Full-automatic H-shaped steel production method and system based on assembly line cooperative control

Abstract

The invention discloses an H-shaped steel full-automatic production method and system based on assembly line cooperative control, and relates to the technical field of automatic equipment. According to the core technical scheme, synchronous feeding is conducted through three independent roller lines, and a lower wing plate, a web plate and an upper wing plate are centered; the web plate and the lower wing plate as well as the T-shaped steel and the upper wing plate are automatically assembled and subjected to spot welding forming on the first assembly station and the second assembly station in sequence through an electromagnetic turnover mechanism; and preheating, bilateral synchronous submerged-arc welding and deformation correction are sequentially carried out on the T-shaped steel and the H-shaped steel at the assembling, welding and correcting integrated station. The method solves the problems that in the prior art, the automation degree is low, the collaboration of all production units is poor, the product quality is unstable, and the flexibility of a production line is insufficient. According to the invention, the full-process automation and intelligent control are realized, the production efficiency and the product consistency are obviously improved, and the flexible production capacity is good.

Description

Technical Field

[0001] This invention relates to the field of automated equipment technology, specifically to a fully automated production method and system for H-beams based on assembly line collaborative control. Background Technology

[0002] Currently, the level of automation in China's steel structure manufacturing industry is generally low, with most production equipment still operating in a semi-automatic manner and heavily reliant on manual operation. For example, overhead cranes are often used for material handling, and key process steps such as adjusting calibration parameters also rely on manual labor.

[0003] This human-driven production model has led to a series of problems. First, production efficiency is low, and it is difficult to increase production cycle time. Second, product quality is unstable, making it difficult to guarantee consistency between different batches. In addition, existing production lines are unable to adapt to the flexible production needs of small batches and multiple varieties, and the debugging time when switching production specifications is long, making it impossible to respond quickly to market changes.

[0004] Existing equipment for assembly, welding, and straightening is functionally singular and operates independently. There is a lack of effective collaborative control between production units, resulting in a disconnect between material flow, information flow, and process flow. This prevents the entire production process from achieving an efficient and continuous operational rhythm, leading to low equipment utilization. Summary of the Invention

[0005] The purpose of this invention is to provide a method that simultaneously feeds materials (lower flange, web, and upper flange) via three independent roller conveyors; sequentially assembles and spot-welds the web and lower flange, and the T-beam and upper flange using an electromagnetic flipping mechanism at the first and second assembly stations; and sequentially preheats, performs double-sided synchronous submerged arc welding, and performs deformation correction on the T-beam and H-beam at the integrated assembly, welding, and straightening station. This method achieves full-process automation and intelligent control, significantly improves production efficiency and product consistency, and possesses excellent flexible production capabilities, thus solving the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] A fully automated production method for H-beams based on assembly line collaborative control includes the following steps:

[0008] S1. Synchronous feeding and centering of sheet metal: The lower flange, web plate and upper flange are fed into the conveyor through three independent and parallel roller conveyors, and are centered and positioned by an automatic centering mechanism during the conveying process;

[0009] S2. Automatic assembly of T-shaped steel: The lower flange plate that has been aligned is transported to the first assembly station and fixed; the web plate is lowered and transferred to the side of the first assembly station through the lifting and translation mechanism, and rotated 90° using the electromagnetic assembly and flipping mechanism to assemble it perpendicular to the lower flange plate, and then spot welded to fix it to form a T-shaped steel.

[0010] S3, T-shaped steel welding and straightening: The spot-welded T-shaped steel is transported to the integrated welding and straightening station, where positioning and clamping, preheating of the weld area, simultaneous submerged arc welding of both sides of the weld, and deformation straightening after welding are carried out in sequence.

[0011] S4. Automatic assembly of H-beams: The welded and straightened T-beams are flipped and transferred to the second assembly station; the aligned upper flange is transported to the second assembly station and fixed; the electromagnetic assembly and flipping mechanism is used to flip the T-beams again, assembling them with the upper flange, and spot welding is performed to fix them, forming H-beams.

[0012] S5. H-beam welding, straightening and blanking: The spot-welded H-beams are transported to the integrated welding and straightening station, and the positioning, clamping, preheating, welding and straightening steps are repeated to complete the manufacturing of the H-beams and blanking.

[0013] Preferably, in steps S2 and S4, before assembling the spot welding, an automatic welding step for the arc-extinguishing plate is also included:

[0014] The ends of the steel profiles are located by using a laser rangefinder.

[0015] Control the loading robot to grab the arc extinguishing plate from a clip-type workpiece loading bin;

[0016] Move the arc-extinguishing plate to a position aligned with the end of the steel section, and fix it by spot welding with a welding gun.

[0017] Preferably, in the preheating steps of S3 and S5, a medium-frequency induction heating device is used to preheat the weld area, and the preheating temperature is controlled between 150°C and 300°C.

[0018] Preferably, in the welding steps of S3 and S5, two welding gun robotic arms are used to simultaneously perform submerged arc welding on the two fillet welds of the steel section.

[0019] Preferably, the welding steps S3 and S5 further include a wire balance monitoring step: the weight of the wire spool is weighed in real time by a weighing mechanism, and an alarm signal is issued when the remaining wire weight is lower than a preset threshold.

[0020] Preferably, the correction steps in S3 and S5 specifically include:

[0021] The deformation of the steel wing plate is detected in real time using deformation detection components before and after wing plate correction.

[0022] Based on the detected deformation, the correction wheel, driven by the correction servo motor, applies a corresponding correction force to the deformed wing plate.

[0023] A fully automated H-beam production system based on assembly line collaborative control, used to implement a fully automated H-beam production method based on assembly line collaborative control, comprising:

[0024] The roller conveyor system is configured to include a lower flange plate loading line, a web plate loading line, and an upper flange plate loading line arranged in the same direction and parallel to each other, with an automatic centering mechanism installed on each loading line.

[0025] The first assembly unit, which is set along the loading line of the lower flange, includes the lower flange web assembly line, the web lifting and turning line, and the first chain sprocket conveying mechanism and the electromagnetic assembly and turning mechanism set between the two, for assembling the web and the lower flange into a T-shaped steel.

[0026] The integrated welding and straightening unit is located downstream of the first assembly unit and includes a frame, as well as a positioning mechanism, a preheating mechanism, a welding mechanism and a straightening mechanism mounted on the frame, for welding and straightening T-shaped steel or H-shaped steel.

[0027] The second assembly unit, located downstream of the integrated assembly, welding and straightening unit, includes a T-shaped steel upper flange assembly line, as well as a corresponding second chain sprocket conveying mechanism and a flipping unloading mechanism, used to assemble the T-shaped steel and the upper flange into an H-shaped steel.

[0028] An arc plate welding device is installed at a corresponding station in the roller conveyor system and is used to automatically weld arc-extinguishing plates at the ends of the steel profiles.

[0029] The control system is communicatively connected to the roller conveyor system, the first assembly unit, the integrated welding and straightening unit, the second assembly unit, and the arc plate welding device, and is used to control each unit to work collaboratively according to a predetermined process.

[0030] Preferably, the electromagnetic assembly and flipping mechanism includes:

[0031] Electromagnetic assembly and tilting mechanism base;

[0032] The L-shaped tilting arm is rotatably connected to the base at its corner.

[0033] The first hydraulic cylinder is movably mounted on the base, and its telescopic end is movably connected to the inner end of the L-shaped tilting arm.

[0034] Several electromagnetic adsorption devices are mounted on the L-shaped flipping arm;

[0035] When the first hydraulic cylinder extends or retracts, it drives the L-shaped tilting arm to rotate.

[0036] Preferably, the positioning mechanism of the integrated welding and straightening unit includes:

[0037] The wing plate centering mechanism drives the T-shaped lead screw to rotate via the wing plate servo motor, which in turn moves the wing plate pressure rollers located at both ends of the T-shaped lead screw to center the wing plate of the steel profile.

[0038] The web alignment mechanism uses a web servo motor to drive a lead screw assembly, which in turn drives the web alignment pressure roller to align the web of the steel section.

[0039] Preferably, the welding mechanism of the integrated welding and straightening unit includes a welding torch robotic arm, which includes:

[0040] Z-axis module, fixed on the frame;

[0041] The X-axis module is installed on the Z-axis module;

[0042] A welding servo motor and reducer are mounted on the X-axis module, and its output shaft is connected to a rotating base;

[0043] The flux discharge pipe, welding torch, and flux recovery nozzle are all mounted on the rotating base.

[0044] Compared with the prior art, the beneficial effects of the present invention are:

[0045] 1. The innovation of this invention lies in the construction of a highly integrated and intelligently collaborative automated production line, which realizes unmanned operation of the entire process from plate feeding to H-beam finished product. The overall architecture solves the problems of isolated production units, reliance on manual labor, and poor flexibility.

[0046] 2. Through the coordinated operation of the roller conveyor system, assembly unit, integrated welding and straightening unit and control system, the production line achieves deep integration of logistics, information flow and process flow, and seamless connection between each process. Automatic centering, positioning, flipping, welding, straightening and other actions are uniformly scheduled by the central control system, eliminating the production cycle mismatch problem caused by manual intervention and independent operation of equipment in the traditional mode, thereby significantly improving the overall production efficiency and production cycle stability.

[0047] 3. The multiple automatic detection and control systems integrated in this invention, such as laser edge finding, welding wire allowance monitoring, and real-time deformation detection, ensure precise control and adaptive adjustment of key process parameters. This not only reduces reliance on operator experience but, more importantly, ensures consistency in welding quality and product correction accuracy through precise automated control, making product quality stable and reliable and effectively solving the quality fluctuation problem caused by manual operation.

[0048] 4. This invention has a high degree of flexibility and automation. Through program control, the production line can quickly adapt to the production of different specifications of boards. When changing production, it mainly relies on the adjustment of system parameters rather than heavy mechanical debugging, which enables the production line to respond efficiently to the production needs of small batches and multiple varieties, greatly shortening the changeover time, improving market adaptability, and breaking through the bottleneck of insufficient flexibility of traditional production lines. Attached Figure Description

[0049] Figure 1 This is a schematic diagram of the overall layout of the roller conveyor system of the present invention;

[0050] Figure 2 This is a schematic diagram of the electromagnetic assembly and flipping mechanism in this invention;

[0051] Figure 3 This is a schematic diagram of the integrated welding and straightening device of the present invention;

[0052] Figure 4 This is a schematic diagram of the web alignment mechanism of the present invention;

[0053] Figure 5 This is a schematic diagram of the wing plate centering mechanism of the present invention;

[0054] Figure 6 This is a schematic diagram of the main pressure roller assembly of the present invention;

[0055] Figure 7 This is a schematic diagram of the welding gun robotic arm of the present invention;

[0056] Figure 8 This is a schematic diagram of the corrective mechanism of the present invention.

[0057] In the diagram: 101. Lower flange plate loading line; 1012. Top pressure roller; 102. Lower flange plate web plate assembly line; 103. T-beam welding and straightening material cutting transition line; 104. T-beam welding and straightening material cutting line; 105. Web plate loading line; 106. Web plate lifting and turning line; 107. Upper flange plate loading line; 108. T-beam upper flange plate assembly line; 109. H-beam welding and straightening material cutting transition line; 110. H-beam welding and straightening material cutting line; 1101. Flange plate centering mechanism; 11011, Wing plate pressure roller; 1102, T-shaped lead screw; 1103, Wing plate servo motor; 111, First chain and sprocket conveying mechanism; 112, Electromagnetic assembly and tilting mechanism; 1123, L-shaped tilting arm; 1124, Electromagnetic adsorption device; 1125, First hydraulic cylinder; 1126, Electromagnetic assembly and tilting mechanism base; 1121, Web plate centering mechanism; 11211, Web plate servo motor; 1122, Web plate reducer; 11241, Lead screw assembly; 11251, Web plate centering pressure roller; 113, Second chain and sprocket conveying mechanism; 114, Tilting and unloading mechanism; 116, Weighing mechanism; 117, Welding wire reel; 500, Hydraulic stop. Alignment mechanism; 1061, Correction mechanism; 10611, Correction servo motor; 1062, Correction reducer; 1063, Correction seat assembly; 1064, Wing plate deformation detection assembly after correction; 1065, Power wheel; 1066, Temperature sensor; 1067, Support base; 1068, Sealing plate; 1069, Wing plate deformation detection assembly before correction; 10610, Correction wheel; 120, Welding torch robotic arm; 1201, Z-axis module; 1202, Tank chain; 1203, X-axis module; 1204, Welding servo motor; 1205, Reducer; 1206, Flux discharge pipe; 1207, Welding torch; 1208, Flux recovery nozzle. Detailed Implementation

[0058] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0059] To address the issues of low automation, poor coordination between production units, unstable product quality, and insufficient production line flexibility in existing technologies, please refer to [link / reference]. Figure 1-8 This embodiment provides the following technical solution:

[0060] The system described in this invention mainly comprises three core components: a roller conveyor system, an arc plate welding device, and an integrated welding and straightening device. These three components are uniformly coordinated and controlled by a central control unit and a processor, achieving seamless integration from raw materials to finished products.

[0061] The roller conveyor system includes a lower flange plate loading line 101, a web plate loading line 105, and an upper flange plate loading line 107, all arranged in the same direction and parallel to each other. Behind the lower flange plate loading line 101 are, in sequence, a lower flange plate and web plate assembly line 102, a T-beam welding and straightening unloading transition line 103, and a T-beam welding and straightening unloading line 104. Behind the web plate loading line 105 is a web plate lifting and turning line 106. Behind the upper flange plate loading line 107 are, in sequence, a T-beam upper flange plate assembly line 108, an H-beam welding and straightening unloading transition line 109, and an H-beam welding and straightening unloading line 110. Each line is formed by sequentially connecting roller conveyor units, constituting a complete production path.

[0062] After pretreatment, the lower flange, web plate, and upper flange are placed on the corresponding lower flange loading line 101, web plate loading line 105, and upper flange loading line 107 by overhead cranes and other equipment. The roller conveyor units of each loading line are driven by motor-driven chain mechanisms that rotate the rollers, conveying the sheet material forward. During conveying, the automatic clamping and centering mechanism 300 installed on the roller conveyor is activated. Driven by a motor-driven synchronous belt, the automatic clamping and centering mechanism 300 drives all T-shaped lead screws to rotate synchronously, causing the clamping wheels on both sides to move towards each other, automatically centering the sheet material and ensuring its precise advancement along the production line centerline.

[0063] After centering, the lower wing plate is conveyed to the lower wing plate web assembly line 102, where it is precisely positioned by the automatic clamping centering mechanism 300 and the hydraulic stop alignment mechanism 500. Simultaneously, the web plate is conveyed to the web plate lifting and turning line 106. This line consists of multiple lifting roller conveyor units, and its top scissor-type hydraulic lifting platform can lower the frame. After the web plate is in position, the lifting platform lowers, smoothly placing the web plate onto the first chain sprocket conveyor mechanism 111. This mechanism is driven by a motor, which drives the parallel-arranged first long chain conveyor mechanism 1112 and short chain conveyor mechanism 1113 via a transmission shaft, laterally moving the web plate to the side of the lower wing plate web assembly line 102.

[0064] At this point, the electromagnetic assembly and flipping mechanisms 112, located on both sides of the assembly line, begin to operate. Their electromagnetic adsorption devices 1124 are energized, firmly holding the web plate. Subsequently, the first hydraulic cylinder 1125 retracts, driving the L-shaped flipping arm 1123 to rotate 90° around its corner axis, precisely flipping the web plate from a horizontal to a vertical position, ensuring it fits tightly against the lower wing plate. The welding robot at the assembly station then performs spot welding on the contact area, forming a stable T-shaped steel component. The hydraulic stop and alignment mechanism 500, located behind the assembly line, moves its alignment blocks back and forth under the drive of the hydraulic cylinder, ensuring that the ends of the web plate are aligned with the wing plate.

[0065] After spot welding, the T-shaped steel is conveyed via the T-shaped steel welding and straightening transition line 103. This transition line 103 consists of transition roller units, whose roller mounting frames are driven to rise and fall by a second hydraulic cylinder, effectively supporting the welded T-shaped steel and preventing deformation and warping. Subsequently, the T-shaped steel enters the T-shaped steel welding and straightening transition line 104. At the end of the line, the flipping and unloading mechanism 114 activates, its L-shaped flipping frame rotating 90° under the drive of a third hydraulic cylinder, unloading the T-shaped steel onto the second chain and sprocket conveyor mechanism 113. The second chain and sprocket conveyor mechanism 113 then laterally conveys the T-shaped steel to the docking position of the T-shaped steel upper flange assembly line 108.

[0066] Meanwhile, the upper wing plate is conveyed via the upper wing plate loading line 107 to the T-shaped steel upper wing plate assembly line 108 and positioned. The electromagnetic assembly and flipping mechanism 112 on the side of the T-shaped steel upper wing plate assembly line 108 again attracts the T-shaped steel and performs a second 90° flip, so that its web faces upward, and then it descends to fit against the upper wing plate to form an H-shaped steel. The welding robot then spots welds it in place again.

[0067] The arc plate welding device is set at the corresponding station on the roller conveyor line and is used to automatically weld the arc extinguishing plate 50 at the end of the steel section. The device includes a first feeding mechanism and / or a second feeding mechanism, a welding robot and a central control device.

[0068] Taking the first feeding mechanism as an example, its workflow is as follows: The steel section is conveyed by the first roller conveyor. After the first positioning sensor detects the positioning, the central control device stops the first roller conveyor and instructs the first positioning plate drive device to press down the first positioning plate, fixing the end of the steel section. The welding robot's laser rangefinder scans the end of the steel section for edge detection. Subsequently, the first robotic arm of the feeding robot moves, and the end effector picks up the matching arc-extinguishing plate 50 from a specific clip fixture in the clip-type workpiece feeding bin, precisely placing it at the aligned position on the end of the steel section. Finally, the welding robot's welding torch 1207 performs spot welding to fix it. A first empty material alarm is installed at the bottom of the clip fixture for material shortage alarm.

[0069] The integrated welding and straightening device is a key piece of equipment for completing the core process. Located downstream of the first assembly unit, it includes a frame, and positioning, preheating, welding, and straightening mechanisms 1061 mounted on the frame. It is used for welding and straightening T-beams or H-beams, wherein:

[0070] After the steel section is fed into the device by the feeding mechanism, the positioning mechanism is activated first:

[0071] Wing plate centering mechanism 1101: The wing plate servo motor 1103 drives the T-shaped lead screw 1102 to rotate, which drives the wing plate pressure rollers 11011 at both ends to move towards each other, clamping the wing plate 104 of the steel profile from both sides.

[0072] Web plate centering mechanism 1121: Web plate servo motor 11211 drives lead screw assembly 11241 to move through web plate reducer 1122, which in turn drives web plate centering pressure roller 11251 to clamp web plate 113 from both sides.

[0073] Pressure roller mechanism: The hydraulic pressure cylinder drives the main pressure roller assembly 1011 to press down, and the top pressure roller 1012 presses the steel section from above. The rollers of the adjustment assembly 10111 roll along the guide rails on the frame column to ensure smooth pressing.

[0074] After positioning is completed, the two preheating mechanisms are activated. Their cylinders drive the medium-frequency heating equipment to move downwards, so that the contact wheel at the bottom of the equipment contacts the wing plate 104, and perform medium-frequency induction preheating on the weld area. The preheating temperature is usually controlled between 150℃ and 300℃ to improve the welding quality.

[0075] After preheating, the welding mechanism begins operation. Two welding torch robotic arms 120 move simultaneously. The Z-axis module 1201 and X-axis module 1203 precisely position the welding torch 1207 in space. The welding servo motor 1204 and reducer 1205 adjust the angle of the welding torch. Flux is added from the flux tank via the flux dispensing pipe 1206, and welding wire is fed into the welding torch from the wire spool 117. The submerged arc welding machine 107 starts, performing synchronous submerged arc welding on the double-sided fillet welds of the steel profile. Excess flux generated during welding is recovered by an exhaust fan through the flux recovery nozzle 1208. The weighing mechanism 116 monitors the weight of the wire spool 117 in real time, triggering an alarm when the wire is insufficient.

[0076] After welding, the straightening mechanism 1061 corrects the deformation caused by welding thermal stress. The steel profile is driven through the straightening station by the power wheel 1065. The deformation detection component 1069 before straightening and the deformation detection component 1064 after straightening detect the deformation of the wing plate in real time. The data is fed back to the processor, and the straightening servo motor 10611 drives the lead screw to rotate, which drives the straightening wheel 10610 to move up and down, applying a precise straightening force to the deformed area. The two straightening seat assemblies 1063 can move closer or further apart under the drive of the servo mechanism to accommodate steel profiles of different specifications. The temperature sensor 1066 monitors the straightening temperature.

[0077] Working principle: The system includes parallel lower flange plate loading line 101, web plate loading line 105, and upper flange plate loading line 107. After the sheet material is loaded, it is conveyed by roller conveyor unit and centered and positioned by automatic centering mechanism to ensure that the sheet material moves along the center line, preparing for subsequent assembly.

[0078] The first assembly unit is located downstream of the roller conveyor system and includes a lower wing plate and web assembly line 102, a web lifting and turning line 106, a first chain and sprocket conveying mechanism 111, and an electromagnetic assembly and turning mechanism 112. After the lower wing plate is fixed, the web plate is lowered by the lifting platform and then moved laterally by the chain conveying mechanism; the electromagnetic assembly and turning mechanism 112 attracts the web plate and turns it 90°, assembling it perpendicularly to the lower wing plate, and spot welding it to form a T-shaped steel.

[0079] The arc plate welding device is set up at the roller conveyor station and includes a feeding robot, a clip-type workpiece feeding bin, and a welding robot. Using a laser rangefinder for edge positioning, the robot grabs the arc plate 50 and spots-welds it to the end of the steel section to ensure welding quality.

[0080] The integrated welding and straightening unit includes a positioning mechanism, a preheating mechanism, a welding mechanism, and a straightening mechanism 1061. When the steel section is transported here, it is first clamped and aligned by the flange alignment mechanism 1101 and the web alignment mechanism 1121. The preheating mechanism uses medium-frequency induction heating to heat the weld. The welding mechanism uses a welding torch robotic arm 120 for synchronous submerged arc welding. The straightening mechanism detects deformation through detection components 1069 and 1064, and the straightening servo motor 10611 drives the straightening wheel 10610 for straightening.

[0081] The second assembly unit includes a T-shaped steel upper flange assembly line 108, a second chain sprocket conveying mechanism 113, and a flipping and unloading mechanism 114. After the T-shaped steel is flipped, it is assembled with the upper flange, spot-welded to form an H-shaped steel, and finally unloaded by the flipping and unloading mechanism 114.

[0082] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0083] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention.

Claims

1. A full-automatic production method of H-shaped steel based on pipeline cooperative control, characterized in that, The method comprises the following steps: S1, synchronous feeding and centering of the plate: the lower wing plate, the web plate and the upper wing plate are fed through three independent and parallel roller lines respectively, and are positioned and centered by an automatic centering mechanism during conveying; S2, automatic assembly of T-shaped steel: the lower wing plate that has been centered is conveyed to the first assembly station and fixed; the web plate is lowered by a lifting and translating mechanism and transferred to the side of the first assembly station, and is flipped 90° by an electromagnetic assembly flipping mechanism (112) to make it perpendicular to the lower wing plate, and is fixed by spot welding to form a T-shaped steel; S3, T-shaped steel welding and correction: the T-shaped steel after spot welding is conveyed to a welding and correction integrated station, and is sequentially positioned and clamped, preheated in the welding area, synchronously submerged-arc welded on both sides, and deformed and corrected after welding; S4, automatic assembly of H-shaped steel: the T-shaped steel after welding and correction is flipped and transferred to the second assembly station; the upper wing plate that has been centered is conveyed to the second assembly station and fixed; the T-shaped steel is flipped again by the electromagnetic assembly flipping mechanism (112) to make it assembled with the upper wing plate, and is fixed by spot welding to form an H-shaped steel; S5, H-shaped steel welding, correction and discharging: the H-shaped steel after spot welding is conveyed to an assembly, welding and correction integrated station, and the steps of positioning and clamping, preheating, welding and correction are repeated to complete the manufacturing of the H-shaped steel, and the H-shaped steel is discharged.

2. The H-shaped steel full-automatic production method based on pipeline cooperative control according to claim 1, characterized in that, In the steps S2 and S4, before assembly and spot welding, an automatic welding step of an arc extinguishing plate is further included: The end of the steel profile is positioned by a laser range finder; A feeding robot controls the arc extinguishing plate (50) to be grabbed from a pop-in workpiece feeding bin; The arc extinguishing plate (50) is moved to a position aligned with the end of the steel profile, and is fixed by spot welding through a welding gun (1207).

3. The H-shaped steel full-automatic production method based on pipeline cooperative control according to claim 1, characterized in that, In the preheating step in the steps S3 and S5, a medium-frequency induction heating device is used to preheat the welding area, and the preheating temperature is controlled between 300-500°C.

4. The H-shaped steel full-automatic production method based on pipeline cooperative control according to claim 1, characterized in that, In the welding step in the steps S3 and S5, two welding gun mechanical arms (120) are used to simultaneously perform submerged-arc welding on the two fillet welds of the steel profile.

5. The H-shaped steel full-automatic production method based on pipeline cooperative control according to claim 1, characterized in that, In the welding step in the steps S3 and S5, a welding wire remaining amount monitoring step is further included: the weight of a welding wire reel (117) is weighed in real time by a weighing mechanism (116), and when the remaining welding wire weight is lower than a preset threshold, an alarm signal is sent.

6. The H-shaped steel full-automatic production method based on pipeline cooperative control according to claim 1, characterized in that, In the correction step in the steps S3 and S5, specifically comprising: The deformation amount of the steel profile wing plate is detected in real time by a wing plate pre-correction deformation detection assembly (1069) and a wing plate post-correction deformation detection assembly (1064); According to the detected deformation amount, a correction servo motor (10611) drives a correction wheel (10610) to apply a corresponding correction force to the deformed wing plate.

7. A full-automatic production system of H-shaped steel based on pipeline collaborative control, used for realizing the full-automatic production method of H-shaped steel based on pipeline collaborative control in any one of claims 1-6, characterized in that, It comprises: A roller conveying system is configured to include a lower wing plate feeding line (101), a web plate feeding line (105) and an upper wing plate feeding line (107) arranged in the same direction and in parallel, and an automatic centering mechanism is arranged on each feeding line; The first assembly unit is arranged along the lower flange plate feeding line (101), and comprises a lower flange plate web assembly line (102), a web lifting and overturning line (106), and a first chain and sprocket conveying mechanism (111) and an electromagnetic assembly overturning mechanism (112) arranged between the two, which are used for assembling the web and the lower flange plate into a T-shaped steel; The welding and straightening integrated unit is arranged downstream of the first assembly unit, and comprises a rack and a positioning mechanism, a preheating mechanism, a welding mechanism and a straightening mechanism (106) mounted on the rack, which are used for welding and straightening the T-shaped steel or H-shaped steel; The second assembly unit is arranged downstream of the welding and straightening integrated unit, and comprises a T-shaped steel upper flange plate assembly line (108) and a second chain and sprocket conveying mechanism (113) and an overturning and discharging mechanism (114) corresponding to the T-shaped steel upper flange plate assembly line (108), which are used for assembling the T-shaped steel and the upper flange plate into an H-shaped steel; The arc plate welding device is arranged at a corresponding station of the roller conveying system, and is used for automatically welding an arc extinguishing arc plate at the end of the steel; The control system is in communication connection with the roller conveying system, the first assembly unit, the welding and straightening integrated unit, the second assembly unit and the arc plate welding device, and is used for controlling the units to cooperatively work according to a predetermined process.

8. The H-shaped steel full-automatic production system based on pipeline cooperative control according to claim 7, characterized in that, The electromagnetic assembly overturning mechanism (112) comprises: An electromagnetic assembly overturning mechanism base (1126); An L-shaped overturning arm (1123) rotationally connected to the base (1126) at a corner thereof; A first hydraulic cylinder (1125) movably arranged on the base (1126) and movably connected to an inner end of the L-shaped overturning arm (1123) at a telescopic end thereof; A plurality of electromagnetic adsorption devices (1124) arranged on the L-shaped overturning arm (1123); When the first hydraulic cylinder (1125) is telescopically extended or retracted, the L-shaped overturning arm (1123) is driven to rotate.

9. The H-shaped steel full-automatic production system based on pipeline cooperative control according to claim 7, characterized in that, The positioning mechanism of the welding and straightening integrated unit comprises: A flange plate centering mechanism (1101) driven to rotate by a flange plate servo motor (1103) to drive flange plate pressing wheels (11011) arranged at two ends of a T-shaped screw rod (1102) to move, so as to center the flange (104) of the steel; A web centering mechanism (1121) driven to move by a web servo motor (1121) to drive a web centering pressing wheel (11251) to center the web (113) of the steel.

10. The H-shaped steel full-automatic production system based on pipeline cooperative control according to claim 7, characterized in that, The welding mechanism of the welding and straightening integrated unit comprises a welding gun mechanical arm (120), which comprises: A Z-direction module (1201) fixed on the rack; An X-direction module (1203) mounted on the Z-direction module (1201); A welding servo motor (1204) and a speed reducer (1205) mounted on the X-direction module (1203) and having an output shaft connected to a rotating seat; A welding flux feeding pipe (1206), a welding gun (1207) and a welding flux recovery nozzle (1208) all mounted on the rotating seat.

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