Intelligent production line for steel arches

Abstract

A steel arch intelligent production line comprises a steel arch intelligent control center, an automatic feeding device, a movable continuous welding device, an arch bending device, a conveying bracket and C-shaped position changing machine, a grabbing robot and a welding robot, and the steel arch intelligent control center comprises a master station PLC, an industrial control computer and a touch screen. A communication module, a switch, an RS485 concentrator, a 3D visual camera module, a photoelectric sensing module, a laser ranging module and an electromagnetic gripper module are combined into intelligent production equipment for tunnel steel arches through automatic feeding, automatic arch bending, fixed-length automatic cutting and automatic welding of link plates by a robot, and new-quality productivity is created; the device has the advantages that the production efficiency is improved, the investment of production personnel is reduced, the labor intensity of workers and the operation difficulty are reduced, the purpose of intelligent production from I-shaped steel raw materials to bent steel arch finished products is achieved, the situation that the quality of steel arches machined through simple equipment is unqualified, the installation quality of the steel arches is affected is avoided, and the tunnel construction quality is guaranteed.

Description

Technical Field

[0001] The present invention relates to an intelligent production line for steel arch frames and belongs to the field of intelligent equipment manufacturing. Background Technique

[0002] In the construction process of tunnel engineering, a large number of I-beam profiles must be used for initial support of the freshly excavated tunnel face. For the initial support, the I-beam profiles need to be processed into steel arch frames. The steel arch frame is an important component of the initial support structure of the tunnel and is also an important part of the pre-construction support of the tunnel. First, it is necessary to process the steel arch frame according to the designed radius of the tunnel to achieve the initial support for the rock mass after the tunnel excavation. The initial support requires a steel arch frame formed by combining multiple sections of bent I-beam profiles. For each section of the bent I-beam profile, first, the I-beam raw material out of the factory needs to be bent according to the designed radian, then cut according to different lengths, and then connection plates are welded at both ends of the bent arc length. The connection plates of each section are connected by bolts to form a complete steel arch frame.

[0003] Currently, for the processing of steel arch frames, each construction unit still relies on the mode of a large number of workers combined with simple equipment. Not only is the processing cost high, but the processing quality is also uneven. The steel arch frames processed by simple equipment always have problems with unqualified quality, which affects the installation quality of the steel arch frames in the later stage, cannot fully meet the requirements of tunnel construction quality, and it is difficult to achieve systematic standardized management. A long time ago, some construction units were exploring automated processing methods for steel arch frames. The existing invention application with the publication number CN113042943, named "An automated processing production line for robot arch bending", is a relatively advanced method, but there are still many defects in the automated production line.

[0004] For the processing of steel arch frames in the initial stage of the tunnel, there is an urgent need for an intelligent production equipment for tunnel steel arch frames that can achieve lean production, scientific management, and ensure processing quality to realize the automated production of steel arch frames and solve this problem existing in the prior art. Summary of the Invention

[0005] The purpose of the present invention is to provide an intelligent production line for steel arch frames to solve the technical problems raised in the above background technique.

[0006] The present invention is achieved through the following technical solutions: An intelligent production line for steel arch frames, comprising an intelligent control center for steel arch frames, a raw material feeding area, an automatic feeding device, a roller conveyor, a rear-end sawing machine, a front-end sawing machine, a mobile continuous welding device, an arch bending device, a length-cutting sawing machine, an arch-shaped material conveying device, an inclined cutting end sawing machine, a conveying bracket + C-type positioner, an end alignment device, a gripping robot, a welding robot, and a formed material storage rack. The devices and the devices are arranged in a flat factory building, and a comprehensive plan is made according to their functions and geometric sizes. The intelligent control center for steel arch frames is arranged in the middle of the whole production line to facilitate the laying of cables from the control center to the devices and the devices; the automatic feeding device is the first automatic device of the whole intelligent production line for steel arch frames, and is arranged at one end of the factory building, adjacent to the raw material feeding area; the roller conveyor is arranged at the rear end of the automatic feeding device and can smoothly receive the I-beam raw materials conveyed by the automatic feeding device; a rear-end sawing machine is arranged at the rear end of the I-beam raw materials, and a front-end sawing machine is arranged at the front end of the I-beam raw materials; a mobile continuous welding device is arranged adjacent to the front-end sawing machine, and an arch bending device is arranged at the end of the mobile continuous welding device, and a length-cutting sawing machine is arranged adjacent to the rear end of the arch bending device; at the rear end of the length-cutting sawing machine, at a position keeping a certain distance from the length-cutting sawing machine, an arch-shaped material conveying device is arranged, and an inclined cutting end sawing machine is arranged at the end of the arch-shaped material conveying device; a conveying bracket + C-type positioner is arranged in balance with the arch-shaped material conveying device, and an end alignment device, a gripping robot, and a welding robot are respectively arranged at both ends of the conveying bracket; the devices and the devices are controlled by the intelligent control center for steel arch frames to form an intelligent production line for steel arch frames; The intelligent control center for steel arch frames includes a main control platform PLC, a main control platform industrial computer, a main control platform touch screen, and main control platform accessories, a communication module, a switch, an RS485 hub, a 3D vision camera module, an optoelectronic sensing module, a laser ranging module, a positioning cylinder module, an electromagnetic gripper module, a switching power supply, a DC solid state relay, and an isolation transformer; the main control platform industrial computer provides stable power through the switching power supply, the DC solid state relay, and the isolation transformer, and the main control platform PLC is integrated with the communication module, the switch, the RS485 hub, the 3D vision camera module, the optoelectronic sensing module, the laser ranging module, the positioning cylinder module, and the electromagnetic gripper module of the main control platform accessories; the start / stop of the terminal electrical equipment of each unit of the automatic feeding device, the roller conveyor, the rear-end sawing machine, the front-end sawing machine, the mobile continuous welding device, the arch bending device, the length-cutting sawing machine, the arch-shaped material conveying device, the inclined cutting end sawing machine, the conveying bracket + C-type positioner, the gripping robot, and the welding robot is respectively controlled by a software control program, and the operation status of the devices is displayed on the main control platform touch screen; The mobile continuous welding equipment includes a mobile track, a welding trolley, a welding robot, a crawler cable bracket, an I-beam raw material support frame, a positioning cylinder, and a photoelectric sensor. The welding trolley is arranged on the mobile track, and the welding trolley is connected to the crawler cable bracket. A welding robot and an I-beam raw material support frame are arranged on the welding trolley. A positioning cylinder is arranged on the I-beam raw material support frame, and a photoelectric sensor is arranged on the welding robot. According to the real-time state of the steel arch frame welding material recognized by the photoelectric sensor, the positioning cylinder and the welding robot are controlled by the intelligent control center of the steel arch frame to complete the welding of the steel arch frame material. The transporting bracket + C-type positioning machine includes a bracket support, an arch frame grabbing gantry, a gantry track, a C-type positioning machine, a transporting slide rail, a positioning servo motor, an end alignment device, a positioning cylinder, a grabbing robot, a welding robot, a 3D vision camera, and a photoelectric sensor. Arch frame grabbing gantries are arranged on both the left and right sides of the bracket support. Two groups of end alignment devices, positioning cylinders, grabbing robots, and welding robots are respectively arranged on both sides of the arch frame grabbing gantries. Gantry tracks are respectively arranged on both sides of the arch frame grabbing gantries; Transporting slide rails are symmetrically arranged on the bracket support and at the gantry track. A C-type positioning machine is arranged on the transporting slide rail, a positioning servo motor is arranged on the C-type positioning machine, and a 3D vision camera and a photoelectric sensor are arranged on the C-type positioning machine; According to the real-time posture of the bent steel arch frame material recognized by the 3D vision camera and the photoelectric sensor arranged on the C-type positioning machine, the positions of the positioning cylinder and the C-type positioning machine are controlled by the intelligent control center of the steel arch frame to adjust the position docking of the bent steel arch frame material and the connecting plate. The end alignment device cooperates with the positioning cylinder to provide a precise position for the grabbing robot and cooperate with the welding robot to complete the complete welding of the bent steel arch frame material and the connecting plate.

[0007] The automatic feeding equipment includes a feeding bracket, a feeding motor, gears, a chain, an electromagnetic gripper, a 3D vision camera, and a photoelectric sensor. The feeding motor, gears, and chain are arranged at the end of the feeding bracket. Electromagnetic grippers, 3D vision cameras, and photoelectric sensors are respectively arranged at both ends of the feeding bracket. According to the real-time state of the steel arch frame raw material recognized by the 3D vision camera and the photoelectric sensor, the operation of the feeding motor is controlled by the intelligent control center of the steel arch frame, and the action of the electromagnetic gripper is coordinated to realize the automatic feeding of the steel arch frame raw material.

[0008] The roller type conveying device includes a conveying bracket, conveying rollers, a conveying trough, a conveying motor, gears, a chain, a positioning cylinder, and a photoelectric sensor. The conveying motor, gears, and chain are arranged at different positions of the conveying bracket. The conveying rollers and the conveying trough are arranged on the top of the conveying bracket. Photoelectric sensors and positioning cylinders are arranged at both ends of the conveying bracket. According to the real-time state of the steel arch frame raw material during the conveying process recognized by the photoelectric sensor, the actions of the conveying motor and the positioning cylinder are controlled by the intelligent control center of the steel arch frame to realize the roller type conveying of the steel arch frame raw material.

[0009] The arch bending equipment includes an arch bending bracket, a starting motor / driving pulley, a driven gear type jack, and a laser ranging device. Two sets of starting motors / driving pulleys are horizontally arranged before and after the arch bending bracket. A driven gear type jack is horizontally arranged in the center of the two sets of starting motors / driving pulleys. A laser ranging device is horizontally arranged along the lifting direction of the driven gear type jack. According to the real-time bending state of the steel arch frame material recognized by the laser ranging device, the stroke lengths of the starting motor / driving pulley and the driven gear type jack are controlled by the intelligent control center of the steel arch frame, and the bending processing of the steel arch frame material is carried out according to the design requirements.

[0010] The rear end sawing machine and the front end sawing machine include a sawing machine support, a sawing machine, a sawing machine motor, a saw blade, a sawing machine tooling, and a stopper. The sawing machine is arranged on the sawing machine support. A sawing machine motor and a saw blade are arranged on one side of the sawing machine, and a sawing machine tooling and a stopper are arranged on the other side of the sawing machine. The rear end sawing machine is arranged at the rear end of the I-beam raw material, and the front end sawing machine is arranged at the front end. According to the real-time position of the I-beam raw material restricted by the sawing machine tooling and the stopper, the start and stop of the sawing machine motor are controlled by the intelligent control center of the steel arch frame.

[0011] Further, the rear end sawing machine and the front end sawing machine include a laser machine support and a laser cutting machine.

[0012] Further, the rear end sawing machine and the front end sawing machine include a plasma machine support and a plasma cutting machine.

[0013] Further, the mobile continuous welding equipment includes 1 - 3 welding trolleys arranged on a mobile track, which can meet the tooling conditions for installing 1 - 3 welding robots.

[0014] Further, the mobile continuous welding equipment includes 1 - 3 configured welding robots, which can simultaneously perform synchronous welding on multiple planes of two sections of I-beam raw materials to improve the working efficiency of the welding link in the whole intelligent production line of the steel arch frame.

[0015] Further, the mobile continuous welding equipment can, through the welding trolleys arranged on the mobile track, move forward while performing welding operations, keep the conveying and welding of the steel arch frame material running synchronously, and provide continuous feeding guarantee for the intelligent production of the whole steel arch frame assembly line.

[0016] Further, the raw material loading area needs to be planned according to the installation position of the automatic loading equipment. The I-beam raw materials out of the factory are regularly stacked on one side of the automatic loading equipment, and it is necessary to fully meet the grasping requirements of the electromagnetic gripper on the automatic loading equipment.

[0017] Furthermore, the grasping robot includes a grasping support, a grasping arm, and a 3D vision camera. The grasping robot is arranged on the grasping support, and a grasping arm is arranged at the front end of the grasping robot. The 3D vision camera identifies the real-time position of the link plate, and the grasping robot is controlled by the steel arch frame intelligent control center to accurately grasp the link plate stacked in the storage box.

[0018] Furthermore, the welding robot includes a welding support, a welding robot, a welding gun, a welding machine, a welding wire supply tray, and a 3D vision camera. The welding robot is arranged on the welding support, and the welding gun and the 3D vision camera are installed on the welding robot. The welding gun provides welding energy through the welding machine, and a welding wire supply tray is arranged on one side of the welding machine. According to the real-time position of the welding gun end identified by the 3D vision camera, the position of the link plate grasped by the grasping robot and the end of the bent steel arch frame material is connected through the steel arch frame intelligent control center, and the connection between the end of the bent steel arch frame material and the link plate is completely welded.

[0019] Furthermore, the cut-to-size sawing machine is configured in the same manner as the rear end sawing machine and the front end sawing machine, with the only difference being that the sawing machine support, saw blade and sawing machine tooling need to be installed at the rear end of the arch bending equipment to perform cut-to-size sawing operations on the already bent steel arch frame material according to the set length.

[0020] Furthermore, the bevel end sawing machine is configured in the same manner as the rear end sawing machine and the front end sawing machine, with the only difference being that the sawing machine support, saw blade and sawing machine tooling need to be installed at the rear end of the fixed-size sawing machine, and the front end of the bent steel arch frame that has been bent is beveled according to the design requirements to meet the welding requirements of the end angle and the link plate.

[0021] Furthermore, the arch material conveying device is a gantry type conveying device, which is arranged at the rear end of the fixed-length sawing machine and is used to convey the steel arch frame materials that have been bent and sawed, so as to provide a conversion posture for the bevel sawing machine to bevel.

[0022] Furthermore, the molding material storage rack is arranged at the rear end of the transport bracket + C-type positioning machine, and is a bracket-type storage rack, which is convenient for bundling and orderly stacking the finished bent steel arch frames with connecting plates welded at both ends, waiting to be loaded and shipped out of the factory.

[0023] Compared with the prior art, the present invention has the following beneficial effects: 1) The present invention provides an intelligent production line for steel arch frames, which is combined into intelligent production equipment for tunnel steel arch frames through automatic feeding, roller conveying, automatic end cutting, robot automatic welding, automatic arch bending, automatic cutting to length, and robot automatic welding of link plates, thereby realizing the advantages of intelligent production from I-beam raw materials to finished bent steel arch frames.

[0024] 2) The present invention provides an intelligent production line for steel arch frames, which can improve production efficiency, reduce the input of production personnel, lower the labor intensity and operation difficulty of workers, create new quality productivity, and achieve the advantages of lean production and scientific management.

[0025] 3) The present invention provides an intelligent production line for steel arch frames, which can avoid the unqualified quality of steel arch frames processed by simple equipment, affect the installation quality of steel arch frames, and ensure the quality of tunnel projects. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 is a schematic diagram of the principle of the intelligent production line for steel arch frames of the present invention; Figure 2 is a schematic diagram of the conveying bracket + C-type position adjusting machine of the intelligent production line for steel arch frames of the present invention.

[0027] Markings in the figure: 1 is a C-type position adjusting machine, 2 is a conveying slide rail, 3 is an end alignment device, 4 is a welding robot, 5 is a grasping robot, 6 is a connecting plate, and 7 is a bent steel arch frame. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0028] Next, the technical solution of the present invention will be described completely in conjunction with the drawings. An intelligent production line for steel arch frames (such as Figure 1As shown in the figure, it includes an intelligent control center for steel arch frames, a raw material feeding area, an automatic feeding device, a roller conveyor, a rear end sawing machine, a front end sawing machine, a mobile continuous welding device, an arch bending device, a fixed-length sawing machine, an arched material conveying device, an inclined cutting end sawing machine, a conveying bracket + C-type positioner 1, an end alignment device 3, a gripping robot 5, a welding robot 4, and a formed material storage rack. The equipment and devices are arranged in a flat factory building, and a comprehensive plan is made according to their functions and geometric sizes. The intelligent control center for steel arch frames is set in the middle of the entire production line to facilitate the laying of cables from the control center to the equipment and devices. The automatic feeding device is the first automated device of the entire intelligent production line for steel arch frames and is set at one end of the factory building, adjacent to the raw material feeding area. The roller conveyor is set at the rear end of the automatic feeding device and can smoothly receive the I-beam raw materials conveyed by the automatic feeding device. A rear end sawing machine is set at the rear end of the I-beam raw materials, and a front end sawing machine is set at the front end of the I-beam raw materials. A mobile continuous welding device is set adjacent to the front end sawing machine, and an arch bending device is set at the end of the mobile continuous welding device. A fixed-length sawing machine is set at the rear end adjacent to the arch bending device. At the rear end of the fixed-length sawing machine, at a position keeping a certain distance from the fixed-length sawing machine, an arched material conveying device is set, and an inclined cutting end sawing machine is set at the end of the arched material conveying device. A conveying bracket + C-type positioner is set in balance with the arched material conveying device, and an end alignment device 3, a welding robot 5, and a welding robot 4 are respectively set at both ends of the conveying bracket. The equipment and devices are controlled by the intelligent control center for steel arch frames to form an intelligent production line for steel arch frames. The intelligent control center for steel arch frames includes a main control platform PLC, a main control platform industrial computer, a main control platform touch screen, and main control platform accessories, a communication module, a switch, an RS485 hub, a 3D vision camera module, a photoelectric sensing module, a laser ranging module, a positioning cylinder module, an electromagnetic gripper module, a switching power supply, a DC solid state relay, and an isolation transformer. The main control platform industrial computer provides stable power through the switching power supply, DC solid state relay, and isolation transformer. The main control platform PLC is integrated with the communication module, switch, RS485 hub, 3D vision camera module, photoelectric sensing module, laser ranging module, positioning cylinder module, and electromagnetic gripper module of the main control platform accessories. The start / stop of each unit terminal electrical equipment of the automatic feeding device, roller conveyor, rear end sawing machine, front end sawing machine, mobile continuous welding device, arch bending device, fixed-length sawing machine, arched material conveying device, inclined cutting end sawing machine, conveying bracket + C-type positioner 1, gripping robot 5, and welding robot 4 is respectively controlled through software control programs, and the operating status of the equipment is displayed on the main control platform touch screen. The intelligent control center of the steel arch support can quickly switch the process parameters of each terminal device through modular design and programmed control to adapt to the start / stop of each unit terminal electrical equipment, meet the production requirements, reduce the die-changing time, and improve the production efficiency.

[0029] The mobile continuous welding equipment includes a mobile track, a welding trolley, a welding robot 4, a crawler cable bracket, an I-beam raw material support frame, a positioning cylinder, and a photoelectric sensor. The welding trolley is arranged on the mobile track, and the welding trolley is connected to the crawler cable bracket. The welding robot 4 and the I-beam raw material support frame are arranged on the welding trolley. The positioning cylinder is arranged on the I-beam raw material support frame, and the photoelectric sensor is arranged on the welding robot 4. According to the real-time state of the steel arch support welding material recognized by the photoelectric sensor, the positioning cylinder and the welding robot 4 are controlled by the intelligent control center of the steel arch support to complete the welding of the steel arch support material. The mobile continuous welding equipment is the third intelligent equipment of the intelligent production line of the steel arch support. Its main function is to perform butt welding on each section of the I-beam raw material transported by the roller conveyor, weld the standard-length I-beam raw materials from the factory into infinitely long profiles to be bent, and provide guarantee for the regular bending of the arch bending equipment.

[0030] The transport bracket + C-type position adjuster 1 (as Figure 2 shown) includes a bracket support, an arch support grabbing gantry, a gantry track, a C-type position adjuster 1, a transport slide rail 2, a position adjustment servo motor, an end alignment device 3, a positioning cylinder, a grabbing robot 5, a welding robot 4, a 3D vision camera, and a photoelectric sensor. Arch support grabbing gantries are arranged on both sides of the bracket support. Two groups of end alignment devices 3, positioning cylinders, grabbing robots 5, and welding robots 4 are respectively arranged on both sides of the arch support grabbing gantries. Gantry tracks are respectively arranged on both sides of the arch support grabbing gantries. The transport slide rail 2 is arranged in a balanced manner on the bracket support and at the gantry track. The C-type position adjuster 1 is arranged on the transport slide rail 2. The position adjustment servo motor is arranged on the C-type position adjuster 1. The 3D vision camera and the photoelectric sensor are arranged on the C-type position adjuster 1. According to the real-time posture of the bent steel arch support 7 material recognized by the 3D vision camera and the photoelectric sensor arranged on the C-type position adjuster 1, the positions of the positioning cylinder and the C-type position adjuster 1 are controlled by the intelligent control center of the steel arch support to adjust the position docking of the bent steel arch support 7 material and the connecting plate 6. The end alignment device 3 cooperates with the positioning cylinder to provide a precise position for the grabbing robot 5 and cooperate with the welding robot 4 to complete the complete welding of the bent steel arch support 7 material and the connecting plate 6.

[0031] The transport bracket + C-type positioning machine 1 is a relatively complex production equipment for the entire steel arch frame intelligent production line. After receiving the curved steel arch frame 7 that has been cut by the fixed-length sawing machine and the bevel end sawing machine and transported by the arch material transport device, it first adjusts the posture of the steel arch frame, and then continuously adjusts its position through the C-type positioning machine 1 to cater to the link plate 6 grasped by the grasping robot 5, and docks with the bent end of the curved steel arch frame, and then waits for the welding operation of the welding robot 4.

[0032] The automatic feeding equipment comprises a feeding bracket, a feeding motor, gears, chains, an electromagnetic gripper, a 3D vision camera and a photoelectric sensor. The feeding motor, gears and chains are arranged at the end of the feeding bracket, and the electromagnetic gripper, the 3D vision camera and the photoelectric sensor are arranged at both ends of the feeding bracket respectively. The real-time status of the raw materials of the steel arch frame can be identified by the 3D vision camera and the photoelectric sensor, and the operation of the feeding motor is controlled by the intelligent control center of the steel arch frame, and the action of the electromagnetic gripper is coordinated to realize the automatic feeding of the raw materials of the steel arch frame.

[0033] The automatic loading equipment is the first intelligent equipment of the intelligent production line of steel arch frames. Its installation position is very critical. It needs to be planned at the front end of the production line according to the overall layout of the intelligent production line. At the same time, the close proximity to the raw material loading area must be considered. The automatic loading equipment needs to be balanced with the raw material loading area. When the I-beam raw materials on the raw material loading area are untied, they can be smoothly grabbed by the electromagnetic gripper of the automatic loading equipment.

[0034] The roller-type conveying device includes a conveying bracket, a conveying roller, a conveying trough, a conveying motor, gears, chains, a positioning cylinder, and a photoelectric sensor. The conveying motor, gears, and chains are arranged at different positions of the conveying bracket, the conveying roller and the conveying trough are arranged on the top of the conveying bracket, and the photoelectric sensors and positioning cylinders are arranged at both ends of the conveying bracket. The photoelectric sensor identifies the real-time status of the conveying process of the steel arch frame raw materials, and the actions of the conveying motor and the positioning cylinder are controlled by the steel arch frame intelligent control center to realize roller-type conveying of the steel arch frame raw materials.

[0035] The roller conveyor is the second intelligent device in the intelligent production line of steel arch frames. It is required to guide the I-beam raw materials delivered by the automatic loading equipment to enter the standardized trajectory for transportation, so as to prepare for entering the mobile continuous welding equipment.

[0036] The arch bending equipment includes an arch bending bracket, a starting motor / driving pulley, a driven gear type jack, and a laser distance measuring device. Two sets of starting motors / driving pulleys are horizontally arranged before and after the arch bending bracket. A driven gear type jack is horizontally arranged in the center of the two sets of starting motors / driving pulleys. The laser distance measuring device is horizontally arranged along the lifting direction of the driven gear type jack. According to the real-time bending state of the steel arch frame material recognized by the laser distance measuring device, the stroke lengths of the starting motor / driving pulley and the driven gear type jack are controlled by the intelligent control center of the steel arch frame, and the bending process of the steel arch frame material is carried out according to the design requirements.

[0037] The arch bending equipment is an important equipment for the entire intelligent production line of the steel arch frame. It undertakes the function of bending the straight I-beam raw materials from the factory into the arched steel arch frame designed for the tunnel wall. It requires the mobile continuous welding equipment at the front end to continuously provide the I-beam materials after butt welding. Control the pushing stroke of the driven gear type jack according to the design specifications to ensure the bending arc of the steel arch frame.

[0038] The rear end sawing machine and the front end sawing machine include a sawing machine support, a sawing machine, a sawing machine motor, a saw blade, a sawing machine tooling, and a stopper. The sawing machine is arranged on the sawing machine support. A sawing machine motor and a saw blade are arranged on one side of the sawing machine, and a sawing machine tooling and a stopper are arranged on the other side of the sawing machine. The rear end sawing machine is arranged at the rear end of the I-beam raw material, and the front end sawing machine is arranged at the front end. According to the real-time position of the I-beam raw material restricted by the sawing machine tooling and the stopper, the start and stop of the sawing machine motor are controlled by the intelligent control center of the steel arch frame.

[0039] The rear end sawing machine and the front end sawing machine are the starting equipment for the entire intelligent production line of the steel arch frame. They are respectively arranged at the front end and the rear end of the automatic feeding equipment, mainly realizing the function of standard sawing of the ends of the straight I-beam raw materials from the factory to meet the requirements of automatic welding of the mobile continuous welding equipment.

[0040] Further, the rear end sawing machine and the front end sawing machine include a laser machine support and a laser cutting machine.

[0041] Further, the rear end sawing machine and the front end sawing machine include a plasma machine support and a plasma cutting machine.

[0042] Further, the mobile continuous welding equipment includes 1-3 welding trolleys arranged on the mobile track, which can meet the tooling conditions for installing 1-3 welding robots 4.

[0043] Further, the mobile continuous welding equipment includes 1-3 configured welding robots 4, which can simultaneously perform synchronous welding on multiple planes of two sections of I-beam raw materials to improve the working efficiency of the welding link in the entire intelligent production line of the steel arch frame.

[0044] Furthermore, the mobile continuous welding equipment can perform welding operations while moving forward through the welding carriage arranged on the moving track, keeping the steel arch frame material conveying and welding running synchronously, and providing continuous feeding guarantee for the intelligent production of the whole steel arch frame production line.

[0045] Furthermore, the raw material feeding area needs to be planned according to the installation position of the automatic feeding equipment. The factory-produced I-beam raw materials are regularly stacked on one side of the automatic feeding equipment, and it is necessary to fully meet the grasping requirements of the electromagnetic gripper on the automatic feeding equipment.

[0046] Furthermore, the grasping robot 5 includes a grasping support, a grasping arm, and a 3D vision camera. The grasping robot 5 is arranged on the grasping support. A grasping arm is arranged at the front end of the grasping robot 5, and a 3D vision camera is arranged at the front end of the grasping arm. According to the real-time position of the connection plate 6 recognized by the 3D vision camera, the grasping robot 5 is controlled by the intelligent control center of the steel arch frame to accurately grasp the connection plate 6 stacked in the storage frame; after the connection plate 6 is processed according to the design requirements, it is regularly stacked in the storage frame. The storage frame needs to be placed within the range that can be grasped by the grasping arm of the grasping robot 5 and at a position that can be recognized by the 3D vision camera.

[0047] Furthermore, the welding robot 4 includes a welding support, a welding robot 4, a welding torch, a welding machine, a welding wire supply reel, and a 3D vision camera. The welding robot 4 is arranged on the welding support. A welding torch and a 3D vision camera are installed on the welding robot 4. The welding torch is provided with welding energy by the welding machine, and a welding wire supply reel is arranged on one side of the welding machine; according to the real-time position of the welding torch tip recognized by the 3D vision camera, the intelligent control center of the steel arch frame is used to dock the position of the connection plate 6 grasped by the grasping robot 5 with the end of the bent steel arch frame 7 material, and the joint between the end of the bent steel arch frame 7 material and the connection plate 6 is completely welded.

[0048] Furthermore, the fixed-length sawing machine is the same as the rear-end sawing machine and the front-end sawing machine, except that its sawing machine support, saw blade, and sawing machine tooling need to be installed at the rear end of the bending equipment to perform fixed-length sawing operations on the already bent bent steel arch frame 7 material according to the set length.

[0049] Furthermore, the bevel cutting end sawing machine is the same as the rear-end sawing machine and the front-end sawing machine, except that its sawing machine support, saw blade, and sawing machine tooling need to be installed at the rear end of the fixed-length sawing machine to bevel the front end of the already bent bent steel arch frame 7 according to the design requirements to meet the welding requirements of the end angle and the connection plate 6.

[0050] Further, the arched material conveying device is a gantry-type conveying device, which is arranged at the rear end of the fixed-length sawing machine and is used to convey the steel arch frame materials that have been bent and sawed, so as to facilitate the conversion of the posture for the bevel cutting of the bevel cutting sawing machine.

[0051] Further, the formed material storage rack is arranged at the rear end of the conveying bracket + C-type position adjuster 1 and is a bracket-type storage rack, which is convenient for bundling and orderly stacking of the finished products of the bent steel arch frame 7 with the connecting plates 6 welded at both ends, and waiting to be loaded and shipped out of the factory.

Claims

1. An intelligent production line for steel arch frames, characterized in that: It includes an intelligent control center for steel arch frames, a raw material feeding area, an automatic feeding device, a roller conveyor, a rear-end sawing machine, a front-end sawing machine, a mobile continuous welding device, an arch bending device, a fixed-length sawing machine, an arched material conveying device, an inclined cutting end sawing machine, a conveying bracket + C-type positioner (1), an end alignment device (3), a gripping robot (5), a welding robot (4), and a formed material storage rack. The above-mentioned equipment and devices are arranged in a flat factory building. A comprehensive plan is made according to their functions and geometric sizes. The intelligent control center for steel arch frames is arranged in the middle of the whole production line to facilitate the laying of cables from the control center to the above-mentioned equipment and devices. The automatic feeding device is the first automated equipment of the whole intelligent production line for steel arch frames and is arranged at one end of the factory building, adjacent to the raw material feeding area. The roller conveyor is arranged at the rear end of the automatic feeding device and can smoothly receive the I-beam raw materials conveyed by the automatic feeding device. A rear-end sawing machine is arranged at the rear end of the I-beam raw materials, and a front-end sawing machine is arranged at the front end of the I-beam raw materials. A mobile continuous welding device is arranged adjacent to the front-end sawing machine, and an arch bending device is arranged at the end of the mobile continuous welding device. A fixed-length sawing machine is arranged adjacent to the rear end of the arch bending device. An arched material conveying device is arranged at a position at a certain distance from the rear end of the fixed-length sawing machine, and an inclined cutting end sawing machine is arranged at the end of the arched material conveying device. A conveying bracket + C-type positioner is arranged in balance with the arched material conveying device, and an end alignment device (3), a welding robot (5), and a welding robot (4) are respectively arranged at both ends of the conveying bracket. The above-mentioned equipment and devices are controlled by the intelligent control center for steel arch frames to form an intelligent production line for steel arch frames. The intelligent control center for steel arch frames includes a main control console PLC, a main control console industrial computer, a main control console touch screen, main control console accessories, a communication module, a switch, an RS485 hub, a 3D vision camera module, a photoelectric sensing module, a laser ranging module, a positioning cylinder module, an electromagnetic gripper module, a switching power supply, a DC solid-state relay, and an isolation transformer. The main control console industrial computer provides stable power through the switching power supply, DC solid-state relay, and isolation transformer. The main control console PLC is integrated with the communication module, switch, RS485 hub, 3D vision camera module, photoelectric sensing module, laser ranging module, positioning cylinder module, and electromagnetic gripper module in the main control console accessories. The start / stop of each unit terminal electrical equipment of the automatic feeding device, roller conveyor, rear-end sawing machine, front-end sawing machine, mobile continuous welding device, arch bending device, fixed-length sawing machine, arched material conveying device, inclined cutting end sawing machine, conveying bracket + C-type positioner (1), gripping robot (5), and welding robot (4) is controlled respectively through a software control program, and the operating status of the above-mentioned equipment is displayed on the main control console touch screen. The mobile continuous welding equipment includes a mobile track, a welding trolley, a welding robot (4), a crawler cable bracket, an I-beam raw material support frame, a positioning cylinder, and a photoelectric sensor. The welding trolley is arranged on the mobile track, and the welding trolley is connected to the crawler cable bracket. The welding robot (4) and the I-beam raw material support frame are arranged on the welding trolley. The positioning cylinder is arranged on the I-beam raw material support frame, and the photoelectric sensor is arranged on the welding robot (4). According to the real-time state of the steel arch frame welding material recognized by the photoelectric sensor, the positioning cylinder and the welding robot (4) are controlled by the intelligent control center of the steel arch frame to complete the welding of the steel arch frame material. The transportation bracket + C-type position adjuster (1) includes a bracket support, an arch frame grabbing gantry, a gantry track, a C-type position adjuster (1), a transportation slide rail (2), a position adjustment servo motor, an end alignment device (3), a positioning cylinder, a grabbing robot (5), a welding robot (4), a 3D vision camera, and a photoelectric sensor. Arch frame grabbing gantries are arranged on both the left and right sides of the bracket support. Two groups of end alignment devices (3), positioning cylinders, grabbing robots (5), and welding robots (4) are respectively arranged on both sides of the arch frame grabbing gantries. Gantry tracks are respectively arranged on both sides of the arch frame grabbing gantries; The transportation slide rail (2) is arranged in a balanced manner on the bracket support and at the gantry track. The C-type position adjuster (1) is arranged on the transportation slide rail (2). The position adjustment servo motor is arranged on the C-type position adjuster (1). The 3D vision camera and the photoelectric sensor are arranged on the C-type position adjuster (1); According to the real-time posture of the curved steel arch frame (7) material recognized by the 3D vision camera and the photoelectric sensor arranged on the C-type position adjuster (1), the positions of the positioning cylinder and the C-type position adjuster (1) are controlled by the intelligent control center of the steel arch frame to adjust the position docking of the curved steel arch frame (7) material and the connecting plate (6). The end alignment device (3) cooperates with the positioning cylinder to provide a precise position for the grabbing robot (5), and cooperates with the welding robot (4) to complete the complete welding of the curved steel arch frame (7) material and the connecting plate (6).

2. The intelligent production line of a steel arch frame according to claim 1, characterized in that: The automatic feeding equipment includes a feeding bracket, a feeding motor, gears, a chain, an electromagnetic gripper, a 3D vision camera, and a photoelectric sensor. The feeding motor, gears, and chain are arranged at the end of the feeding bracket. The electromagnetic gripper, 3D vision camera, and photoelectric sensor are respectively arranged at both ends of the feeding bracket. According to the real-time state of the steel arch frame raw material recognized by the 3D vision camera and the photoelectric sensor, the operation of the feeding motor is controlled by the intelligent control center of the steel arch frame, and the action of the electromagnetic gripper is coordinated to realize the automatic feeding of the steel arch frame raw material.

3. The intelligent production line of a steel arch support according to claim 1, wherein: The drum-type conveying device includes a conveying bracket, conveying drums, a conveying trough, a conveying motor, gears, a chain, a positioning cylinder, and a photoelectric sensor. The conveying motor, gears, and chain are arranged at different positions on the conveying bracket. The conveying drums and the conveying trough are arranged on the top of the conveying bracket. The photoelectric sensor and the positioning cylinder are arranged at both ends of the conveying bracket. According to the real-time state of the steel arch raw material conveying process recognized by the photoelectric sensor, the actions of the conveying motor and the positioning cylinder are controlled by the intelligent control center of the steel arch to realize the drum-type conveying of the steel arch raw material.

4. The intelligent production line of a steel arch support according to claim 1, wherein: The arch bending device includes an arch bending bracket, a starting motor / driving pulley, a driven gear type jack, and a laser ranging device. Two sets of starting motors / driving pulleys are horizontally arranged before and after the arch bending bracket. A driven gear type jack is horizontally arranged in the middle of the two sets of starting motors / driving pulleys. The laser ranging device is horizontally arranged along the jacking direction of the driven gear type jack. According to the real-time bending state of the steel arch material recognized by the laser ranging device, the stroke lengths of the starting motor / driving pulley and the driven gear type jack are controlled by the intelligent control center of the steel arch to carry out bending processing on the steel arch material according to the design requirements.

5. The intelligent production line of a steel arch frame according to claim 1, characterized in that: The rear-end sawing machine and the front-end sawing machine include a sawing machine support, a sawing machine, a sawing machine motor, a saw blade, a sawing machine tooling, and a stopper. The sawing machine is arranged on the sawing machine support. The sawing machine motor and the saw blade are arranged on one side of the sawing machine, and the sawing machine tooling and the stopper are arranged on the other side of the sawing machine. The rear-end sawing machine is arranged at the rear end of the I-beam raw material, and the front-end sawing machine is arranged at the front end. According to the real-time position of the I-beam raw material restricted by the sawing machine tooling and the stopper, the start and stop of the sawing machine motor are controlled by the intelligent control center of the steel arch.

6. The intelligent production line of a steel arch frame according to claim 5, characterized in that: The rear-end sawing machine and the front-end sawing machine include a laser machine support and a laser cutting machine.

7. An intelligent production line for steel arch frames according to claim 5, characterized in that: The rear-end sawing machine and the front-end sawing machine include a plasma machine support and a plasma cutting machine.

8. The intelligent production line of a steel arch support according to claim 1, characterized in that: The mobile continuous welding device includes 1-3 welding trolleys arranged on a mobile track, which can meet the tooling conditions for installing 1-3 welding robots (4).

9. The intelligent production line of a steel arch support according to claim 8, characterized in that: The mobile continuous welding device includes 1-3 configured welding robots (4), which can simultaneously perform synchronous welding on multiple planes of two sections of I-beam raw materials to improve the working efficiency of the welding link in the entire intelligent production line of the steel arch.

10. The intelligent production line of a steel arch frame according to claim 9, wherein: The mobile continuous welding device can realize welding operations while moving forward through the welding trolleys arranged on the mobile track, keeping the conveying and welding of the steel arch material running synchronously, and providing continuous feeding guarantee for the intelligent production of the entire steel arch assembly line.

11. The intelligent production line of a steel arch frame according to claim 1, wherein: The raw material feeding area needs to be planned according to the installation position of the automatic feeding equipment. The I-beam raw materials out of the factory are regularly stacked on one side of the automatic feeding equipment, and it is necessary to fully meet the grasping requirements of the electromagnetic gripper of the automatic feeding equipment.

12. The intelligent production line of a steel arch frame according to claim 1, characterized in that: The grasping robot (5) includes a grasping support, a grasping arm, and a 3D vision camera. The grasping robot (5) is arranged on the grasping support. The front end of the grasping robot (5) is provided with a grasping arm, and the front end of the grasping arm is provided with a 3D vision camera. According to the real-time position of the link plate (6) recognized by the 3D vision camera, the grasping robot (5) is controlled by the intelligent control center of the steel arch to accurately grasp the link plates (6) stacked in the storage box.

13. The intelligent production line of a steel arch support according to claim 1, characterized in that: The welding robot (4) includes a welding support, the welding robot (4), a welding torch, a welding machine, a welding wire supply reel, and a 3D vision camera. The welding robot (4) is arranged on the welding support. The welding torch and the 3D vision camera are installed on the welding robot (4). The welding torch is provided with welding energy by the welding machine, and the welding wire supply reel is arranged on one side of the welding machine. According to the real-time position of the end of the welding torch recognized by the 3D vision camera, the intelligent control center of the steel arch is used to dock the position of the link plate (6) grasped by the grasping robot (5) and the end of the material of the bent steel arch (7), and the joint between the end of the material of the bent steel arch (7) and the link plate (6) is completely welded.

14. The intelligent production line of a steel arch frame according to claim 1, wherein: The fixed-length sawing machine has the same settings as the rear-end sawing machine and the front-end sawing machine, except that its sawing machine support, saw blade, and sawing machine tooling need to be installed at the rear end of the bending equipment to perform fixed-length sawing operations on the bent steel arch (7) materials according to the set length.

15. A steel arch intelligent production line according to claim 1, characterized in that: The bevel-cut end sawing machine has the same settings as the rear-end sawing machine and the front-end sawing machine, except that its sawing machine support, saw blade, and sawing machine tooling need to be installed at the rear end of the fixed-length sawing machine to bevel the front end of the bent steel arch (7) according to the design requirements to meet the welding requirements of the end angle and the link plate (6).

16. The intelligent production line of a steel arch frame according to claim 1, wherein: The arched material conveying device is a gantry-type conveying device arranged at the rear end of the fixed-length sawing machine, used to convey the bent and sawn steel arch materials to facilitate the conversion of the posture for bevel cutting by the bevel-cut sawing machine.

17. The intelligent production line of a steel arch frame according to claim 1, characterized in that: The formed material storage rack is arranged at the rear end of the conveying bracket + C-type position adjuster (1) and is a bracket-type storage rack, which is convenient for bundling and orderly stacking of the finished products of the bent steel arch (7) with the link plates (6) welded at both ends, waiting to be loaded and shipped out of the factory.

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