A dynamic collaborative control steel structure welding assembly production line and its operation method

Abstract

The present invention relates to the technical field of steel structure welding and assembly, and discloses a steel structure welding and assembly production line with dynamic collaborative control and its operation method, which are used for the automated welding and deformation correction of H-shaped steel components. The production line includes a loading area, an assembly area, a welding station and a correction and detection area. A distributed support system, a multi-dimensional sensor monitoring system and a collaborative robot system realize global collaborative control; the distributed support system is composed of a dynamic roller unit, which adjusts the support height in real time through a pressure sensor array and a micro hydraulic actuator to offset the sagging of the workpiece; the multi-dimensional sensor monitoring system collects temperature, strain and morphology data in real time; the welding robot and the correction robot simultaneously apply electromagnetic stirring to optimize the weld during welding, and use ultrasonic impact and laser heating to reduce residual stress during correction. The industrial control computer dynamically adjusts the welding parameters, support force and correction strategy through sensor data to achieve high-precision straightness and low residual stress control.

Description

Technical Field

[0001] The present invention relates to the technical field of steel structure welding assembly, and in particular to a dynamic collaboratively controlled steel structure welding assembly production line and an operation method thereof. Background Art

[0002] Extra-large H-shaped steel is widely used in bridges, wind turbine towers, high-rise buildings and other scenes. Extra-large H-shaped steel is generally longer than 30m and weighs more than 50 tons.

[0003] The welding of oversized H-beams must meet high straightness requirements of ≤1mm / m and low residual stress. However, existing production line equipment and technology face the following challenges when processing such components:

[0004] The current H-beam welding production line mainly uses fixtures to fix the position of steel plates, adopts segmented conveyor rollers to transport workpieces, and uses high-power multi-wire submerged arc welding technology to complete assembly.

[0005] These devices are adequate for conventional H-beams under 20 meters in length, but they exhibit significant shortcomings when handling extra-long and heavy components. For steel components exceeding 30 meters in length and weighing over 50 tons, existing fixtures can only partially secure the workpiece and are unable to constrain overall deformation. Furthermore, because each segment of the roller conveyor operates independently, the extra-long H-beam sags in the middle under its own weight. For a 30-meter-long workpiece, this can result in sagging by 5 to 10 millimeters. Furthermore, the high heat input during welding can cause localized temperatures to rise rapidly, resulting in uneven temperature distribution and further exacerbating the risk of deformation.

[0006] During the welding process, the heat dissipation rate of extra-long workpieces 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, causing complex deformation of the workpiece.

[0007] Therefore, we propose a dynamic collaborative control steel structure welding assembly production line and its operation method to solve the problems in the above background. Summary of the Invention

[0008] The present invention provides a steel structure welding assembly production line with dynamic collaborative control and an operation method thereof, which can solve the problem in the prior art of welding and assembling super-long and super-heavy H-shaped steel components, in which the workpieces are transported through segmented conveyor rollers. Since each segment of the segmented rollers operates independently, the middle part of the super-long H-shaped steel sags under the action of its own weight.

[0009] In order to solve the above technical problems, the present invention provides the following technical solutions:

[0010] A dynamic collaboratively controlled steel structure welding assembly production line includes a welding station equipped with a distributed support system, a multi-dimensional sensor monitoring system, and a collaborative robot system for steel structure welding and correction;

[0011] The distributed support system is composed of a plurality of linearly distributed dynamic roller units connected in series, each dynamic roller unit including a roller base (101), a supporting roller (102) is provided in the middle of the roller base (101), a supporting plate (103) for supporting the steel structure is provided on the surface of the supporting roller (102), a clamping drive unit for driving the steel structure to move is installed on the roller base (101), the supporting plate (103) is connected to a dynamic adjustment unit for multi-point support adjustment, and the dynamic adjustment unit cooperates with the supporting plate (103) to detect the gravity distribution of the workpiece in real time and adjust the height of the supporting roller (102);

[0012] 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 (102);

[0013] The multi-dimensional sensor monitoring system includes distributed fiber optic sensors attached along the surface of the H-beam, infrared thermal imagers aimed at the welds, and laser radars that scan the H-beam structure;

[0014] The collaborative robot system comprises welding robots symmetrically arranged on both sides of the support roller (102) and a correction robot located downstream;

[0015] 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, multi-dimensional sensor monitoring system and collaborative robot system through an industrial bus to achieve the following control: adjusting the dynamic adjustment unit according to the pressure sensor array data to control the height of the support plate and maintain uniform support of 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 correction robot to correct the deformation area exceeding the standard according to the H-shaped steel shape data scanned by the laser radar, and cooperating with the dynamic adjustment unit to compensate for the support; synchronously controlling the movement timing of the welding robot and the correction robot to form a closed-loop control chain of welding, detection and correction.

[0016] Preferably, the clamping drive unit includes a roller frame (111) symmetrically arranged on both sides of the supporting roller (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 base (101), the sliding seat (114) is a rectangular slider, which is slidably connected to the inside of the guide rail (115), the support plate (113) is arranged perpendicular to the roller base (101) and the bottom is fixedly connected to the sliding seat (114), a horizontally arranged first electric push rod (116) is installed in the middle of the support plate (113), and the back of the roller seat (112) is fixedly connected to the telescopic end of the first electric push rod (116).

[0017] Preferably, an active roller (117) is rotatably mounted in the roller seat (112) located on one side of the supporting roller (102), and a passive roller (118) is rotatably mounted in the roller seat (112) located on the other side of the supporting roller (102). A servo motor (119) is provided on the roller seat (112) on which the active roller (117) is installed, and the servo motor (119) drives the active 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 is in contact with the guide rail (115); an inclined surface is provided on the inner side of the friction block (121); and a sliding surface is provided on the inner side of the sliding seat (114). A wedge block (122) is provided which cooperates with the inclined surface. One end of the wedge block (122) is rotatably connected to a threaded rod (123). The threaded rod (123) extends to the outside of the sliding seat (114) and cooperates with the internal thread 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) cooperates with the internal thread of the sliding seat (114) to achieve 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 toward the outside of the sliding seat (114) and clamp or separate from the guide rail (115).

[0018] Preferably, the micro hydraulic actuator (132) is connected to a hydraulic power unit via a hydraulic oil pipe, and the hydraulic power unit is used to control the extension and retraction of the micro hydraulic actuator (132);

[0019] A mounting groove (134) is longitudinally provided on the roller base (101), and the micro hydraulic actuator (132) is fixedly connected in the mounting groove (134). The telescopic end of the micro hydraulic actuator (132) is movably connected to the support plate (103) via a spherical hinge (133).

[0020] Preferably, four micro hydraulic actuators (132) are provided and distributed in a matrix at the bottom of the support plate (103).

[0021] Preferably, the pressure sensor array is a plurality of piezoelectric film sensors (131) distributed in a matrix, and 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.

[0022] Preferably, a thermal expansion gap is retained between two adjacent dynamic roller units; a quick-connect assembly is provided between adjacent roller units, the quick-connect assembly comprising a T-shaped connector (51), the T-shaped connector (51) being fixedly connected to one end of the roller base (101), the other end of the roller base (101) being provided with a T-shaped limiting groove (52) adapted to the T-shaped connector (51), a quick-connect slot (53) being provided inside the T-shaped limiting groove (52), the quick-connect slot (53) comprising an industrial bus interface and a hydraulic quick-change connector; 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);

[0023] A locking assembly is provided in the T-shaped limit groove (52), and the locking assembly includes a positioning pin (55). A guide groove (56) is provided inside the T-shaped limit groove (52), and the guide groove (56) is vertically connected to the T-shaped limit groove (52). The positioning pin (55) is slidably connected to the inside of the guide groove (56), and 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 retract. A locking groove (58) is provided at one end of the T-shaped connector (51) close to the guide groove (56), and a chamfer is provided at the front end of the positioning pin (55).

[0024] Preferably, the welding robot is equipped with a multi-wire submerged arc welding gun and an electromagnetic stirring device, and the correction 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 slides parallel to the production line are provided on both sides of the welding station, and the driving slides drive the base to move along the welding assembly production line;

[0025] A mobile platform is set at the bottom of the correction robot, which carries the correction robot and slides along the production line track, and the motion trajectories of the correction robot and the welding robot are staggered; and both the welding robot and the correction robot have built-in independent controllers.

[0026] Preferably, the distributed fiber optic sensors are arranged in parallel along both sides of the weld at the junction of the H-steel wing plate and the web; the infrared thermal imager is installed behind the welding robot's welding gun and aimed at the molten pool area on the steel structure; the laser radar 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-steel.

[0027] A method for operating a steel structure welding assembly production line with dynamic collaborative control comprises the following steps:

[0028] Step S1: The flange and web are transported to the loading area at the head end of the production line, fixed with a fixture and assembled into an H-shaped steel structure. The welding robot performs spot welding on the joints between the flange and web to temporarily fix them.

[0029] Step S2:

[0030] S21, using the pressure sensor array of the distributed support system to detect the initial contact pressure of the H-shaped steel 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-shaped steel, so as to lift the support plate (103) to compensate for the sagging of the workpiece by its own weight;

[0031] S22, the welding robot moves synchronously along both sides of the roller table, starts the multi-wire submerged arc welding gun to perform 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;

[0032] 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;

[0033] S24, infrared thermal imager collects temperature distribution data of welding area in real time, industrial control computer predicts deformation trend based on temperature change, and dynamic adjustment unit reduces support force in high temperature area and increases support force in low temperature area;

[0034] Step S3:

[0035] S31. After welding is completed, the calibration robot moves to the target position, and uses the ultrasonic impact head to impact the weld, while the laser heater locally heats the deformed area;

[0036] S32, the laser radar scans the full-length shape data of the H-shaped steel, and the dynamic roller unit coordinates and adjusts the height of the support plate (103) according to the scanning result to ensure that the straightness is ≤1mm / m;

[0037] Step S4: When the dynamic roller table unit fails:

[0038] S41, unlocking the T-type connector (51) of the faulty dynamic roller table unit and separating the quick-connect plug (54) and the quick-connect slot (53);

[0039] S42. Laterally move out the faulty dynamic roller unit and replace it with a new one. After the replacement, the industrial bus automatically recognizes the new dynamic roller unit, and the hydraulic system re-forms a closed loop.

[0040] Compared with the prior art, the present invention has the following beneficial effects:

[0041] The present invention solves the technical problem of deformation during the welding process of oversized H-beams through a dynamic collaborative control solution.

[0042] First, to address the problem of sagging due to the deadweight of ultra-long components, the distributed support system adopts a modular dynamic roller unit design. Each dynamic roller unit is equipped with a high-precision pressure sensor array and a micro hydraulic actuator. By monitoring the contact pressure distribution of H-steel in real time, it responds quickly at a sampling frequency of 1kHz and adopts a "diagonal coordination" adjustment strategy to dynamically compensate for deformation.

[0043] When the local pressure is detected to be below 2kN / m², the system adjusts the support height within 0.1 seconds, keeping the sag to within 1mm / m. Compared to traditional segmented roller conveyors, this system achieves continuous adaptive support along the entire length, solving the problem of discontinuous deformation of extremely long workpieces caused by segmented support.

[0044] Secondly, to address the problem of thermal deformation during welding, this system sets up a multi-dimensional sensing network, arranges distributed fiber optic sensors 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 a spacing of 0.5 meters; and a lidar performs full-scale three-dimensional scanning. This data is then analyzed in real time by the thermodynamic model of an industrial control computer, and the welding parameters and support force distribution are dynamically adjusted to control the temperature gradient within 50°C / m, fundamentally suppressing thermal stress deformation; and the 0.3T transverse alternating magnetic field generated by the electromagnetic stirring device further improves the crystallization quality of the weld and reduces residual stress.

[0045] In terms of system collaboration, this invention breaks through the isolated control mode of traditional equipment and establishes closed-loop control of welding, support, and correction. After the welding robot completes a certain weld section, the correction robot performs ultrasonic impact treatment within a 0.5-second delay, combined with laser heating to achieve instant deformation correction. Through the coordinated model of welding, monitoring, and correction, the final product achieves an industry-leading straightness of ≤1mm / m. Furthermore, the modular T-type quick-connect structure and redundant hydraulic design support the replacement of faulty units without stopping the production line, significantly improving equipment availability.

[0046] The creativity of the present invention is prominently reflected in its distributed support system: first, through the millisecond-level response system of pressure sensing and hydraulic adjustment, continuous adaptive support of ultra-long components can be achieved; second, through the "diagonal coordination" hydraulic control algorithm, the four actuators are intelligently matched to ensure the horizontal support surface while compensating for deformation; third, through the intelligent linkage control of temperature and mechanics, the temperature field data is converted into support force adjustment instructions in real time, solving the limitations of traditional independent mechanical adjustment; the above innovations enable the production line to stably process 40-meter H-shaped steel, reducing the sag of 5-10mm in the traditional process to less than 1mm, and reducing residual stress, further improving production efficiency, and effectively solving the problems in the manufacture of ultra-large steel structures. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 This is a schematic diagram of the connection structure of the dynamic roller table unit of the present invention;

[0048] Figure 2 For the present invention Figure 1 A schematic diagram of the enlarged structure at point A;

[0049] Figure 3 This is a schematic diagram of the end structure of the roller table base of the present invention;

[0050] Figure 4 This is a schematic diagram of the installation structure of the active roller and the passive roller of the present invention;

[0051] Figure 5 It is a schematic cross-sectional structural diagram of the dynamic roller table unit of the present invention;

[0052] Figure 6 For the present invention Figure 5 A schematic diagram of the enlarged structure at point B;

[0053] Figure 7 It is a schematic side cross-sectional structural diagram of the dynamic roller table unit of the present invention;

[0054] Figure 8 For the present invention Figure 7 Schematic diagram of the enlarged structure at C;

[0055] Figure 9 The present invention is a flowchart of a method for operating a steel structure welding assembly production line with dynamic collaborative control.

[0056] Among them: 101, roller base; 102, support roller; 103, support plate; 111, roller frame; 112, roller seat; 113, support plate; 114, sliding seat; 115, guide rail; 116, first electric push rod; 117, active roller; 118, passive 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, ball hinge; 134, mounting slot; 51, T-type connector; 52, T-type limit slot; 53, quick-connect slot; 54, quick-connect plug; 55, positioning pin; 56, guide slot; 57, micro electric push rod; 58, lock slot. DETAILED DESCRIPTION

[0057] The specific embodiments of the present invention are described in detail below, but it should be understood that the protection scope of the present invention is not limited by the specific embodiments.

[0058] Example 1:

[0059] See also Figure 1-9 , the present invention provides a technical solution:

[0060] A dynamic collaboratively controlled steel structure welding and assembly production line includes a loading area and an assembly area at the head end of the production line. The loading area is used to transport the webs and flanges of H-shaped steel components. The assembly area assembles the webs and flanges into an H shape and initially fixes them by spot welding. The welding station and correction and detection area are located in the middle. The welding station secures the H-shaped steel connection by full-seam welding. The correction and detection area corrects the deformation of the H-shaped steel during welding and transportation.

[0061] The welding station is equipped with a distributed support system, a multi-dimensional sensor monitoring system, and a collaborative robot system for steel structure welding and correction;

[0062] The distributed support system consists of several linearly distributed dynamic roller units connected in series. Each dynamic roller unit includes a roller base 101, a support roller 102 is provided in the middle of the roller base 101, and a support plate 103 is provided on the surface of the support roller 102 for supporting the steel structure. A clamping drive unit for driving the movement of the steel structure is installed on the roller 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 102.

[0063] The multi-dimensional sensor monitoring system is used to monitor the welding temperature and deformation of steel structures;

[0064] It also includes an industrial control computer for steel structure welding and deformation control. The industrial control computer is connected to the above systems through an industrial bus for global coordinated control.

[0065] The specific implementation method of the above scheme is: the dynamic collaborative control steel structure welding production line 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 distributed support system, multi-dimensional sensor monitoring and industrial control computer.

[0066] Its specific working principle is as follows: First, the dynamic roller unit of the distributed support system detects the gravity distribution of the workpiece and adjusts the height of each support point in real time through the linkage of the clamping drive unit and the dynamic adjustment unit, forming a continuous and uniform support force field, which effectively offsets the uneven sagging of the over-long components due to their own weight; secondly, the multi-dimensional sensor monitoring system captures the welding temperature field distribution and thermal deformation data in real time, and the industrial control computer dynamically adjusts the welding robot parameters based on the thermodynamic model to control the temperature rise gradient in the weld area within 50℃ / m, avoiding thermal stress deformation caused by excessive temperature difference between the head and the tail; finally, the collaborative robot system performs micro-correction synchronously 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 residual stress reduction in the entire process, and ultimately achieve the dual goals of high straightness and low residual stress, solving the problem of deformation of oversized H-shaped steel during welding and transportation caused by the inability of traditional segmented conveying equipment to achieve global coordinated control.

[0067] Furthermore, the clamping drive unit includes roller frames 111 symmetrically arranged on both sides of the supporting roller 102, the roller frames 111 including roller seats 112, support plates 113 and sliding seats 114. Guide rails 115 are provided on both sides of the roller base 101. The sliding seats 114 are rectangular sliders that are slidably connected to the inside of the guide rails 115. The support plates 113 are arranged perpendicular to the roller base 101 and the bottom is fixedly connected to the sliding seats 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.

[0068] An active roller 117 is rotatably installed in the roller seat 112 on one side of the supporting roller 102, and a passive roller 118 is rotatably installed in the roller seat 112 on the other side of the supporting roller 102. A servo motor 119 is provided on the roller seat 112 on which the active roller 117 is installed, and the servo motor 119 drives the active roller 117 to rotate; a first force sensor 120 is installed between the first electric push rod 116 and the roller seat 112, and a friction block 121 is slidably connected to the side of the sliding seat 114 that is in contact with the guide rail 115, and an inclined surface is provided on the inner side of the sliding seat 114. The wedge block 122 is matched with the surface, and one end of the wedge block 122 is rotatably connected to the threaded rod 123. The threaded rod 123 extends to the outside of the sliding seat 114 and cooperates with the internal thread of the sliding seat 114. The end of the threaded rod 123 located outside the sliding seat 114 is fixedly connected to the knob 124. Turning the knob 124 drives the threaded rod 123 to rotate. The threaded rod 123 cooperates with the internal thread of the sliding seat 114 to achieve 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 to the outside of the sliding seat 114 and clamp or separate with the guide rail 115.

[0069] The specific implementation of the above scheme is as follows: the roller frames 111 on both sides of the supporting roller 102, the roller frames 111 include roller seats 112, support plates 113 and sliding seats 114, which are connected to the rectangular slider inside the slide rail through the bottom of the support plate 113, so that the support plate 113 can move linearly along the slide rail through the rectangular slider, which is convenient for adjusting the position of the support plate 113, and a horizontally arranged first electric push rod 116 is installed in the middle of the support plate 113, and 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, and the roller seat 112 can be adjusted by the telescopic adjustment of the first electric push rod 116. The distance from the H-beam web is determined by installing an active roller 117 on one side of the roller seat 112 and a passive roller 118 on the other side of the roller seat 112. The roller seats 112 on both sides approach the H-beam web, so that the active roller 117 and the passive roller 118 clamp the H-beam web. The active roller 117 is driven by a servo motor 119 installed on the roller seat 112 to rotate, thereby driving the movement of the H-beam structure. A first force sensor 120 is installed between the first electric push rod 116 and the roller seat 112 to monitor the clamping force in real time to ensure the safety and stability of the clamping process.

[0070] A friction block 121 is slidably connected to one side of the sliding seat 114 that is in contact with the guide rail 115 . The friction block 121 can closely contact the surface of the guide rail 115 when needed, providing sufficient friction to prevent sliding.

[0071] Friction block 121 has an inclined surface on its inner side, which mates with wedge block 122, which slides inside sliding seat 114. By rotating threaded rod 123, wedge block 122 can be driven up and down. As wedge block 122 approaches the inclined surface of friction block 121, it pushes friction block 121 toward the outside of sliding seat 114 until friction block 121 fits snugly against the surface of guide rail 115 and locks. Conversely, when wedge block 122 moves away, friction block 121 separates from guide rail 115, allowing sliding seat 114 and roller frame 111 to move along guide rail 115 for position adjustment. The clamping drive unit ensures stable clamping and precise movement of the H-shaped steel structure, providing strong support for subsequent welding and correction processes.

[0072] In another embodiment, the dynamic adjustment unit includes a pressure sensor array provided on the upper surface of the support plate 103 and a micro hydraulic actuator 132 installed in the support roller 102. The micro hydraulic actuator 132 is connected to a hydraulic power unit via a hydraulic oil pipe. The hydraulic power unit is used to control the extension and retraction of the micro hydraulic actuator 132.

[0073] A mounting groove 134 is longitudinally provided on the roller table base 101. A micro hydraulic actuator 132 is fixedly connected to the mounting groove 134. The telescopic end of the micro hydraulic actuator 132 is movably connected to the support plate 103 via a spherical hinge 133.

[0074] The micro hydraulic actuators 132 are installed at the four corners of the roller base 101, with a maximum thrust of 12kN and a response time of ≤0.1 seconds. The top of the piston rod is connected to the roller support plate 103 via a spherical hinge 133, which allows for slight angle deflection.

[0075] The hydraulic power unit is integrated into the side of the dynamic roller table unit and includes a micro hydraulic pump, a solenoid valve group and an oil tank, which is connected to the micro hydraulic actuator 132 through a high-pressure hose; the micro hydraulic actuator 132 supports independent oil supply or oil supply in series with other units. This redundant design ensures that a single point failure does not affect the overall operation.

[0076] There are four micro hydraulic actuators 132, which are distributed in a matrix at the bottom of the support plate 103. The four actuators adjust the height according to the "diagonal coordination" strategy. When the upper left actuator is raised, the lower right actuator is synchronously depressurized to maintain the horizontal support of the support plate 103 on the steel structure.

[0077] The working principle of the dynamic adjustment unit in this embodiment is as follows: the local pressure distribution of the H-shaped steel is detected in real time through 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. 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 coordinate expansion and contraction; the micro hydraulic actuators 132 adopt a "diagonal coordination" mode of operation. For example, when the upper left actuator is lifted, the lower right actuator is synchronously depressurized. 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 serial oil supply to ensure that horizontal support can be maintained when a single actuator fails, thereby offsetting the sagging and deformation of the extra-long H-shaped steel due to its own weight or thermal deformation in real time.

[0078] In another embodiment, the pressure sensor array is a plurality of piezoelectric film sensors 131 distributed in a matrix, and 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-beam.

[0079] The piezoelectric film sensor 131 is embedded 5 mm below the roller support plate 103 and is covered with a 1 mm stainless steel protective layer to prevent damage from high-temperature welding debris during welding. The piezoelectric film sensor 131 monitors the contact pressure distribution between the H-beam and the support plate 103 in real time, identifying local sagging or warping areas.

[0080] 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;

[0081] Furthermore, each dynamic roller unit is provided with 20 piezoelectric film sensors 131, and the data are transmitted to the industrial control computer through an AD conversion module, with a sampling frequency of 1 kHz.

[0082] The specific working method of the above embodiment is as follows: 20 piezoelectric film sensors 131 distributed in a matrix beneath the support plate 103 monitor the contact pressure distribution between the H-beam and the support plate 103 in real time, with a sampling frequency of 1kHz. The data is transmitted to the industrial control computer via an A / D conversion module. The sensor surface is covered with a 1mm stainless steel protective layer to resist high-temperature damage from welding spatter. When a local pressure anomaly is detected, the industrial control computer immediately analyzes the pressure distribution, generates adjustment instructions, and drives the micro-hydraulic actuator 132 to dynamically adjust the support height to ensure that the H-beam remains in a horizontal and stable state. This design achieves high-precision, high-responsiveness, real-time deformation monitoring and compensation, effectively improving welding quality.

[0083] Example 2:

[0084] See also Figure 1-3, and combined with Example 1, it is further obtained that a 2mm thermal expansion gap is retained between two adjacent dynamic roller units to avoid structural deformation caused by temperature changes;

[0085] A quick-connect assembly is provided between adjacent roller units, and the quick-connect assembly includes a T-shaped connector 51. The T-shaped connector 51 is fixedly connected to one end of the roller base 101, and the other end of the roller base 101 is provided with a T-shaped limit groove 52 that is compatible with the T-shaped connector 51. A quick-connect slot 53 is provided inside the T-shaped limit groove 52, and the quick-connect slot 53 includes an industrial bus interface and a hydraulic quick-change connector; a quick-connect plug 54 that matches the quick-connect slot 53 is provided on the side of the T-shaped connector 51 close to the quick-connect slot 53.

[0086] Both ends of the roller table base 101 are provided with industrial bus interfaces and hydraulic quick-change connectors to achieve "plug and play" rapid splicing; after splicing, the industrial bus automatically forms a network, so that the hydraulic system forms a closed loop.

[0087] Furthermore, a locking assembly is provided in the T-shaped limit groove 52, and the locking assembly includes a positioning pin 55. A guide groove 56 is provided on the inner side of the T-shaped limit groove 52, and the guide groove 56 is vertically connected to the T-shaped limit groove 52. The positioning pin 55 is slidably connected to the inside of the guide groove 56. A micro electric push rod 57 is installed at the 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 retract. A locking groove 58 is provided at the end of the T-shaped connector 51 close to the guide groove 56, and a chamfer is provided at the front end of the positioning pin 55.

[0088] The specific implementation of the above scheme is as follows: a 2mm thermal expansion gap is maintained between adjacent dynamic roller units, allowing free expansion and contraction during temperature changes while preventing deformation caused by thermal stress. The roller base 101 is quickly spliced ​​at both ends via T-connectors 51 and T-limiting slots 52. During insertion, the T-connector 51 fits into the limiting slot, and the quick-connect plug 54 automatically connects with the industrial bus interface and hydraulic quick-change connector in the slot, forming a plug-and-play electrical and hydraulic pathway, enabling the industrial bus to automatically network and establish closed-loop control. The locking assembly uses a micro-electric push rod 57 to push the positioning pin 55 along the guide slot 56. The chamfered front end allows it to slide smoothly into the locking slot 58 of the T-connector 51, mechanically locking the connector in place and ensuring a secure connection. When the temperature changes or the unit needs to be replaced, the push rod retracts to release the lock, allowing the roller units to be quickly separated. This design takes into account both thermal expansion compensation and modular rapid assembly and disassembly requirements, ensuring the continuity and reliability of the production line.

[0089] Example 3:

[0090] In combination with Example 1, it is further obtained that the collaborative robot system includes multiple welding robots symmetrically arranged along both sides of the roller table, and a correction robot located downstream of the welding station; the welding robot is equipped with a multi-wire submerged arc welding gun and an electromagnetic stirring device, and the correction robot is equipped with an ultrasonic impact head and a laser heater; a base is installed at the bottom of the welding robot, and drive rails parallel to the welding assembly production line are provided on both sides of the welding station, and the drive rails drive the robot base to move along the welding assembly production line.

[0091] The bottom of the correction robot is provided with a moving platform for the correction robot to slide along the production line track, and the motion trajectory of the correction robot and the welding robot are staggered; and the welding robot and the correction robot are both built-in independent controllers;

[0092] The welding robot includes a multi-wire submerged arc welding gun, the head of which is provided with four independent wire feeding guide tubes, and the welding wire outlets are distributed in a rectangular array; the welding robot moves via a base slide rail so that it can move synchronously along the length direction of the H-shaped steel.

[0093] The electromagnetic stirring device consists of an annular electromagnetic coil surrounding the welding gun head. The coil axis is perpendicular to the weld direction and is connected in parallel with the welding power supply through a cable. The inner diameter of the annular electromagnetic coil of the electromagnetic stirring device is 100-150 mm. When an alternating current is passed through it, a transverse alternating magnetic field is generated. The magnetic field strength is 0.2-0.5 T, and the direction of the magnetic field is orthogonal to the flow direction of the weld pool.

[0094] Furthermore, the multi-wire submerged arc welding gun is set as a four-wire submerged arc welding gun, the diameter of each of the four welding wires is 4 mm, which is independently controlled by current and integrated with a transverse alternating magnetic field coil with a magnetic field strength of 0.3 T; the ultrasonic impact head of the correction robot has an operating frequency of 20 kHz, a laser heater power of 500 W, and receives instructions from the industrial control computer through 5G communication.

[0095] The correction robot includes an ultrasonic impact head, which is mounted on the end of the robot through a universal arm, and the impact direction forms an angle of 30° to 60° with the normal direction of the weld surface; a laser heater is mounted on the side of the ultrasonic impact head, and focuses the laser beam on the heat-affected zone of the weld;

[0096] The mobile platform carries the correction robot and slides along the production line track, and is staggered with the motion trajectory of the welding robot. The mobile platform is similar to the linear guide rail 115 and belongs to the existing technology.

[0097] The specific implementation of the collaborative robot system in the above scheme is as follows:

[0098] 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 either side of the production line, each equipped with a four-wire submerged arc welding gun and an electromagnetic stirring device. The welding gun head features four independent 4mm diameter wire guide tubes arranged in a rectangular array, with individually controlled current parameters. The electromagnetic stirring device utilizes a toroidal electromagnetic coil design with an inner diameter of 100-150mm. During operation, it generates a 0.3T transverse alternating magnetic field, orthogonal to the flow direction of the weld pool, effectively improving the crystallization quality of the weld metal.

[0099] Further explanation of the electromagnetic stirring mechanism's working principle: By applying a transverse alternating magnetic field perpendicular to the weld direction to the weld pool, eddy currents are induced in the weld pool metal. According to the law of electromagnetic induction, these eddy currents interact with the magnetic field to generate a periodically varying Lorentz force, driving intense forced convection within the weld pool metal. This directional flow, on the one hand, breaks up growing dendrite tips—the frontmost growing parts of branched crystals formed during metal solidification—increasing the nucleation rate and refining the grain size from the conventional 150-200μm to 80-120μm. On the other hand, it promotes uniform diffusion of solute elements, reduces segregation, and simultaneously reduces the proportion of columnar crystals from 70% to below 30%, significantly increasing the equiaxed crystal content. The alternating magnetic field changes direction every 0.01-0.02 seconds, preventing directional solidification. Ultimately, the weld microstructure achieves a more uniform grain size distribution and random orientation, achieving a combined optimization effect: a 15% increase in tensile strength, a 30% increase in impact toughness, and a 40% reduction in residual stress.

[0100] The welding robot, mounted on a base frame on drive rails on either side of the production line, moves synchronously along the length of the H-beam, ensuring a continuous welding process. The robot's built-in independent controller receives real-time instructions from an industrial control computer and dynamically adjusts welding parameters and movement speed. During welding, an electromagnetic stirring device operates in parallel with the welding power supply, adjusting the magnetic field strength in real time based on the working conditions.

[0101] The correction robot, located downstream of the welding station, is equipped with an ultrasonic impact head and a laser heater. The ultrasonic impact head operates at a 20kHz frequency and is mounted on the end of the robot via a universal arm. The impact direction forms a 30-60° angle with the weld surface normal, effectively releasing residual stress. The laser heater, with a power of 500W and mounted to the side of the impact head, precisely heats the heat-affected zone of the weld. The correction robot slides along a dedicated track on a mobile platform, its motion staggered with that of the welding robot to avoid interference.

[0102] During operation, the welding robot first completes the full-seam welding of the H-beam, while an electromagnetic stirring device simultaneously optimizes the weld microstructure. Once welding is complete, a correction robot immediately intervenes, performing ultrasonic impact treatment on the weld and simultaneously correcting any deformed areas with a laser heater. Throughout this process, an industrial control computer coordinates the operating parameters of the two robots in real time via 5G communications. Combined with monitoring data from multi-dimensional sensors, this forms a complete closed-loop control system for welding, inspection, and correction. This collaborative operation significantly improves the welding quality and dimensional accuracy of oversized H-beams, ensuring the finished product's straightness is controlled within 1mm / m, fully meeting the stringent requirements of the high-end construction industry.

[0103] Example 4:

[0104] In combination with the above embodiments, it is further obtained that the multi-dimensional sensor monitoring system includes distributed fiber optic sensors attached to the surface of the H-shaped steel along the length direction, an infrared thermal imager mounted above the welding station, and laser radars installed on both sides of the production line; the distributed fiber optic sensors are arranged in parallel along both sides of the weld at the junction of the H-shaped steel wing plate and the web plate; the infrared thermal imager is installed 0.5-1 meter behind the welding robot's welding gun and is aimed at the molten pool area; the laser radar 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-shaped steel.

[0105] Distributed fiber optic sensors consist of sensing optical fibers, fixed components, and signal processing units. The sensing optical fibers are made of glass or plastic, and are coated with a high-temperature resistant polyimide protective layer on the surface. They can withstand temperatures above 300°C and can adapt to the high temperatures of welding environments.

[0106] The fixing components include a stainless steel braided sheath and high-temperature tape. The stainless steel braided sheath wraps around the optical fiber to prevent welding spatter and mechanical damage. The high-temperature tape, which can withstand temperatures up to 500°C, is used to affix the optical fiber to the H-beam surface and secure the sensing fiber at key locations near the weld to prevent it from falling off due to high temperatures. The signal processing unit uses a demodulator to emit laser pulses and analyze the reflected signals, analyzing temperature and strain changes along the optical fiber in real time. External temperature or stress can alter the optical signal characteristics, thereby locating anomalies.

[0107] The distributed fiber optic sensor is installed to match the H-shaped steel structure. The sensing fiber is placed parallel to the weld seam between the wing and the web, 10 to 15 mm from the weld edge. It is wrapped three to five times around the weld start, middle, and end to enhance monitoring sensitivity. A demodulator is connected to each end of the fiber and then to an industrial control computer via a shielded cable.

[0108] The distributed fiber optic sensor operates by monitoring the initial strain of the H-beam in real time before welding. By measuring changes in the propagation characteristics of the optical signal within the fiber, the sensor can detect the strain distribution on the H-beam surface in real time. When the flange and web are misaligned, localized stress concentration occurs at the misaligned location, leading to abnormal strain distribution along the fiber. The sensor analyzes this abnormal signal using a demodulator to accurately identify the location and extent of the misalignment.

[0109] If misalignment between the wing plate and the web is detected, an alarm is immediately triggered and welding is suspended. During the welding process, the optical fiber synchronously senses the temperature changes and deformation near the weld. When the tensile strain of the steel structure is greater than 0.05%, it is determined to be locally warped, and the support force of the corresponding roller 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 correction robot automatically performs a secondary impact or heating on that position to ensure that the straightness of the finished product is ≤1 mm / m.

[0110] This solution achieves real-time early warning and closed-loop control of welding deformation through full-length coverage, high-precision perception and strong environmental adaptability, significantly improving the manufacturing quality and efficiency of extra-large H-beams.

[0111] Embodiment 5:

[0112] In combination with the above embodiments, it is further obtained that the online correction and quality optimization process of the H-shaped steel structure includes the following steps:

[0113] Step 1: The welded H-beam moves to the correction station along the dynamic roller conveyor. The correction robot slides along the production line track to the weld area via the mobile platform:

[0114] The robot's ultrasonic impact head impacts the weld surface at a frequency of 20kHz, with the impact direction forming an angle of 30° to 60° with the weld surface to release welding residual stress. The laser heater is simultaneously activated to perform local temperature control on the heat-affected zone to eliminate minor deformation.

[0115] The laser radar scans the overall three-dimensional shape of the H-shaped steel and calculates the straightness error through the industrial control computer. If the error exceeds 0.3mm / m, the dynamic adjustment unit starts the secondary correction and fine-tunes the height of the support plate 103 through the micro hydraulic actuator 132.

[0116] Step 2: Use an ultrasonic flaw detector to detect internal defects in the weld. If the defect rate is less than 0.1%, it is judged to be qualified; the qualified workpiece is transferred to the spraying line by the gantry crane, and the robot automatically sprays the anti-corrosion coating. The thickness of the sprayed anti-corrosion coating should be ≥120μm; 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.

[0117] 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 prediction model of the relationship between welding temperature, support force, and deformation is updated to achieve self-learning iteration and improve subsequent production accuracy.

[0118] 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 support 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.

[0119] 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 will process it immediately with a time delay of less than 0.5 seconds. The dynamic roller unit is linked with the correction robot to coordinate the deformation correction of the H-beam.

[0120] Example 6:

[0121] 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:

[0122] Step S1: The flange and web are transported to the loading area at the head end of the production line, fixed with a fixture and assembled into an H-shaped steel structure. The welding robot performs spot welding on the joints between the flange and web to temporarily fix them.

[0123] Step S2:

[0124] S21, using the pressure sensor array of the distributed support system to detect the initial contact pressure of the H-shaped steel 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-shaped steel, so as to lift the support plate (103) to compensate for the sagging of the workpiece by its own weight;

[0125] S22, the welding robot moves synchronously along both sides of the roller table, starts the multi-wire submerged arc welding gun to perform 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;

[0126] 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;

[0127] S24, infrared thermal imager collects temperature distribution data of welding area in real time, industrial control computer predicts deformation trend based on temperature change, and dynamic adjustment unit reduces support force in high temperature area and increases support force in low temperature area;

[0128] Step S3:

[0129] S31. After welding is completed, the calibration robot moves to the target position, and uses the ultrasonic impact head to impact the weld, while the laser heater locally heats the deformed area;

[0130] S32, the laser radar scans the full-length shape data of the H-shaped steel, and the dynamic roller unit coordinates and adjusts the height of the support plate (103) according to the scanning result to ensure that the straightness is ≤1mm / m;

[0131] Step S4: When the dynamic roller table unit fails:

[0132] S41, unlocking the T-connector (51) of the faulty dynamic roller table unit and separating the quick-connect plug (54) from the quick-connect slot (53);

[0133] S42. Laterally move out the faulty dynamic roller unit and replace it with a new one. After the replacement, the industrial bus automatically recognizes the new dynamic roller unit, and the hydraulic system re-forms a closed loop.

[0134] The above disclosures are only a few specific embodiments of the present invention. However, the embodiments of the present invention are not limited thereto. Any changes that can be conceived by those skilled in the art should fall within the scope of protection of the present invention.

Claims

1. A steel structure welding assembly production line with dynamic collaborative control, characterized by: It includes welding stations equipped with a distributed support system, a multi-dimensional sensor monitoring system, and a collaborative robot system for welding and straightening steel structures; The distributed support system is composed of a plurality of linearly distributed dynamic roller units connected in series, each dynamic roller unit including a roller base (101), a supporting roller (102) is provided in the middle of the roller base (101), a supporting plate (103) for supporting the steel structure is provided on the surface of the supporting roller (102), a clamping drive unit for driving the steel structure to move is installed on the roller base (101), the supporting plate (103) is connected to a dynamic adjustment unit for multi-point support adjustment, and the dynamic adjustment unit cooperates with the supporting plate (103) to detect the gravity distribution of the workpiece in real time and adjust the height of the supporting roller (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 (102); The multi-dimensional sensor monitoring system includes distributed fiber optic sensors attached along the surface of the H-beam, infrared thermal imagers aimed at the welds, and laser radars that scan the H-beam structure; The collaborative robot system comprises welding robots symmetrically arranged on both sides of the support roller (102) and a correction 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, multi-dimensional sensor monitoring system and collaborative robot system through an industrial bus to achieve the following control: adjusting the dynamic adjustment unit according to the pressure sensor array data to control the height of the support plate and maintain uniform support of 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 correction robot to correct the deformation area exceeding the standard according to the H-shaped steel shape data scanned by the laser radar, and cooperating with the dynamic adjustment unit to compensate for the support; synchronously controlling the movement 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 assembly production line with dynamic collaborative control according to claim 1 is characterized in that: The clamping drive unit includes a roller frame (111) symmetrically arranged on both sides of the supporting roller (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 base (101), the sliding seat (114) is a rectangular slider, which is slidably connected to the inside of the guide rail (115), the support plate (113) is arranged perpendicular to the roller base (101) and the bottom is fixedly connected to the sliding seat (114), a horizontally arranged first electric push rod (116) is installed in the middle of the support plate (113), and 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 assembly production line with dynamic collaborative control according to claim 2 is characterized in that: An active roller (117) is rotatably mounted in a roller seat (112) located on one side of the supporting roller (102), and a passive roller (118) is rotatably mounted in a roller seat (112) located on the other side of the supporting roller (102). A servo motor (119) is provided on the roller seat (112) on which the active roller (117) is installed, and the servo motor (119) drives the active 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 is in contact with the guide rail (115). An inclined surface is provided on the inner side of the friction block (121). A friction block (121) is slidably provided on the inner side of the sliding seat (114). A wedge block (122) is provided with a beveled surface, and one end of the wedge block (122) is rotatably connected to a threaded rod (123). The threaded rod (123) extends to the outside of the sliding seat (114) and is engaged with the internal thread 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). The knob (124) is rotated to drive the threaded rod (123) to rotate. The threaded rod (123) is engaged with the internal thread of the sliding seat (114) to achieve 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 toward the outside of the sliding seat (114) and clamp or separate from the guide rail (115).

4. The steel structure welding assembly production line with dynamic collaborative control according to claim 1 is characterized in that: The micro hydraulic actuator (132) is connected to a hydraulic power unit via a hydraulic oil pipe, and the hydraulic power unit is used to control the extension and contraction of the micro hydraulic actuator (132); A mounting groove (134) is longitudinally provided on the roller base (101), and the micro hydraulic actuator (132) is fixedly connected in the mounting groove (134). The telescopic end of the micro hydraulic actuator (132) is movably connected to the support plate (103) via a spherical hinge (133).

5. The steel structure welding assembly production line with dynamic collaborative control according to claim 4 is characterized in that: Four micro hydraulic actuators (132) are provided and distributed in a matrix at the bottom of the support plate (103).

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

7. The steel structure welding assembly production line with dynamic collaborative control according to claim 1 is characterized in that: A thermal expansion gap is retained between two adjacent dynamic roller units; a quick-connect assembly is provided between adjacent roller units, the quick-connect assembly comprising a T-shaped connector (51), the T-shaped connector (51) being fixedly connected to one end of the roller base (101), the other end of the roller base (101) being provided with a T-shaped limiting groove (52) adapted to the T-shaped connector (51), a quick-connect slot (53) being provided inside the T-shaped limiting groove (52), the quick-connect slot (53) comprising an industrial bus interface and a hydraulic quick-change connector; 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); A locking assembly is provided in the T-shaped limit groove (52), and the locking assembly includes a positioning pin (55). A guide groove (56) is provided inside the T-shaped limit groove (52), and the guide groove (56) is vertically connected to the T-shaped limit groove (52). The positioning pin (55) is slidably connected to the inside of the guide groove (56), and 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 retract. A locking groove (58) is provided at one end of the T-shaped connector (51) close to the guide groove (56), and a chamfer is provided at the front end of the positioning pin (55).

8. The steel structure welding assembly production line with dynamic collaborative control according to claim 1 is characterized by: The welding robot is equipped with a multi-wire submerged arc welding gun and an electromagnetic stirring device, while the correction robot is equipped with an ultrasonic impact head and a laser heater. A base is installed at the bottom of the welding robot, and drive rails are installed on both sides of the welding station that are parallel to the production line. The drive rails drive the base to move along the welding assembly line. A mobile platform is set at the bottom of the correction robot, which carries the correction robot and slides along the production line track, and the motion trajectories of the correction robot and the welding robot are staggered; and both the welding robot and the correction robot have built-in independent controllers.

9. The steel structure welding assembly production line with dynamic collaborative control according to claim 1 is characterized in that: Distributed fiber optic sensors are arranged parallel to both sides of the weld at the junction of the H-beam wing and web; the infrared thermal imager is installed behind the welding robot's welding gun and aimed at the molten pool area on the steel structure; the laser radar 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-beam.

10. The method for operating a steel structure welding assembly production line based on the dynamic collaborative control according to any one of claims 1 to 9 is characterized in that The following steps are involved: Step S1: The flange and web are transported to the loading area at the head end of the production line, fixed with a fixture and assembled into an H-shaped steel structure. The welding robot performs spot welding on the joints between the flange and web to temporarily fix them. Step S2: S21, using the pressure sensor array of the distributed support system to detect the initial contact pressure of the H-shaped steel 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-shaped steel, so as to lift the support plate (103) 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 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 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 based on temperature change, and dynamic adjustment unit reduces support force in high temperature area and increases support force in low temperature area; Step S3: S31. After welding is completed, the calibration robot moves to the target position, and uses the ultrasonic impact head to impact the weld, while the laser heater locally heats the deformed area; S32, the laser radar scans the full-length shape data of the H-shaped steel, and the dynamic roller unit coordinates and adjusts the height of the support plate (103) according to the scanning result to ensure that the straightness is ≤1mm / m; Step S4: When the dynamic roller table unit fails: S41, unlocking the T-connector (51) of the faulty dynamic roller table unit and separating the quick-connect plug (54) from the quick-connect slot (53); S42. Laterally move out the faulty dynamic roller unit and replace it with a new one. After the replacement, the industrial bus automatically recognizes the new dynamic roller unit, and the hydraulic system re-forms a closed loop.

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