform sag caused by the self-weight of the ultra-long component; Second, the multi-dimensional sensor monitoring system captures the distribution of the welding temperature field and thermal deformation data in real time. The industrial control computer dynamically adjusts the parameters of the welding robot based on the thermodynamic model, and controls the temperature rise gradient in the weld zone within 50°C / m to avoid thermal stress deformation caused by excessive temperature difference between the head and the tail; Finally, the collaborative robot system synchronously performs micro-correction during the welding process, and dynamically matches the welding heat input, support force compensation and deformation correction through a closed-loop feedback mechanism to achieve the dual goals of reducing the residual stress in the whole process and finally achieving high straightness and low residual stress, and solving the problem of deformation of ultra-large-sized H-shaped steel during welding and transportation caused by the inability of traditional segmented conveying equipment to perform global coordinated control.

[0029] Furthermore, the clamping drive unit includes roller frames 111 symmetrically arranged on both sides of the support roller track 102. The roller frame 111 includes a roller seat 112, a support plate 113 and a sliding seat 114. Guide rails 115 are provided on both sides of the roller track base 101. The sliding seat 114 is a rectangular slider, which is slidably connected inside the guide rail 115. The support plate 113 is perpendicular to the roller track base 101 and is fixedly connected to the bottom of the sliding seat 114. A horizontally arranged first electric push rod 116 is installed in the middle of the support plate 113. The back of the roller seat 112 is fixedly connected to the telescopic end of the first electric push rod 116; A driving roller 117 is rotatably installed in a roller seat 112 on one side of a supporting roller path 102, and a driven roller 118 is rotatably installed in a roller seat 112 on the other side of the supporting roller path 102. A servo motor 119 is provided on the roller seat 112 where the driving roller 117 is installed, and the servo motor 119 drives the driving roller 117 to rotate. A first force sensor 120 is installed between the first electric push rod 116 and the roller seat 112. A friction block 121 is slidably connected to one side of the sliding seat 114 that fits against a guide rail 115. An inclined surface is provided inside the friction block 121. A wedge-shaped block 122 that cooperates with the inclined surface is slidably provided inside the sliding seat 114. One end of the wedge-shaped block 122 is rotatably connected to a threaded rod 123. The threaded rod 123 extends outside the sliding seat 114 and is in threaded cooperation with the inside of the sliding seat 114. One end of the threaded rod 123 located outside the sliding seat 114 is fixedly connected to a knob 124. Rotating the knob 124 drives the threaded rod 123 to rotate. The threaded rod 123 is in threaded cooperation with the inside of the sliding seat 114 to achieve vertical movement. The threaded rod 123 drives the wedge-shaped block 122 to move up and down, thereby pushing the friction block 121 to slide outward from the sliding seat 114 and clamp or separate from the guide rail 115.

[0030] The specific implementation of the above solution is as follows: Roller frames 111 are provided on both sides of the supporting roller path 102. The roller frames 111 include roller seats 112, support plates 113, and sliding seats 114. The bottom of the support plate 113 is connected to a rectangular slider inside the slide rail, so that the support plate 113 linearly moves along the slide rail through the rectangular slider, facilitating the position adjustment of the support plate 113. A horizontally arranged first electric push rod 116 is installed in the middle of the support plate 113. The telescopic end of the first electric push rod 116 is connected to the back of the roller seat 112 to support the roller seat 112. The distance between the roller seat 112 and the web of the H-shaped steel is adjusted by the telescopic movement of the first electric push rod 116. A driving roller 117 is installed on one roller seat 112, and a driven roller 118 is installed on the other roller seat 112. By moving the roller seats 112 on both sides closer to the web of the H-shaped steel, the driving roller 117 and the driven roller 118 clamp the web of the H-shaped steel. The driving roller 117 is driven by a servo motor 119 installed on its corresponding roller seat 112 to achieve a rotating action, thereby driving the movement of the H-shaped steel structure. A first force sensor 120 is installed between the first electric push rod 116 and the roller seat 112 to continuously monitor the magnitude of the clamping force and ensure the safety and stability of the clamping process. A friction block 121 is slidably connected to one side of the sliding seat 114 that fits against a guide rail 115. These friction blocks 121 can closely fit the surface of the guide rail 115 when needed to provide sufficient friction to prevent sliding.

[0031] On the inner side of the friction block 121, there is an inclined surface, which cooperates with the wedge block 122 slidably arranged on the inner side of the sliding seat 114; by rotating the threaded rod 123, the wedge block 122 can be driven to move up and down. When the wedge block 122 approaches the inclined surface of the friction block 121, it will push the friction block 121 to move outward of the sliding seat 114 until the friction block 121 closely fits the surface of the guide rail 115 and realizes locking. On the contrary, when the wedge block 122 moves away, the friction block 121 is separated from the guide rail 115, allowing the sliding seat 114 and the roller frame 111 to move along the guide rail 115 for position adjustment. The clamping drive unit can achieve stable clamping and precise movement of the H-shaped steel structure, providing strong support for subsequent welding and correction processes.

[0032] In another embodiment, the dynamic adjustment unit includes a pressure sensor array arranged on the upper surface of the support plate 103 and a micro hydraulic actuator 132 installed in the support roller path 102. The micro hydraulic actuator 132 is connected to the hydraulic power unit through a hydraulic oil pipe, and the hydraulic power unit controls the expansion and contraction of the micro hydraulic actuator 132; On the roller path base 101, an installation groove 134 is longitudinally opened. The micro hydraulic actuator 132 is fixedly connected in the installation groove 134, and the expansion and contraction end of the micro hydraulic actuator 132 is movably connected to the support plate 103 through a spherical hinge 133; The micro hydraulic actuator 132 is installed at the four corners of the roller path base 101, with a maximum thrust of 12 kN and a response time ≤ 0.1 second; the top of the piston rod is connected to the roller path support plate 103 through a spherical hinge 133, allowing a small angle deflection; The hydraulic power unit is integrated on the side of the dynamic roller path unit and includes a micro hydraulic pump, a solenoid valve group and an oil tank, which are connected to the micro hydraulic actuator 132 through a high-pressure hose; the micro hydraulic actuator 132 supports independent oil supply or series oil supply with other units, and this redundant design ensures that a single-point failure does not affect the overall operation.

[0033] There are four micro hydraulic actuators 132, which are matrix-distributed at the bottom of the support plate 103. The four actuators adjust the height according to the "diagonal cooperation" strategy. When the upper left actuator lifts, the lower right actuator synchronously reduces pressure to keep the support plate 103 horizontally supporting the steel structure.

[0034] In this embodiment, the working principle of the dynamic adjustment unit is as follows: The local pressure distribution of the H-beam is detected in real time by the pressure sensor array on the upper surface of the support plate 103. When sagging or warping is detected, the industrial control computer drives the hydraulic power unit according to the pressure data, and the hydraulic power unit controls the micro hydraulic actuators 132 distributed in a matrix at the four corners of the bottom of the support plate 103 to expand and contract cooperatively; The micro hydraulic actuators 132 work in the "diagonal cooperation" mode. For example, when the upper left actuator lifts, the lower right actuator synchronously reduces pressure. The spherical hinge 133 allows the support plate 103 to deflect slightly, dynamically compensating for the deformation of the workpiece. At the same time, the hydraulic system supports a redundant design of independent or series oil supply to ensure that the horizontal support can still be maintained when a single actuator fails, thereby offsetting the sag and deformation caused by the self-weight or thermal deformation of the ultra-long H-beam in real time.

[0035] In another embodiment, the pressure sensor array is a number of piezoelectric film sensors 131 distributed in a matrix. A number of piezoelectric film sensors 131 are embedded below the surface of the support plate 103 for real-time detection of the local pressure distribution of the H-beam.

[0036] The piezoelectric film sensor 131 is embedded 5 mm below the roller support plate 103, and its surface is covered with a 1 mm stainless steel protective layer to prevent damage caused by high-temperature welding chips during welding; The piezoelectric film sensor 131 monitors the contact pressure distribution between the H-beam and the support plate 103 in real time to identify local sagging or warping areas; The signal line of the piezoelectric film sensor 131 is connected to the industrial control computer through the wire groove inside the roller base 101; Furthermore, each dynamic roller unit is provided with 20 piezoelectric film sensors 131, and is transmitted to the industrial control computer through the AD conversion module, and its sampling frequency is 1 kHz.

[0037] The specific working mode of the above embodiment is as follows: Through 20 piezoelectric film sensors 131 distributed in a matrix below the support plate 103, the contact pressure distribution between the H-beam and the support plate 103 is monitored in real time, and its sampling frequency is 1 kHz, and the data is transmitted to the industrial control computer through the AD conversion module; The surface of the sensor is covered with a 1 mm stainless steel protective layer to resist high-temperature damage caused by welding spatter. When local pressure abnormality is detected, the industrial control computer immediately analyzes the pressure distribution, generates an adjustment instruction, and drives the micro hydraulic actuator 132 to dynamically adjust the support height to ensure that the H-beam is always in a horizontal and stable state; This design realizes high-precision and high-response real-time deformation monitoring and compensation, effectively improving the welding quality.

[0038] Embodiment 2: Please refer to Figures 1-3 , and in combination with Embodiment 1, it is further obtained that a 2 mm thermal expansion gap is reserved between two adjacent dynamic roller units to avoid structural deformation caused by temperature changes; A quick-connect component is provided between adjacent roller table units. The quick-connect component includes a T-shaped connector 51. The T-shaped connector 51 is fixedly connected to one end of the roller table base 101. A T-shaped limit groove 52 adapted to the T-shaped connector 51 is provided at the other end of the roller table base 101. A quick-connect slot 53 is provided inside the T-shaped limit groove 52. The quick-connect slot 53 includes an industrial bus interface and a hydraulic quick-change joint. A quick-connect plug 54 matching the quick-connect slot 53 is provided on one side of the T-shaped connector 51 close to the quick-connect slot 53.

[0039] Industrial bus interfaces and hydraulic quick-change joints are provided at both ends of the roller table base 101 to achieve "plug and play" type of quick splicing. After splicing, the industrial bus automatically forms a network, making the hydraulic system form a closed-loop circuit.

[0040] Further, a locking component is provided in the T-shaped limit groove 52. The locking component includes a positioning pin 55. A guide groove 56 is provided inside the inner side of the T-shaped limit groove 52. The guide groove 56 is vertically communicated with the T-shaped limit groove 52. The positioning pin 55 is slidably connected inside the guide groove 56. A micro electric push rod 57 is installed at one end of the guide groove 56 away from the positioning pin 55. The micro electric push rod 57 pushes the positioning pin 55 to slide and expand and contract. A lock groove 58 is provided at one end of the T-shaped connector 51 close to the guide groove 56. A chamfer is provided at the front end of the positioning pin 55.

[0041] The specific implementation of the above solution is as follows: A 2mm thermal expansion gap is reserved between adjacent dynamic roller table units to allow free expansion and contraction when the temperature changes, and at the same time avoid deformation caused by thermal stress. Both ends of the roller table base 101 are quickly spliced through the T-shaped connector 51 and the T-shaped limit groove 52. During insertion, the T-shaped connector 51 is embedded in the limit groove, and the quick-connect plug 54 is automatically docked with the industrial bus interface and the hydraulic quick-change joint in the slot, forming a plug-and-play electrical and hydraulic path, and making the industrial bus automatically form a network to establish a closed-loop control. The locking component pushes the positioning pin 55 to slide along the guide groove 56 through the micro electric push rod 57. The chamfer at the front end enables it to smoothly slide into the lock groove 58 of the T-shaped connector 51, mechanically locking the position of the connector to ensure stable splicing. When the temperature changes or the unit needs to be replaced, the push rod retracts to release the lock, and the roller table unit can be quickly separated. This design takes into account the requirements of thermal expansion compensation and modular quick disassembly and installation, ensuring the continuity and reliability of the production line.

[0042] Example Three: Combined with the first embodiment, it is further obtained that the collaborative robot system includes multiple welding robots symmetrically arranged on both sides of the roller path, and a calibration robot located downstream of the welding station; the welding robots are equipped with multi-wire submerged arc welding torches and electromagnetic stirring devices, and the calibration robot is equipped with an ultrasonic impact head and a laser heater; a base is installed at the bottom of the welding robot, and driving slide rails parallel to the welding and assembly production line are arranged on both sides of the welding station, and the driving slide rails drive the robot base to move along the welding and assembly production line.

[0043] A moving platform for carrying the calibration robot to slide along the production line track is arranged at the bottom of the calibration robot, and the movement trajectories of the calibration robot and the welding robot are arranged in a staggered manner; and both the welding robot and the calibration robot are built-in with independent controllers; The welding robot includes a multi-wire submerged arc welding torch. Four independent wire feeding conduits are provided at the head of the multi-wire submerged arc welding torch, and the wire outlets are distributed in a rectangular array; the welding robot moves through the base slide rail, so that it can move synchronously along the length direction of the H-shaped steel.

[0044] The electromagnetic stirring device is composed of a circular electromagnetic coil surrounding the head of the welding torch. The axis of the coil is perpendicular to the weld direction and is connected in parallel with the welding power supply through a cable; the inner diameter of the circular electromagnetic coil of the electromagnetic stirring device is 100 - 150 mm. After passing through an alternating current, a transverse alternating magnetic field is generated, and the magnetic field strength is 0.2 - 0.5 T, and the magnetic field direction is orthogonal to the flow direction of the weld pool.

[0045] Furthermore, the multi-wire submerged arc welding torch is set as a four-wire submerged arc welding torch. The diameters of the four welding wires are all 4 mm, and the current is independently controlled, and a transverse alternating magnetic field coil is integrated, and the magnetic field strength is 0.3 T; the working frequency of the ultrasonic impact head of the calibration robot is 20 kHz, and the power of the laser heater is 500 W, and it receives instructions from the industrial control computer through 5G communication.

[0046] The calibration robot includes an ultrasonic impact head. The ultrasonic impact head is installed at the end of the robot through a universal arm, and the impact direction forms an angle of 30° - 60° with the normal direction of the weld surface; a laser heater: installed on the side of the ultrasonic impact head, and the laser beam is focused on the heat affected zone of the weld; The moving platform carries the calibration robot to slide along the production line track, and is arranged in a staggered manner with the movement trajectory of the welding robot. The moving platform is similar to the linear guide rail 115, which belongs to the prior art.

[0047] The specific implementation manner of the collaborative robot system in the above solution is as follows: The system consists of a welding robot and a correction robot, which work together to achieve high-quality welding and precise correction of H-beams. The welding robots are symmetrically arranged on both sides of the production line, and each robot is equipped with a four-wire submerged arc welding gun and an electromagnetic stirring device. The welding gun head is equipped with four independent wire feed guide tubes with a diameter of 4mm, distributed in a rectangular array, and the current parameters can be controlled individually. The electromagnetic stirring device adopts a ring-shaped electromagnetic coil design with an inner diameter of 100-150mm. When working, it generates a 0.3T transverse alternating magnetic field, which is orthogonal to the flow direction of the weld pool, effectively improving the crystallization quality of the weld metal.

[0048] Further explanation of the working principle of the electromagnetic stirring device is that by applying a transverse alternating magnetic field perpendicular to the weld direction in the welding pool area, eddy currents are induced in the molten pool metal. According to the law of electromagnetic induction, these eddy currents interact with the magnetic field to produce periodically changing Lorentz forces, driving the molten pool metal to produce strong forced convection. On the one hand, this directional flow breaks the growing dendrite tip, which is the frontmost growth part of the dendrite crystal formed when the metal solidifies, increases the crystallization nucleation rate, and refines the grain size from the conventional 150-200μm to 80-120μm; on the other hand, it promotes the uniform diffusion of solute elements, reduces segregation, and reduces the proportion of columnar crystals from 70% to below 30%, significantly increasing the content of equiaxed crystals. The alternating magnetic field changes direction every 0.01-0.02 seconds to avoid directional solidification of flow, and finally makes the weld structure obtain a more uniform grain size distribution and random orientation, achieving a comprehensive optimization effect of increasing tensile strength by 15%, increasing impact toughness by 30%, and reducing residual stress by 40%.

[0049] The welding robot is installed on the driving rails on both sides of the production line through the bottom base, and can move synchronously along the length direction of the H-beam to ensure the continuity of the welding process. The robot has a built-in independent controller, which receives instructions from the industrial control computer in real time and dynamically adjusts the welding parameters and movement speed. During the welding process, the electromagnetic stirring device works in parallel with the welding power supply to adjust the magnetic field strength in real time according to the working conditions.

[0050] The correction robot located downstream of the welding station is equipped with an ultrasonic impact head and a laser heater. The ultrasonic impact head has an operating frequency of 20kHz and is installed at the end of the robot through a universal arm. The impact direction forms an angle of 30-60° with the normal direction of the weld surface, which can effectively release welding residual stress. The laser heater has a power of 500W and is installed on the side of the impact head to accurately heat the heat-affected zone of the weld. The correction robot slides along a dedicated track through a mobile platform, and its motion trajectory is staggered with the welding robot to avoid interference.

[0051] When the system is working, the welding robot first completes the full-seam welding of the H-beam, and at the same time, the electromagnetic stirring device optimizes the weld microstructure. After welding is completed, the calibration robot immediately intervenes to perform ultrasonic impact treatment on the weld, and at the same time uses a laser heater to correct the deformed area. During the whole process, the industrial control computer coordinates the working parameters of the two robots in real time through 5G communication, and combines the monitoring data of multi-dimensional sensors to form a complete closed-loop control system for welding, detection and calibration. This collaborative operation mode significantly improves the welding quality and dimensional accuracy of ultra-large-size H-beams, ensuring that the straightness of the finished product is controlled within 1mm / m, fully meeting the strict requirements of the high-end construction field.

[0052] Embodiment 4: Combined with the above embodiments, it is further obtained that the multi-dimensional sensor monitoring system includes a distributed optical fiber sensor attached to the surface along the length direction of the H-beam, an infrared thermal imager installed above the welding station, and lidar installed on both sides of the production line; the distributed optical fiber sensor is arranged in parallel on both sides of the weld at the intersection of the flange and web of the H-beam; the infrared thermal imager is installed 0.5-1 meter behind the welding torch of the welding robot and is aligned with the molten pool area; the lidar is fixedly installed on the columns on both sides of the production line, and its scanning height is aligned with the center line of the H-beam.

[0053] The distributed optical fiber sensor is composed of a sensing optical fiber, a fixing component and a signal processing unit; the sensing optical fiber is made of glass or plastic material, and its surface is coated with a high-temperature resistant polyimide protective layer, which can withstand temperatures above 300°C and can adapt to the high temperature of the welding environment.

[0054] The fixing component includes a stainless steel braided sheath and a high-temperature resistant tape. The stainless steel braided sheath wraps the outside of the optical fiber to prevent welding spatter or mechanical damage; the high-temperature resistant tape can withstand temperatures of 500°C and is used to paste the optical fiber to the surface of the H-beam, fixing the sensing optical fiber at key positions near the weld to avoid falling off caused by high temperature. The signal processing unit emits laser pulses through a demodulator and analyzes the reflected signals to real-time analyze the temperature and strain changes along the optical fiber. External temperature or force will change the characteristics of the optical signal, thereby locating the abnormal points.

[0055] The installation of the distributed optical fiber sensor matches the H-beam structure. The sensing optical fiber is arranged in parallel on both sides of the weld at the intersection of the flange and web, and is 10-15 mm away from the weld edge, and is wound 3-5 times at the starting end, middle and end of the welding to enhance the monitoring sensitivity. Connect the demodulator to both ends of the optical fiber and connect it to the industrial control computer through a shielded cable.

[0056] The distributed optical fiber sensor works in such a way that before welding, the optical fiber monitors the initial strain of the H-shaped steel after erection in real time. By measuring the change in the propagation characteristics of the optical signal in the optical fiber, the distributed optical fiber sensor can perceive the strain distribution on the surface of the H-shaped steel in real time. When the butt joint of the flange and the web is misaligned, local stress concentration will occur at the misaligned part, resulting in abnormal strain distribution along the optical fiber. The sensor analyzes this abnormal signal through a demodulator and can accurately identify the misalignment position and degree; If it is detected that the butt joint of the flange and the web is misaligned, an alarm will be triggered immediately and the welding will be paused; during the welding process, the optical fiber synchronously senses the temperature change and deformation near the weld. When the tensile strain of the steel structure is greater than 0.05%, it is determined that there is local warping, and the supporting force of the corresponding roller track is adjusted through the dynamic adjustment unit; after welding is completed, the optical fiber continuously monitors the release of residual stress. If the strain in a certain area continues to increase, the calibration robot automatically performs a secondary impact or heating on this position to ensure that the straightness of the finished product is ≤ 1 mm / m.

[0057] Through full-length coverage, high-precision perception and strong environmental adaptability, this solution realizes real-time early warning and closed-loop control of welding deformation, and significantly improves the manufacturing quality and efficiency of ultra-large-sized H-shaped steel.

[0058] Example 5: Combined with the above embodiments, it is further obtained that the online calibration and quality optimization process of the H-shaped steel structure includes the following steps: Step 1: The welded H-shaped steel moves to the calibration station along with the dynamic roller track, and the calibration robot slides along the production line track to the weld area through the moving platform: The ultrasonic impact head of the calibration robot impacts the weld surface at a frequency of 20 kHz, and the impact direction forms an angle of 30° - 60° with the weld surface to release the welding residual stress; at the same time, the laser heater is started to perform local temperature control on the heat-affected zone to eliminate minor deformations; The lidar scans the three-dimensional shape of the entire H-shaped steel, and the industrial control computer calculates the straightness error. If the error exceeds 0.3 mm / m, the dynamic adjustment unit starts secondary calibration and finely adjusts the height of the support plate 103 through the micro hydraulic actuator 132.

[0059] Step 2: Use an ultrasonic flaw detector to detect internal defects in the weld. If the defect rate is lower than 0.1%, it is determined to be qualified; the qualified workpieces are transported to the spraying line by a gantry crane, and the robot automatically sprays an anti-corrosion coating with a thickness of ≥ 120 μm; the welding parameters, energy consumption and carbon emission data are collected through the data recording system, and a traceable report is generated and stored in the cloud.

[0060] Step 3: The industrial control computer analyzes production data through the digital twin platform and optimizes the welding current, support force distribution and electromagnetic stirring magnetic field strength; based on the deformation law of ultra-long workpieces, the welding temperature, support force and deformation relationship prediction model is updated to achieve self-learning iteration and improve subsequent production accuracy.

[0061] Distributed fiber optic sensors are used to monitor deformation in real time, infrared thermal imagers are used to track temperature changes, and lidar is used to scan the topography. After the above data are integrated, the supporting force is adjusted through a dynamic adjustment unit, and the welding robot simultaneously optimizes the welding parameters, forming a closed loop of detection, decision-making and execution.

[0062] At the same time, the welding robot and the correction robot work in a staggered manner. When a section of welding is completed, the correction robot immediately processes it, and the time delay is less than 0.5 seconds. The dynamic roller unit is linked with the correction robot to coordinately correct the deformation of the H-beam.

[0063] Embodiment six: See also Figure 9 , and combined with Example 1, it is further obtained that the operation method of the dynamic collaborative control steel structure welding assembly production line includes the following steps: Step S1: transport the wing plate and the web plate to the loading area at the head end of the production line, fix them with a clamp and assemble them into an H-shaped steel structure, and the welding robot performs spot welding on the junction of the wing plate and the web plate for temporary fixation; Step S2: S21, using a pressure sensor array of a distributed support system to detect the initial contact pressure of the H-beam in real time, and the dynamic adjustment unit automatically adjusts the height of the micro hydraulic actuator (132) according to the pressure distribution of the H-beam, so that the support plate (103) is lifted to compensate for the sagging of the workpiece by its own weight; S22, the welding robot moves synchronously along both sides of the roller table, starts the multi-wire submerged arc welding gun for continuous welding, and at the same time the electromagnetic stirring device applies an alternating magnetic field to the welding area to improve the quality of the weld; S23, the pressure sensor array monitors the pressure distribution of each section of the H-beam in real time. If the local pressure is detected to be lower than 2 kN / m², the micro hydraulic actuator (132) adjusts the support height according to the diagonal coordination strategy to restore the pressure to the range of 2-5 kN / m²; S24, infrared thermal imager collects temperature distribution data of welding area in real time, industrial control computer predicts deformation trend according to temperature change, dynamic adjustment unit reduces support force in high temperature area and increases support force in low temperature area; Step S3: S31. After the welding is completed, the calibration robot moves to the target position, and the weld is impacted by the ultrasonic impact head, while the laser heater locally heats the deformed area; S32. The lidar scans the overall shape data of the H-beam, and the dynamic roller table unit cooperatively adjusts the height of the support plate (103) according to the scanning results to ensure that the straightness is ≤ 1 mm / m; Step S4: When a fault occurs in the dynamic roller table unit: S41. Unlock the T-shaped connector (51) of the faulty dynamic roller table unit and separate the quick-connect plug (54) from the quick-connect socket (53); S42. Horizontally move out the faulty dynamic roller table unit and replace it with a new one. After replacement, the industrial bus automatically recognizes the new dynamic roller table unit, and the hydraulic system reformulates a closed-loop circuit.

[0064] The above only discloses several specific embodiments of the present invention. However, the embodiments of the present invention are not limited thereto, and any changes that can be conceived by those skilled in the art should fall within the protection scope of the present invention.

Claims

1. A steel structure welding and assembly production line with dynamic collaborative control, characterized in that: It includes a welding station, on which a distributed support system, a multi-dimensional sensor monitoring system, and a collaborative robot system for steel structure welding and correction are provided; The distributed support system is composed of a number of linearly distributed dynamic roller table units connected in series. Each dynamic roller table unit includes a roller table base (101). In the middle of the roller table base (101), a support roller table (102) is provided. On the surface of the support roller table (102), a support plate (103) for supporting the steel structure is provided. A clamping drive unit for driving the movement of the steel structure is installed on the roller table base (101). The support plate (103) is connected to a dynamic adjustment unit for multi-point support adjustment. The dynamic adjustment unit cooperates with the support plate (103) to detect the gravity distribution of the workpiece in real time and adjust the height of the support roller table (102); The dynamic adjustment unit includes a pressure sensor array arranged on the upper surface of the support plate (103) and a micro hydraulic actuator (132) installed in the support roller table (102); The multi-dimensional sensor monitoring system includes a distributed optical fiber sensor attached along the surface of the H-shaped steel, an infrared thermal imager aligned with the weld seam, and a lidar scanning the H-shaped steel structure; The collaborative robot system includes welding robots symmetrically arranged on both sides of the support roller table (102) and a correction robot located downstream; It further includes an industrial control computer for steel structure welding and deformation control. The industrial control computer is connected to the distributed support system, the multi-dimensional sensor monitoring system, and the collaborative robot system through an industrial bus, and is used to achieve the following controls: adjust the dynamic adjustment unit according to the data of the pressure sensor array to control the height of the support plate and maintain the uniform support of the H-shaped steel; dynamically adjust the welding parameters of the welding robot based on the strain data of the distributed optical fiber sensor and the temperature data of the infrared thermal imager; trigger the correction robot to correct the over-standard deformation area according to the H-shaped steel profile data scanned by the lidar, and cooperate with the dynamic adjustment unit to compensate for the support; synchronously control the motion timing of the welding robot and the correction robot to form a closed-loop control chain of welding, detection, and correction.

2. The steel structure welding and assembly production line with dynamic collaborative control according to claim 1, wherein: The clamping drive unit includes roller frames (111) symmetrically arranged on both sides of the support roller table (102). The roller frame (111) includes a roller seat (112), a support plate (113), and a sliding seat (114). Guide rails (115) are provided on both sides of the roller table base (101). The sliding seat (114) is a rectangular slider, which is slidably connected inside the guide rail (115). The support plate (113) is perpendicular to the roller table base (101) and is fixedly connected to the sliding seat (114) at the bottom. A horizontally arranged first electric push rod (116) is installed in the middle of the support plate (113). The back of the roller seat (112) is fixedly connected to the telescopic end of the first electric push rod (116).

3. The steel structure welding and assembly production line with dynamic collaborative control according to claim 2, wherein: A driving roller (117) is rotatably installed in a roller seat (112) on one side of a supporting roller path (102), and a driven roller (118) is rotatably installed in a roller seat (112) on the other side of the supporting roller path (102). A servo motor (119) is arranged on the roller seat (112) where the driving roller (117) is installed, and the servo motor (119) drives the driving roller (117) to rotate; a first force sensor (120) is installed between a first electric push rod (116) and the roller seat (112). A friction block (121) is slidably connected to one side of a sliding seat (114) that fits against a guide rail (115). An inclined surface is arranged inside the friction block (121). A wedge block (122) that cooperates with the inclined surface is slidably arranged inside the sliding seat (114). One end of the wedge block (122) is rotatably connected to a threaded rod (123). The threaded rod (123) extends outside the sliding seat (114) and is in threaded cooperation with the inside of the sliding seat (114). One end of the threaded rod (123) located outside the sliding seat (114) is fixedly connected to a knob (124). Rotating the knob (124) drives the threaded rod (123) to rotate. The threaded rod (123) is in threaded cooperation with the inside of the sliding seat (114) to realize up and down movement. The threaded rod (123) drives the wedge block (122) to move up and down, thereby pushing the friction block (121) to slide outward from the sliding seat (114) and clamp or separate from the guide rail (115).

4. The dynamically collaborative controlled steel structure welding and assembly production line according to claim 1, wherein: A micro hydraulic actuator (132) is connected to a hydraulic power unit through a hydraulic oil pipe, and the hydraulic power unit is used to control the expansion and contraction of the micro hydraulic actuator (132); An installation groove (134) is longitudinally formed on a roller path base (101). The micro hydraulic actuator (132) is fixedly connected in the installation groove (134). The expansion and contraction end of the micro hydraulic actuator (132) is movably connected to a support plate (103) through a spherical hinge (133).

5. The dynamically collaborative controlled steel structure welding and assembly production line according to claim 4, wherein: Four micro hydraulic actuators (132) are provided and are distributed in a matrix at the bottom of the support plate (103).

6. The steel structure welding and assembly production line with dynamic collaborative control according to claim 5, characterized in that: A pressure sensor array is composed of a plurality of piezoelectric film sensors (131) distributed in a matrix. The plurality of piezoelectric film sensors (131) are embedded below the surface of the support plate (103) for real-time detection of the local pressure distribution of the H-shaped steel.

7. The steel structure welding and assembly production line with dynamic collaborative control according to claim 1, wherein: A thermal expansion gap is reserved between two adjacent dynamic roller path units; a quick connection assembly is arranged between adjacent roller path units. The quick connection assembly includes a T-shaped connector (51). The T-shaped connector (51) is fixedly connected to one end of the roller path base (101). A T-shaped limit groove (52) adapted to the T-shaped connector (51) is formed at the other end of the roller path base (101). A quick connection slot (53) is arranged inside the T-shaped limit groove (52). The quick connection slot (53) includes an industrial bus interface and a hydraulic quick change joint; a quick connection plug (54) matching the quick connection slot (53) is arranged on one side of the T-shaped connector (51) close to the quick connection slot (53); A locking assembly is arranged in the T-shaped limiting groove (52). The locking assembly includes a positioning pin (55). A guiding groove (56) is formed on the inner side of the T-shaped limiting groove (52). The guiding groove (56) is vertically communicated with the T-shaped limiting groove (52). The positioning pin (55) is slidably connected to the inside of the guiding groove (56). A micro electric push rod (57) is installed at one end of the guiding groove (56) away from the positioning pin (55). The micro electric push rod (57) pushes the positioning pin (55) to slide and stretch. A locking groove (58) is formed at one end of the T-shaped connecting head (51) close to the guiding groove (56). A chamfer is arranged at the front end of the positioning pin (55).

8. The steel structure welding and assembly production line with dynamic collaborative control according to claim 1, wherein: The welding robot is equipped with a multi-wire submerged arc welding torch and an electromagnetic stirring device, and the calibration robot is equipped with an ultrasonic impact head and a laser heater; a base is installed at the bottom of the welding robot, and driving slide rails parallel to the production line are arranged on both sides of the welding station. The driving slide rails drive the base to move along the welding and assembly production line; A moving platform for carrying the calibration robot to slide along the production line track is arranged at the bottom of the calibration robot, and the movement tracks of the calibration robot and the welding robot are arranged in a staggered manner; and both the welding robot and the calibration robot are internally provided with independent controllers.

9. The steel structure welding and assembly production line with dynamic collaborative control according to claim 1, wherein: Distributed optical fiber sensors are arranged in parallel on both sides of the weld at the intersection of the H-beam flange and web; an infrared thermal imager is installed behind the welding torch of the welding robot and is aligned with the molten pool area on the steel structure; lidars are fixedly installed on the columns on both sides of the production line, and the scanning height is aligned with the center line of the H-beam.

10. The operation method of the steel structure welding and assembly production line with dynamic collaborative control according to any one of claims 1-9, characterized in that It includes the following steps: Step S1: Transport the flange and web to the feeding area at the head end of the production line, fix and assemble them into an H-shaped steel structure through a fixture, and the welding robot performs spot welding and temporary fixing at the joint of the flange and web; Step S2: S21. Through the pressure sensor array of the distributed support system, the initial contact pressure of the H-beam is detected in real time. The dynamic adjustment unit automatically adjusts the height of the micro hydraulic actuator (132) according to the pressure distribution of the H-beam, so that the support plate (103) is lifted to compensate for the self-weight sag of the workpiece; S22. The welding robot moves synchronously along both sides of the roller path, starts the multi-wire submerged arc welding torch for continuous welding, and at the same time the electromagnetic stirring device applies an alternating magnetic field to the welding area to improve the weld quality; S23. The pressure sensor array monitors the pressure distribution of each section of the H-beam in real time. If it is detected that the local pressure is lower than 2 kN / m², the micro hydraulic actuator (132) adjusts the support height according to the diagonal cooperation strategy to restore the pressure to the range of 2 - 5 kN / m²; S24. The infrared thermal imager collects the temperature distribution data of the welding area in real time. The industrial control computer predicts the deformation trend according to the temperature change, and the dynamic adjustment unit reduces the support force in the high-temperature area and increases the support force in the low-temperature area; Step S3: S31. After welding is completed, the calibration robot moves to the target position, uses the ultrasonic impact head to impact the weld, and at the same time the laser heater locally heats the deformed area; S32. The lidar scans the full-length profile data of the H-beam, and the dynamic roller path unit cooperatively adjusts the height of the support plate (103) according to the scanning result to ensure that the straightness is ≤ 1 mm / m; Step S4: When the dynamic roller path unit fails: S41. Unlock the T-shaped connector (51) of the faulty dynamic roller table unit, and separate the quick-connect plug (54) from the quick-connect slot (53); S42. Horizontally move out the faulty dynamic roller table unit and replace it with a new one. After replacement, the industrial bus automatically recognizes the new dynamic roller table unit, and the hydraulic system reformulates a closed-loop circuit.

Images