A double-robot intelligent welding integrated production line for H-shaped steel

Abstract

The application discloses a double-robot following type H-shaped steel intelligent welding integrated production line, which comprises a workpiece conveying and positioning tool, a heavy load linear guide rail and a following trolley assembly.

Description

Technical Field

[0001] This invention belongs to the field of intelligent manufacturing technology for steel structures, and in particular relates to an integrated intelligent assembly and welding production line for H-beams with dual-robot following. Background Technology

[0002] H-beams and columns are core load-bearing components in steel structure engineering. Stiffening plates, purlin supports, and other auxiliary plates need to be installed in batches on the web and flanges of these components. Currently, manual marking, assembly, and welding are commonly used, which presents many shortcomings for automation upgrades. 1. The process is fragmented and requires multiple transfers. For example, the assembly of stiffening plates, positioning spot welding, and full-pass welding are mostly set up as independent workstations. H-beam steel components are large and heavy, and repeated hoisting and transfer occupy crane resources, resulting in a high proportion of production auxiliary time and low overall production efficiency. 2. Poor adaptability: Existing fixed-base welding robots have limited working stroke. For H-beams of 6-12m in length, they need to be loosened, moved, and repositioned multiple times, accumulating positioning errors and making it difficult to guarantee the dimensional accuracy of the components. Meanwhile, dedicated H-beam assembly machines can only complete the assembly of web flanges and cannot achieve automatic assembly of scattered stiffeners. 3. Mismatch between assembly and welding cycles: Currently, most automated equipment can only perform single assembly or single welding functions, making it difficult to achieve seamless process connection. There are prominent issues such as waiting for welding after assembly and idle welding equipment, resulting in limited single-line capacity. 4. Insufficient flexible production capacity. Traditional equipment relies on rigid blocks for positioning. When facing H-shaped steel beams and columns with different cross-sectional dimensions and different stiffener arrangements, the tooling adjustment takes a long time, making it difficult to meet the production needs of multiple varieties and small and medium batch orders of steel structures. 5. The heavy reliance on manual assembly and welding results in high labor intensity. Manual operation leads to quality defects such as assembly dimension deviations, inconsistent weld formation, incomplete welding, and false welding, resulting in large fluctuations in the product flaw detection pass rate. Summary of the Invention

[0003] The purpose of this invention is to overcome the shortcomings of existing technologies and provide a dual-robot accompanying intelligent integrated production line for H-beams. A heavy-duty linear guide rail is arranged parallel to the workpiece conveying and positioning fixture. The accompanying trolley assembly is mounted on the heavy-duty linear guide rail and spans above the workpiece conveying and positioning fixture. The accompanying trolley assembly reciprocates along the length of the H-beam component, enabling the working units on the accompanying trolley assembly to perform continuous operations on the H-beam component without frequent movement of the H-beam component. This achieves integrated process control, eliminates waiting time for transfers, and significantly improves operational efficiency.

[0004] The objective of this invention is achieved through the following technical solution: A dual-robot-guided intelligent integrated production line for H-beam assembly and welding includes: A workpiece conveying and positioning fixture is arranged longitudinally and is used to support the H-beam steel component to be processed. Heavy-duty linear guide rails are set parallel to the workpiece conveying and positioning fixtures; The accompanying trolley assembly is mounted on the heavy-duty linear guide rail and located on one side of the workpiece conveying and positioning fixture. The accompanying trolley assembly reciprocates along the length of the H-beam member. The accompanying trolley assembly includes an accompanying base and an integrated platform mounted on the accompanying base. The integrated platform is also equipped with a work unit, a feeding device, a positioning component, and a control system. The work unit includes an assembly spot welding robot and a welding robot arranged side by side on the integrated platform. The workpiece conveying and positioning fixture, the work unit, the feeding device, and the positioning component are all electrically connected to the control system.

[0005] In one embodiment, the workpiece conveying and positioning fixture includes a servo-driven walking base, an adjustable support bracket, and a hydraulic locking mechanism disposed on the servo-driven walking base.

[0006] In one embodiment, the assembly spot welding robot and the welding robot are both electrically connected to the control system and are independent of each other. The assembly spot welding robot is equipped with a gripping fixture and a spot welding gun at its end, and the welding robot is equipped with an adjustable welding gun at its end to perform continuous full welding operations on the spot-welded fixed plates.

[0007] In one embodiment, both the assembly spot welding robot and the welding robot are eight-axis industrial robots.

[0008] In one embodiment, the feeding device includes a hopper disposed on the integrated platform, and the hopper is further divided into multiple storage bins.

[0009] In one embodiment, the accompanying base is connected to the heavy-duty linear guide via a servo rack and pinion drive mechanism.

[0010] In one embodiment, the end effector of the assembly spot welding robot is further provided with a vision sensor electrically connected to the control system.

[0011] In one embodiment, the integrated platform is further provided with a welding wire storage device and a welding power source, and both the spot welding gun and the adjustable welding gun have independent secondary circuits connected to the welding power source.

[0012] In one embodiment, the integrated platform is further provided with an auxiliary suspension arm arranged in a vertical direction.

[0013] In one embodiment, the control system includes a motion control module, a robot collaborative control module, a visual data processing module, a human-computer interaction terminal, and a safety interlocking unit.

[0014] The beneficial effects of this invention are as follows: The same set of equipment can continuously complete the automatic feeding, assembly, positioning spot welding, and full welding of stiffening plates, eliminating the need for multiple hoisting and transportation of components. It realizes continuous production of "component loading - stiffening plate processing - finished product unloading", eliminating transportation waiting time. The two robots work together, with the robots moving along the length of the workpiece. There is no need to frequently move heavy H-beam components, which greatly improves the production efficiency of 6-12m long H-beam components, reduces manual close-range assembly and welding operations, reduces the labor intensity of workers, ensures the consistency of assembly dimensions and the stability of weld formation, and effectively reduces the welding defect rate. Attached Figure Description

[0015] The invention will now be described in more detail with reference to embodiments and the accompanying drawings. Figure 1 A schematic diagram of the structure of the present invention is shown; In the accompanying drawings, the same parts use the same reference numerals. The drawings are not to scale.

[0016] Figure label: 1-Electrical control cabinet, 2-Workpiece conveying and positioning fixture, 3-Heavy-duty linear guide rail, 4-Traveling trolley assembly, 5-Assembly spot welding robot, 6-Welding robot, 7-Welding wire storage device, 8-Auxiliary suspension arm, 9-Material supply device, 10-Welding power supply. Detailed Implementation

[0017] The invention will now be further described with reference to the accompanying drawings.

[0018] This invention provides a dual-robot accompanying intelligent integrated production line for H-beam assembly and welding, such as... Figure 1 As shown, it includes: The workpiece conveying and positioning fixture 2 is arranged longitudinally and is used to support the H-beam steel components to be processed. Heavy-duty linear guide 3 is set parallel to workpiece conveying and positioning fixture 2; The accompanying trolley assembly 4 is mounted on the heavy-duty linear guide rail 3 and located on one side of the workpiece conveying and positioning fixture 2. The accompanying trolley assembly 4 reciprocates along the length of the H-beam steel component. The accompanying trolley assembly 4 includes an accompanying base and an integrated platform set on the accompanying base. The integrated platform is also equipped with a work unit, a feeding device 9, a positioning component and a control system. The work unit includes an assembly spot welding robot 5 and a welding robot 6 set side by side on the integrated platform. The workpiece conveying and positioning fixture 2, the work unit, the feeding device 9 and the positioning component are all electrically connected to the control system. It should be noted that in this embodiment, the heavy-duty linear guide rail 3 is arranged parallel to the workpiece conveying and positioning fixture 2, and the accompanying trolley assembly 4 is installed on the heavy-duty linear guide rail 3 and spans above the workpiece conveying and positioning fixture 2. The accompanying trolley assembly 4 moves back and forth along the length of the H-beam steel component, so that the working unit on the accompanying trolley assembly 4 can perform continuous operation on the H-beam steel component without frequent movement of the H-beam steel component, saving the component from multiple hoisting and transfer, realizing continuous production of "component online - stiffener processing - finished product offline", eliminating transfer waiting time, and greatly improving work efficiency.

[0019] Specifically, in this embodiment, two parallel heavy-duty linear guides 3 are laid in the base area of ​​the production line, and a traveling trolley assembly 4 is installed on the heavy-duty linear guides 3 so that the traveling trolley assembly 4 can reciprocate along the length direction of the H-shaped steel component.

[0020] Specifically, the workpiece conveying and positioning fixture 2 includes a servo-driven walking base and an adjustable support bracket and a hydraulic locking mechanism set on the servo-driven walking base. It is used to carry the H-shaped steel components to be processed. The servo-driven walking base realizes the precise longitudinal feeding of the components. The hydraulic locking mechanism is used to fix the position of the components after they reach the target point. The adjustable support bracket is convenient to adjust the height and spacing to accommodate H-shaped steel beams and H-shaped steel columns with different cross-sectional heights and lengths.

[0021] Specifically, the accompanying base is connected to the heavy-duty linear guide rail 3 through a servo gear rack drive mechanism, which allows the accompanying trolley assembly 4 to reciprocate along the length of the H-shaped steel component.

[0022] In one embodiment, such as Figure 1 As shown, both the assembly spot welding robot 5 and the welding robot 6 are electrically connected to the control system and are independent of each other. The assembly spot welding robot 5 is equipped with a gripping tool and a spot welding gun at its end, and the welding robot 6 is equipped with an adjustable welding gun at its end, so as to perform continuous full welding operations on the spot-welded fixed plates. In this embodiment, both the assembly spot welding robot 5 and the welding robot 6 are eight-axis industrial robots. It should be noted that in this embodiment, the assembly and spot welding robot 5 completes the gripping, posture adjustment, precise assembly and positioning spot welding of the stiffeners and purlins, while the welding robot 6 performs continuous full welding on the spot-welded and fixed plates. The two robots work independently but in cooperation with each other, and can carry out assembly and welding processes in parallel. This effectively solves the pain point of mismatch between the assembly and welding process cycles, and stably achieves ≥5 automatically assembled components and ≥4 automatically welded finished components in an 8-hour work shift. The production efficiency is significantly better than that of traditional single-machine automated operation devices.

[0023] In one embodiment, such as Figure 1 As shown, the feeding device 9 includes a hopper set in the integrated platform. The hopper is also equipped with multiple storage bins in layers, which can classify and stack various specifications of rib plates and purlin support plates, realize automatic sorting and continuous feeding of different specifications of plates, and move synchronously with the trolley without the need to set up a separate fixed feeding station. In one embodiment, the end effector of the assembly spot welding robot 5 is also equipped with a vision sensor electrically connected to the control system. This sensor performs overall scanning, identification, and positioning of the H-beam. The scanning speed can be set to 6 m / min, and the identification and positioning accuracy is ≤4 mm. The robot matches the model stored in the workstation library to determine the position of the stiffening plate. The vision sensor collects the coordinates of the web, flange contour, and stiffening plate of the H-beam in real time, and compensates for workpiece blanking errors and clamping deviations online. This enables flexible and precise assembly without rigid blocks, i.e., intelligent tracking of incoming material errors. Furthermore, by relying on 3D model data combined with online vision compensation, a large number of rigid positioning fixtures can be eliminated, and the production of H-beam components with different cross sections and stiffening plate layouts can be quickly switched to meet the flexible manufacturing needs of multiple varieties and small and medium batches of steel structures.

[0024] In one embodiment, such as Figure 1 As shown, the integrated platform is also equipped with a welding wire storage device 7 and a welding power source 10. Both the spot welding gun and the adjustable welding gun have independent secondary circuits connected to the welding power source 10. The welding power source 10 and the barrel-type welding wire storage device 7 are independently matched to supply welding wire. The welding power source 10 can be an inverter MAG welding power source 10. The traveling trolley assembly 4 is also equipped with a closed fume collection duct, which moves synchronously with the trolley to collect welding fumes in real time to improve the working environment.

[0025] In one embodiment, such as Figure 1 As shown, the integrated platform is also equipped with an auxiliary suspension arm 8 arranged vertically for auxiliary hoisting operations of large stiffening plates.

[0026] In one embodiment, such as Figure 1 As shown, the control system includes a motion control module, a robot collaborative control module, a vision data processing module, a human-machine interaction terminal, and a safety interlock unit. An independent electrical control cabinet 1, which is set on one side of the workpiece conveying and positioning fixture 2, realizes the power supply and signal control of the whole machine.

[0027] In one embodiment, the production process for H-beam steel components is as follows: Adjust the adjustable support bracket to hoist the H-beam steel component to be processed to the workpiece conveying and positioning fixture 2. The servo-driven walking base will then convey it into place and lock it using a hydraulic locking mechanism. The control system imports the three-dimensional machining model of the H-beam steel component to be processed and retrieves the dimensions and installation position information of each stiffener plate; The accompanying trolley assembly 4 moves along the heavy-duty linear guide rail 3 to the starting work position. The assembly spot welding robot 5 grabs the target stiffener from the feeding device 9, identifies the H-beam reference outline through the vision sensor, corrects the plate posture, and precisely fits the stiffener to the web or flange at the designated position and performs positioning spot welding. The accompanying trolley assembly 4 continuously moves along the length of the workpiece, and the assembly spot welding robot 5 sequentially completes the spot welding of the subsequent stiffener assembly. The welding robot 6, which is parallel to it, follows synchronously and performs continuous full welding on the stiffener that has been spot welded and fixed. During operation, the timing of assembly spot welding robot 5 and welding robot 6 can be dynamically adjusted according to the distribution density of stiffeners, so as to realize parallel assembly and welding operations. After all the stiffeners of a single H-beam are processed, the hydraulic locking mechanism is released, the finished H-beam is output, and it enters the next workpiece processing cycle.

[0028] In the description of this invention, it should be understood that the terms "upper", "lower", "bottom", "top", "front", "rear", "inner", "outer", "left", "right", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0029] While the invention has been described herein with reference to specific embodiments, it should be understood that these embodiments are merely examples of the principles and applications of the invention. Therefore, it should be understood that many modifications can be made to the exemplary embodiments, and other arrangements can be designed without departing from the spirit and scope of the invention as defined by the appended claims. It should be understood that different dependent claims and features described herein can be combined in ways different from those described in the original claims. It is also understood that features described in conjunction with individual embodiments can be used in other described embodiments.

Claims

1. A dual-robot accompanying intelligent integrated production line for H-beam welding, characterized in that, include: A workpiece conveying and positioning fixture is arranged longitudinally and is used to support the H-beam steel component to be processed. Heavy-duty linear guide rails are set parallel to the workpiece conveying and positioning fixtures; The accompanying trolley assembly is mounted on the heavy-duty linear guide rail and located on one side of the workpiece conveying and positioning fixture. The accompanying trolley assembly reciprocates along the length of the H-beam member. The accompanying trolley assembly includes an accompanying base and an integrated platform mounted on the accompanying base. The integrated platform is also equipped with a work unit, a feeding device, a positioning component, and a control system. The work unit includes an assembly spot welding robot and a welding robot arranged side by side on the integrated platform. The workpiece conveying and positioning fixture, the work unit, the feeding device, and the positioning component are all electrically connected to the control system.

2. The intelligent integrated assembly and welding production line for H-beams with dual-robot following operation as described in claim 1, characterized in that, The workpiece conveying and positioning fixture includes a servo-driven walking base, an adjustable support bracket, and a hydraulic locking mechanism mounted on the servo-driven walking base.

3. The intelligent integrated assembly and welding production line for H-beams with dual-robot following operation as described in claim 1, characterized in that, Both the assembly spot welding robot and the welding robot are electrically connected to the control system and are independent of each other. The assembly spot welding robot is equipped with a gripping fixture and a spot welding gun at its end, and the welding robot is equipped with an adjustable welding gun at its end to perform continuous full welding operations on the spot-welded fixed plates.

4. The intelligent integrated assembly and welding production line for H-beams with dual-robot following operation as described in claim 3, characterized in that, Both the assembly spot welding robot and the welding robot are eight-axis industrial robots.

5. The intelligent integrated assembly and welding production line for H-beams with dual-robot following operation as described in claim 1, characterized in that, The feeding device includes a hopper installed on the integrated platform, and the hopper is further divided into multiple storage bins.

6. The intelligent integrated assembly and welding production line for H-beams with dual-robot following operation as described in claim 1, characterized in that, The accompanying base is connected to the heavy-duty linear guide rail via a servo gear rack drive mechanism.

7. The intelligent integrated assembly and welding production line for H-beams with dual-robot following operation according to claim 3, characterized in that, The end of the assembly spot welding robot is also equipped with a vision sensor that is electrically connected to the control system.

8. The intelligent integrated assembly and welding production line for H-beams with dual-robot following operation as described in claim 3, characterized in that, The integrated platform is also equipped with a welding wire storage device and a welding power source. Both the spot welding gun and the adjustable welding gun have independent secondary circuits connected to the welding power source.

9. The intelligent integrated assembly and welding production line for H-beams with dual-robot following operation according to claim 1, characterized in that, The integrated platform is also equipped with an auxiliary suspension arm that is arranged in the vertical direction.

10. A dual-robot accompanying intelligent integrated production line for H-beam welding according to any one of claims 1 to 9, characterized in that, The control system includes a motion control module, a robot collaborative control module, a visual data processing module, a human-computer interaction terminal, and a safety interlock unit.

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