CN110788527B - Flexible stacking additive manufacturing device and manufacturing method for mechanical steel structure - Google Patents
Flexible stacking additive manufacturing device and manufacturing method for mechanical steel structure Download PDFInfo
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- CN110788527B CN110788527B CN201911009707.8A CN201911009707A CN110788527B CN 110788527 B CN110788527 B CN 110788527B CN 201911009707 A CN201911009707 A CN 201911009707A CN 110788527 B CN110788527 B CN 110788527B
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- 239000000654 additive Substances 0.000 title claims abstract description 25
- 230000000996 additive effect Effects 0.000 title claims abstract description 25
- 238000003466 welding Methods 0.000 claims abstract description 107
- 238000005520 cutting process Methods 0.000 claims abstract description 51
- 238000006073 displacement reaction Methods 0.000 claims abstract description 12
- 238000010276 construction Methods 0.000 claims abstract description 8
- 238000012805 post-processing Methods 0.000 claims abstract 2
- 230000005540 biological transmission Effects 0.000 claims description 25
- 239000000758 substrate Substances 0.000 claims description 14
- 238000000034 method Methods 0.000 claims description 9
- 238000000354 decomposition reaction Methods 0.000 claims description 3
- 238000002360 preparation method Methods 0.000 claims description 3
- 210000000078 claw Anatomy 0.000 claims 4
- 239000000463 material Substances 0.000 abstract description 12
- 238000000465 moulding Methods 0.000 abstract 1
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 6
- 230000005611 electricity Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 229910052742 iron Inorganic materials 0.000 description 3
- 238000000137 annealing Methods 0.000 description 2
- 238000005498 polishing Methods 0.000 description 2
- 206010034719 Personality change Diseases 0.000 description 1
- -1 arc light Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 238000005192 partition Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted for a procedure covered by only one of the other main groups of this subclass
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted for a procedure covered by only one of the other main groups of this subclass
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0252—Steering means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted for a procedure covered by only one of the other main groups of this subclass
- B23K37/04—Auxiliary devices or processes, not specially adapted for a procedure covered by only one of the other main groups of this subclass for holding or positioning work
- B23K37/047—Auxiliary devices or processes, not specially adapted for a procedure covered by only one of the other main groups of this subclass for holding or positioning work moving work to adjust its position between soldering, welding or cutting steps
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P23/00—Machines or arrangements of machines for performing specified combinations of different metal-working operations not covered by a single other subclass
- B23P23/06—Metal-working plant comprising a number of associated machines or apparatus
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Abstract
机械钢结构的柔性堆叠增材制造装置及制造方法，该制造装置包括切割组件、机械抓取传送组件、焊接机器人、变位工作台及控制柜。切割组件切割机械钢结构的型材件和板材件，机械抓取传送组件确定待抓取的型材件和板材的位置，并对其进行抓取，变换位姿并以确定的姿态传送至变位工作台，焊接机器人对型材件和板材件进行点焊和全焊缝焊接。在控制柜的控制下将切割好的型材件和板材件依次抓取、变换位姿和送料自下而上堆叠完成整个钢结构的构建，并对机械钢结构进行点焊、全焊缝焊接以及后处理成型。本发明生产高度柔性，适应性广，自动化程度高，能够有效节省人力成本，且大大提高焊接生产效率，具有良好的应用前景。
A flexible stacking additive manufacturing device and a manufacturing method for a mechanical steel structure, the manufacturing device includes a cutting assembly, a mechanical grasping and conveying assembly, a welding robot, a displacement table and a control cabinet. The cutting component cuts the profile parts and plate parts of the mechanical steel structure, and the mechanical grasping and conveying component determines the position of the profiles and plates to be grasped, grabs them, changes the posture and transmits the determined posture to the displacement work The welding robot performs spot welding and full seam welding of profile and sheet parts. Under the control of the control cabinet, the cut profiles and plate parts are grabbed in turn, the poses are changed, and the materials are stacked from bottom to top to complete the construction of the entire steel structure, and the mechanical steel structure is spot welded, fully welded and Post-processing molding. The invention has high flexibility in production, wide adaptability and high degree of automation, can effectively save labor costs, greatly improve welding production efficiency, and has good application prospects.
Description
Technical Field
The invention relates to the technical field of manufacturing and additive manufacturing of mechanical steel structures, in particular to a flexible stacking additive manufacturing device and a flexible stacking additive manufacturing method for a mechanical steel structure.
Background
At present, the scale of the steel structure required by industries such as construction, mechanical equipment and the like is very large, and welding is a main connecting method for constructing the steel structure. Compared with other connection modes such as bolts and the like, the welding does not weaken the section strength, the structural shape is not limited, and the air tightness and the water tightness are good.
However, the welding manufacture of the existing steel structure still faces some practical problems. Firstly, the welding working environment is generally severe, and welding smoke, arc light, metal splashing and other pollution exist during welding, so that the body health of operators is not facilitated; secondly, the labor cost of welders is continuously increased along with the development of the economy and the society, and the steel structure manufacturing industry relying on manual welding is bound to face the development embarrassment that the cost is difficult to control; moreover, the automation level of steel structure welding manufacturing is low.
The existing automatic welding system in the market at present mainly aims at mass and repeated production of products and parts such as automobiles, pressure vessels and the like, such as: an automatic welding system for automobile bodies, an automatic welding system for pipeline laying, and the like, and there is no highly flexible automatic welding manufacturing system which can be used for manufacturing steel structures of various shapes. Therefore, as the product design tends to be personalized and customized, the demand for complex steel structures in the market tends to be vigorous, and a highly flexible, automatic and intelligent steel structure automatic welding and manufacturing system is urgently needed.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a flexible stacking additive manufacturing device and a manufacturing method of a mechanical steel structure.
The technical scheme of the invention is as follows: the flexible material increase manufacturing device that piles up of mechanical steel structure snatchs transport assembly, welding robot, workstation and switch board shift including cutting component, machinery.
The mechanical grabbing and conveying assembly comprises a first bracket assembly, a second bracket assembly, a portal frame, a grabbing arm component and a CCD position scanner.
The first support assembly is provided with a first rail, two ends of the first rail are respectively provided with a first axial lead screw seat and a second axial lead screw seat, the second axial lead screw seat is provided with an axial motor, two ends of the axial lead screw are respectively installed in shaft holes of the first axial lead screw seat and the second axial lead screw seat, and one end of the axial lead screw is connected with a power output shaft of the axial motor.
And a second rail is arranged on the second support component, two ends of the second rail are respectively provided with a polished rod seat, and two ends of a polished rod are respectively arranged in the shaft holes of the polished rod seats.
The two ends of a cross beam of the portal frame are respectively provided with a transverse lead screw seat and a transverse motor, one end of a transverse lead screw is installed in a shaft hole of the transverse lead screw seat, the other end of the transverse lead screw is connected with a power output shaft of the transverse motor, a transverse moving slider is installed on the transverse lead screw, the transverse lead screw rotates to drive the transverse moving slider to move transversely, a vertical moving device is installed on the transverse moving slider, a vertical lead screw in the vertical moving device is matched with a lead screw nut on the transverse moving slider, and a vertical motor in the vertical moving device drives the vertical lead screw to rotate.
The grabbing arm component comprises a motor assembly, a rotating shaft assembly and a clamping jaw body assembly. The motor assembly comprises a rotating motor and a rotating motor which are oppositely arranged, a gear transmission shaft arranged between the rotating motor and the rotating motor, a bevel gear A arranged at the tail end of the gear transmission shaft, a motor supporting shell, a gear shaft supporting frame, a first connecting shaft sleeve and a bevel gear shell; the rotating motor and the rotating motor are both fixedly connected to the inner side of the motor supporting shell and connected with the gear shaft supporting frame, the gear transmission shaft is fixed on the gear shaft supporting frame through a bearing, the first connecting shaft sleeve is fixed at the lower end of the gear transmission shaft through a bearing, and the bevel gear shell is fixedly connected onto the first connecting shaft sleeve; the output shafts of the rotating motor and the rotating motor are respectively fixed with a gear, the upper end of the gear transmission shaft is fixed with a gear, the outer side of the first connecting shaft sleeve at the lower end of the gear transmission shaft is fixed with a gear, the gear on the output shaft of the rotating motor is meshed with the gear at the upper end of the gear transmission shaft, and the gear on the output shaft of the rotating motor is meshed with the gear at the outer side of the first connecting shaft sleeve at the lower end of the gear transmission shaft.
The rotating shaft assembly comprises a rotating rod, flange plates arranged at two ends of the rotating rod, a bevel gear B arranged on the rotating rod and meshed with the bevel gear A, and second connecting shaft sleeves arranged on the rotating rod and positioned on two sides of the bevel gear B.
The clamping jaw body assembly comprises two clamping jaw bodies with the same structure, and each clamping jaw body comprises a clamping jaw cylinder, a rack, a clamping gear, a clamping connecting rod, a fixing shaft, a clamping jaw block and a clamping jaw body supporting shell; the rack is connected with the tail end of a telescopic rod of the clamping jaw cylinder, the two clamping gears are respectively arranged on two sides of the rack and meshed with the rack, and gear shafts of the clamping gears are respectively fixed on the clamping jaw body supporting shell; the clamping connecting rods are four in number, gear shafts of the clamping gears on one side of the rack are fixedly connected with one end of one of the clamping connecting rods, the other ends of the clamping connecting rods are connected with one end of the other clamping connecting rod and are connected with the clamping jaw block, and the other end of the other clamping connecting rod is fixed on the clamping jaw body supporting shell through a fixing shaft; the other side of the rack has the same structure as the side.
The bevel gear shell of the motor assembly is movably connected with the rotating rod of the rotating shaft assembly through a second connecting shaft sleeve, and the two clamping jaw bodies of the clamping jaw body assembly are fixedly connected with the flange plate of the rotating shaft assembly respectively.
The portal frame is located on a first track of the first support assembly and a second track of the second support assembly through the bottom sliding block, the axial lead screw is matched with a lead screw nut on the portal frame, and the polish rod is matched with a polish rod shaft sleeve on the portal frame; a motor supporting shell of the grabbing arm component is connected with a vertical moving device on the portal frame through a flange plate at the top of the motor supporting shell; the CCD position scanner is installed on the CCD position scanner mounting panel of vertical mobile device bottom and outside the CCD position scanner stretches out motor element for the positional information to the section bar spare or the panel spare of cutting subassembly cutting scans.
And a CCD (charge coupled device) weld joint scanner is arranged on a welding gun of the welding robot and used for scanning the weld joint information of the mechanical steel structure which is grabbed and stacked on the deflection workbench.
The cutting assembly is arranged between the first support assembly and the second support assembly, the position changing workbench is arranged at the tail end of the cutting assembly, and the first support assembly and the position changing workbench are positioned in the axial working stroke range of the portal frame; the control cabinet is arranged on the position-changing workbench.
Cutting component, welding robot, workstation, axial motor, horizontal motor, vertical motor, rotating electrical machines shift, rotation motor, clamping jaw cylinder, CCD position scanner and CCD welding seam scanner all are connected with the switch board electricity.
The further technical scheme of the invention is as follows: the cutting assembly is a plasma numerical control cutting machine or a laser numerical control cutting machine and is used for cutting profile parts or plate parts required by the mechanical steel structure in a steel plate or profile.
The invention further adopts the technical scheme that: be equipped with collision avoidance sensor on the welder, collision avoidance sensor is connected with the switch board electricity, and collision avoidance sensor is used for avoiding welding robot to collide the steel construction at welding process.
The manufacturing method of the flexible stacking additive manufacturing device applied to the mechanical steel structure comprises the following steps,
a, preparation of program codes: the method comprises the steps of establishing a three-dimensional model of a steel structure by using CAD software for additive manufacturing, disassembling a formed material piece and a plate piece from the steel structure by using decomposition planning software according to the three-dimensional model, determining the size, combination sequence, welding sequence and spot welding position of each material piece and plate piece, planning the placing posture of the material piece or plate piece on a deflection workbench and the welding posture of a welding robot, generating a control code and sending the control code to a control cabinet.
The section bar comprises I-shaped steel, channel steel, steel pipes and angle steel; the plate piece is a steel plate with the thickness of 1-20 mm.
Before welding, a steel substrate is fixed on a positioner workbench, and the welding of the whole mechanical steel structure is completed on the steel substrate.
And B, cutting the section bar piece and the plate piece: the cutting assembly cuts out the first profile or sheet piece of the corresponding size according to the size and combined sequence of the mechanical steel structure profile and sheet pieces.
C, gripping and conveying of profile and sheet pieces: the grabbing arm component moves to the position above the first profile piece or the plate piece under the control of the control cabinet; then the CCD position scanner scans the position of the first profile or plate and sends the position information to the control cabinet, and the control cabinet controls the state of the clamping jaw body assembly according to the position information to enable the clamping jaw block to clamp the first profile or plate; and rotating and/or rotating the clamping jaw body assembly which clamps the first profile or plate to change the pose, and then conveying the first profile or plate with the changed pose to a position to be welded on the steel substrate.
D, spot welding of the profile and sheet pieces: and a welding gun of the welding robot performs spot welding on the section or plate piece to be welded, and fixedly connects the first section or plate piece with the steel base plate on the positioner workbench.
E, stacking the section bar piece and the plate piece layer by layer for forming: and D, repeating the steps B-D according to the combination sequence of each section and plate of the mechanical steel structure, sequentially cutting, grabbing, conveying and spot-welding the rest other sections and plates, and performing additive stacking from bottom to top to complete the construction of the whole mechanical steel structure.
F, all-weld welding of a mechanical steel structure: the CCD weld joint scanner scans the weld joint information of the stacked mechanical steel structure and sends the weld joint information to the control cabinet, and the control cabinet controls the welding gun to complete the full weld joint welding of the whole mechanical steel structure according to the weld joint information.
G, post-treatment of the mechanical steel structure: and taking the manufactured mechanical steel structure down from the steel substrate, and performing weld polishing, weld ultrasonic impact and/or stress relief annealing.
The further technical scheme of the invention is as follows: the machine control code includes a cutting control code for controlling the cutting assembly, a grabbing-transport control code for controlling the mechanical grabbing-transport assembly, a pose control code for controlling the mechanical grabbing-transport assembly such that the profile or sheet piece is in a table-planning placement pose, and a welding control code for controlling the welding assembly.
Compared with the prior art, the invention has the following characteristics:
1. the method adopts a mode of stacking additive manufacturing from bottom to top one by one to construct the complex mechanical steel structure, has high flexibility, is suitable for steel structures with any complex shapes, and is particularly suitable for the automatic production of small-batch and multi-variety steel structures.
2. The welding automation system has high automation, and the cutting and conveying of the material to the stacking welding are all completed by the digitally controlled automation device, so that the labor cost is saved, the welding production efficiency is improved, and the welding automation system has a good application prospect.
The detailed structure of the present invention will be further described with reference to the accompanying drawings and the detailed description.
Drawings
FIG. 1 is a schematic diagram of the system of the present invention;
FIG. 2 is a schematic view of a mechanical gripper conveyor assembly;
FIG. 3 is a schematic view of a grasping arm member;
FIG. 4 is a schematic structural view of the motor assembly and the rotating shaft assembly;
FIG. 5 is a schematic structural view of the jaw body;
FIG. 6 is a schematic view of a mechanical gripper conveyor assembly gripper;
FIG. 7 is a schematic structural view of a welding robot and a position-changing worktable;
FIG. 8 is a control flow diagram of the present invention;
FIG. 9 is a flow chart of a method of manufacture of the present invention;
FIG. 10 is a schematic view of a second separator assembling machine according to an embodiment of the present invention;
fig. 11 is a schematic structural diagram of a ferriferrous iron cabinet according to an embodiment of the invention.
Detailed Description
In a first embodiment, as shown in fig. 1 to 7, the flexible stacking additive manufacturing apparatus of a mechanical steel structure includes a cutting assembly 1, a mechanical grabbing and conveying assembly 2, a welding robot 3, a shifting table 4, and a control cabinet 5.
The cutting assembly 1 is an existing plasma numerical control cutting machine, and the cutting assembly 1 is used for cutting profile parts or plate parts required by a mechanical steel structure in a steel plate or profile.
The section bar piece comprises channel steel, a steel pipe, angle steel and the like, and the plate piece is a steel plate with thickness.
The welding robot 3 includes a welding gun 31 and a CCD seam scanner 32. The welding gun 31 is provided with a CCD (charge coupled device) weld joint scanner 32, the CCD weld joint scanner 32 scans and sends the weld joint information of the mechanical steel structure which is grabbed and formed by stacking on the deflection worktable 4 to the control cabinet 5, and the control cabinet 5 controls the welding robot 3 to realize the spot welding and the full seam welding of the section material piece or the plate material piece according to the welding control code and the weld joint information sent by the CCD weld joint scanner 32.
The mechanical grabbing transferring assembly 2 comprises a first bracket assembly 21, a second bracket assembly 22, a portal frame 23, a grabbing arm component 24 and a CCD position scanner 25.
The first bracket assembly 21 is provided with a first rail 211, two ends of the first rail 211 are respectively provided with a first axial lead screw seat 212 and a second axial lead screw seat 213, the second axial lead screw seat 213 is provided with an axial motor 215, two ends of an axial lead screw 214 are respectively installed in shaft holes of the first axial lead screw seat 212 and the second axial lead screw seat 213, one end of the axial lead screw 214 is connected with a power output shaft of the axial motor 215, and the axial lead screw 214 is driven to rotate by the axial motor 215.
The second bracket assembly 22 is provided with a second rail 221, two ends of the second rail 221 are respectively provided with a polish rod base 222, and two ends of the polish rod 223 are respectively installed in the axial holes of the polish rod bases 222.
Two ends of a cross beam of the portal frame 23 are respectively provided with a transverse screw rod seat 231 and a transverse motor 232, one end of the transverse screw rod 233 is installed in a shaft hole of the transverse screw rod seat 231, the other end of the transverse screw rod 233 is connected with a power output shaft of the transverse motor 232, and the transverse screw rod 233 is driven to rotate by the transverse motor 232.
The transverse moving slide 234 is mounted on a transverse lead screw 233, and the transverse lead screw 233 rotates to drive the transverse moving slide 234 to move transversely.
The vertical moving device 235 is mounted on the transverse moving slider 234, a vertical lead screw 2351 in the vertical moving device 235 is matched with a lead screw nut (not marked in the figure) on the transverse moving slider 234, and a vertical motor 2352 in the vertical moving device 235 drives the vertical lead screw 2351 to rotate so as to drive the vertical moving device 235 to vertically move.
The grasping arm member 24 includes a motor assembly 241, a rotating shaft assembly 242, and a jaw body assembly 243.
The motor assembly 241 includes a rotary motor 2411 and a rotary motor 2412 which are oppositely arranged, a gear transmission shaft 2413 which is arranged between the rotary motor 2411 and the rotary motor 2412, a bevel gear a2414 which is arranged at the end of the gear transmission shaft 2413, a motor support housing 2415, a gear shaft support frame 2416, a first connecting shaft sleeve 2417 and a bevel gear housing 2418.
The rotary motor 2411 and the rotary motor 2412 are both fixedly connected to the inner side of the motor support housing 2415 and connected with the gear shaft support frame 2416, the gear transmission shaft 2413 is fixed on the gear shaft support frame 2416 through a bearing, the first connecting shaft sleeve 2417 is fixed at the lower end of the gear transmission shaft 2413 through a bearing, and the bevel gear housing 2418 is fixedly connected on the first connecting shaft sleeve 2417.
Gears are fixed on output shafts of the rotary motor 2411 and the rotary motor 2412, a gear is fixed at the upper end of the gear transmission shaft 2413, a gear is fixed on the outer side of the first connecting shaft sleeve 2417 at the lower end of the gear transmission shaft 2413, the gear on the output shaft of the rotary motor 2411 is meshed with the gear at the upper end of the gear transmission shaft 2413, and the gear on the output shaft of the rotary motor 2412 is meshed with the gear on the outer side of the first connecting shaft sleeve 2417 at the lower end of the gear transmission shaft 2413.
The rotating shaft assembly 242 includes a rotating rod 2421, flange plates 2422 disposed at both ends of the rotating rod 2421, a bevel gear B2423 disposed on the rotating rod 2421 to be engaged with the bevel gear a2414, and second connecting sleeves 2424 disposed on the rotating rod 2421 at both sides of the bevel gear B2423.
The jaw body assembly 243 includes two identically configured jaw bodies including a jaw cylinder 2431, a rack 2432, a clamp gear 2433, a clamp link 2434, a fixed shaft 2435, a jaw block 2436, and a jaw body support housing 2437. The rack 2432 is connected with the tail end of the telescopic rod of the clamping jaw air cylinder 2431, the two clamping gears 2433 are respectively arranged on two sides of the rack 2432 and meshed with the rack 2432, and gear shafts of the clamping gears 2433 are respectively fixed on the clamping jaw body supporting shell 2437; the number of the clamping connecting rods 2434 is four, the gear shaft of the clamping gear 2433 on one side of the rack 2432 is fixedly connected with one end of one clamping connecting rod 2434, the other end of the clamping connecting rod 2434 is connected with one end of the other clamping connecting rod 2434 and is connected with the clamping jaw block 2266, and the other end of the other clamping connecting rod 2434 is fixed on the clamping jaw body supporting shell 2437 through a fixing shaft 2435; the other side of the rack 2432 is identical in structure to the one side.
The bevel gear housing 2418 of the motor assembly 241 is movably connected to the rotating rod 2421 of the rotating shaft assembly 242 through a second connecting shaft sleeve 2424, and the two clamping jaws of the clamping jaw assembly 243 are respectively and fixedly connected to the flange 2422 of the rotating shaft assembly 242. When the rotating motor 2411 drives the bevel gear a2414 at the tail end of the gear transmission shaft 2413 to rotate, the rotating rod 2421 is driven by the bevel gear B2423 to rotate, so that the clamping jaw body assembly 243 is driven to rotate; when the rotating motor 2412 drives the gear on the outer side of the first connecting shaft sleeve 2417 at the lower end of the gear transmission shaft 2413 to rotate, the bevel gear housing 2418 connected with the gear drives the rotating rod 2421 to rotate, so as to drive the clamping jaw body assembly 243 to rotate.
The motor support housing 2415 of the grasping arm member 24 is connected to the vertical moving device 235 through a flange on the top thereof, and the grasping arm member 24 is driven by the vertical moving device 235 to move vertically.
The portal frame 23 is located on the first track 211 of the first support assembly 21 and the second track 221 of the second support assembly 22 through a bottom sliding block, the axial lead screw 214 is matched with a lead screw nut (not shown) on the portal frame 23, the polished rod 223 is matched with a polished rod shaft sleeve (not shown) on the portal frame 23, and the axial lead screw 214 is driven by the axial motor 215 to rotate, so that the portal frame 23 is driven to move axially.
The cutting assembly 1 is arranged between the first support assembly 21 and the second support assembly 22, the displacement workbench 4 is arranged at the tail end of the cutting assembly 1, the first support assembly 21 and the displacement workbench 4 are located in the axial working stroke range of the portal frame 23, and the grabbing arm component 24 can conveniently grab the profile or plate cut by the cutting assembly 1 onto the displacement workbench 4 for welding.
The switch board 5 is installed on the workstation 4 that shifts, cutting assembly 1, welding robot 3, workstation 4 that shifts, snatch arm member 24, CCD position scanner 25, axial motor 215, horizontal motor 232 and vertical motor 2352 all are connected with switch board 5 electricity.
In the second embodiment, the manufacturing method applied to the flexible stacking additive manufacturing apparatus of a mechanical steel structure in the first embodiment is as shown in fig. 8 to 9, and includes the following specific steps:
a, preparation of program codes: the method comprises the steps of establishing a three-dimensional model of a steel structure by using CAD software for additive manufacturing, disassembling the steel structure into formed material pieces and plate pieces by using decomposition planning software according to the three-dimensional model, determining the size, combination sequence, welding sequence and spot welding position of each material piece and plate piece, planning the placing posture of each material piece or plate piece on a deflection workbench 4 and the welding posture of a welding robot 3, generating a control code and sending the control code to a control cabinet 5.
The section bar comprises I-shaped steel, channel steel, steel pipes and angle steel; the plate piece is a steel plate with the thickness of 1-20 mm.
The machine control codes comprise cutting control codes for controlling the cutting assembly 1, gripping and conveying control codes for controlling the mechanical gripping and conveying assembly 2, attitude control codes for controlling the mechanical gripping and conveying assembly 2 so that the profile or plate piece is in a planned placement attitude on the deflection worktable 4, and welding control codes for controlling the welding assembly 3.
Before welding, a steel substrate 41 is fixed on the positioner workbench 4, and the welding of the whole mechanical steel structure is completed on the steel substrate 41.
And B, cutting the section bar piece and the plate piece: the cutting assembly 1 cuts out a first profile piece or a plate piece with corresponding size according to the size and the combination sequence of the mechanical steel structure profile piece and the plate piece, and the cutting assembly 1 is an existing plasma numerical control cutting machine. The machine steel structure manufactured in this embodiment is a bulkhead assembling machine as shown in fig. 10, and the section and plate members of the bulkhead assembling machine include two i-beams 61, two angle steels a62, four angle steels B63, two channel steels 64, and one plate member 65, and in this step, the cutting assembly 1 cuts out the first i-beam 61.
C, gripping and conveying of profile and sheet pieces: the grabbing arm component moves to the position above the first profile piece or the plate piece under the control of the control cabinet; then the CCD position scanner 25 scans the position of the first profile or plate and sends the position information to the control cabinet 5, and the control cabinet 5 controls the state of the jaw body assembly 243 according to the position information so that the jaw block 2436 grips the first profile or plate; under the control of the attitude control code, the jaw body assembly 243 gripping the first profile or sheet member rotates and/or turns to change the attitude, and then the attitude-changed first profile or sheet member is sent to the position to be welded on the steel substrate 41.
In this step, the grabbing arm member 32 first moves to above the first i-beam 61, then the CCD position scanner 25 scans the position information of the first i-beam 61 and sends the position information to the control cabinet 5, the control cabinet 5 controls the movement of the jaw body assembly 243 according to the position information to clamp the first i-beam 61, the jaw body assembly 243 clamping the first i-beam 61 rotates and/or rotates under the control of the attitude control code to change the attitude of the first i-beam 61, and then the changed attitude of the first i-beam 61 is sent to the position to be welded on the steel substrate 41.
D, spot welding of the profile and sheet pieces: the welding gun 31 of the welding robot 3 spot-welds the profile or plate at the position to be welded, and fixedly connects the first profile or plate to the steel substrate 41.
In this step, the welding gun 31 of the welding robot 3 spot-welds the first i-beam 61, and fixedly connects the first i-beam 61 to the steel substrate 41.
E, stacking the section bar piece and the plate piece layer by layer for forming: and (D) repeating the steps B-D according to the combination sequence of each section and plate of the mechanical steel structure under the control of the welding control code, sequentially cutting, grabbing, conveying and spot welding the rest other sections and plates, and performing additive stacking from bottom to top to complete the construction of the whole mechanical steel structure.
In the step, under the control of welding control codes, according to the combination sequence of each section and plate of the partition assembling machine, the steps B-D are repeated, another I-shaped steel 61, two angle steels A62, four angle steels B63, two channel steels 64 and one plate 65 are sequentially cut, grabbed, conveyed and spot-welded, and additive materials are stacked from bottom to top to complete the construction of the whole mechanical steel structure.
F, all-weld welding of a mechanical steel structure: after the whole mechanical steel structure is completed by spot welding stacking, the CCD seam scanner 32 scans the seam information of the stacked mechanical steel structure and sends the seam information to the control cabinet 5, and the control cabinet 5 controls the welding gun 31 to complete the full seam welding of the whole mechanical steel structure according to the seam information.
In this step, the CCD seam scanner 32 scans the seam of the stacked separator assembly machine and sends the scanning result to the control cabinet 5 to obtain the position data of the full seam, and the control cabinet 5 controls the welding gun 31 to complete the full seam welding of the entire separator assembly machine according to the position data of the full seam.
G, post-treatment of the mechanical steel structure: and taking the manufactured mechanical steel structure off the steel substrate 41, and performing weld polishing, weld ultrasonic impact and/or stress relief annealing.
The third embodiment is basically the same as the second embodiment in terms of the flexible stacked additive manufacturing device and manufacturing method of the mechanical steel structure, except that: the cutting assembly 1 is an existing laser numerical control cutting machine; still be equipped with collision avoidance sensor (not shown in the figure) on welder 31, collision avoidance sensor is connected with switch board 5 electricity, and collision avoidance sensor is used for avoiding welding robot 3 to collide the steel construction in welding process. The machined steel structure is manufactured as a sheet iron cabinet structure as shown in fig. 11, which includes four angles 71 and five plate members 72. Correspondingly, the four angle steels 71 and the five plate members 72 are sequentially cut, grabbed and conveyed, spot welded, full-seam welded and post-processed according to a combination sequence in the manufacturing process, and the iron sheet cabinet is obtained.
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| CN113028058B (en) * | 2021-03-02 | 2023-10-31 | 吉林大学 | Additive manufacturing gas protection sealing device and sealing method |
| CN115625382A (en) * | 2022-11-03 | 2023-01-20 | 南华大学 | Robot three-dimensional flexible cutting system and method for stacking additive |
| CN116618860B (en) * | 2023-07-26 | 2023-11-24 | 成都莒纳新材料科技有限公司 | Cutting device for manufacturing electrode plate |
| CN117124092B (en) * | 2023-09-15 | 2024-05-07 | 华洋海纳(北京)科技有限公司 | Combined machining production system for sectional materials |
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