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CN-122007611-A - Building roof metal long seam integrated intelligent system and welding method

CN122007611ACN 122007611 ACN122007611 ACN 122007611ACN-122007611-A

Abstract

The application discloses an intelligent system and a welding method for building roof metal long seam integration, which combine a laser welding technology with a mechanism capable of self-walking on a roof in a long distance, and are suitable for welding large-area metal roofs with high requirements on welding quality and appearance consistency, such as public buildings, industrial plants and the like. The intelligent system comprises a welding trolley, the welding trolley comprises a trolley body, laser equipment, a self-walking driving device and a controller, the trolley body and the self-walking driving device are movably connected through a floating guide rod and a guide shaft sleeve, the intelligent system has up-and-down floating capacity, a positioning wheel can be adjusted to be low in pressure at the upper edge of a vertical seam of a workpiece, the intelligent system combines a floating guide function, the position stability in the welding process is effectively guaranteed, a spring pressing mechanism, a driving wheel and a follower wheel of the self-walking device can be fixedly connected with the trolley and the workpiece into a whole, the welding method is matched, the problem that the welding of a long seam of a roof metal plate is easy to deviate can be solved, welding parameters can be adjusted in a self-adaptive mode according to the thickness of the workpiece, and the quality consistency of the welding seam is guaranteed.

Inventors

  • HUANG LIJIN
  • ZHAO YINHUI
  • Liang Fukuan

Assignees

  • 泰尔智慧(上海)激光科技有限公司

Dates

Publication Date
20260512
Application Date
20260311

Claims (10)

  1. 1. The building roof metal long seam integrated intelligent system is characterized by comprising a welding trolley, wherein the welding trolley comprises a vehicle body (1), laser equipment, a self-walking driving device (4) and a controller (5); the vehicle body (1) comprises a vehicle frame (11), wheels (12) with adjustable heights are respectively arranged at four corners of the vehicle frame (11), a plurality of floating holes (13) are symmetrically formed in the front side and the rear side of the vehicle frame (11), and a guide shaft sleeve (14) is arranged in each floating hole (13); The self-walking driving device (4) comprises a driving seat plate (41), positioning wheels (43) with adjustable height are respectively arranged below the front side and the rear side of the driving seat plate (41), servo motor assemblies (42) are arranged on the upper surfaces of the driving seat plate, floating guide rods (44) which are in one-to-one correspondence with guide shaft sleeves (14) in all floating holes (13) and are movably arranged in all guide shaft sleeves (14) are respectively arranged at four corners of the lower surfaces of the driving seat plate (41), a fixed seat (412) is fixedly arranged on one side of the lower surface of the driving seat plate (41), horizontal guide rods (416) with baffle rings at the outer side ends of one side of the fixed seat (412) are respectively fixedly arranged at the two ends of one side of the fixed seat (412), limit screws (423) are connected with middle threads and are parallel to the horizontal guide rods (416), movable seats (413) and pressing blocks (414) are sleeved on the limit screws (423) and the two horizontal guide rods (416), springs (415) are sleeved on the outer sides of the horizontal guide rods (416) between the movable seats (413) and the movable seats (48) respectively, the bottom ends of the driving shaft (48) and the follow-up shaft (410) are respectively provided with a driving wheel (49) and a follow-up wheel (411), the output end of the servo motor assembly (42) is connected with the driving shaft (48), the movable seat (413) and the driving seat plate (41) are respectively correspondingly provided with a distance measuring plate (46) and a distance measuring sensor (45) for detecting the distance between the driving wheel (49) and the follow-up wheel (411), and the spring (415) is used for pushing the movable seat (413) to enable the follow-up wheel (411) and the driving wheel (49) to mutually abut against to clamp the metal sheet and move on the metal sheet under the driving of the servo motor assembly (42); the welding equipment comprises a laser (2) arranged at the top of the frame (11) and a laser welding head (3) arranged at one side of the driving seat board (41), wherein the laser welding head (3) is connected with the laser (2), and the front end of the laser welding head (3) is horizontally inclined downwards; The controller (5) is arranged on the frame (11), is connected with the servo motor assembly (42), the laser (2), the welding laser head (3) and the ranging sensor (45) through circuits, and is used for controlling the servo motor assembly (42) to run so as to drive the whole welding trolley to walk on a roof, acquiring detection data of the ranging sensor (45), adjusting welding parameters of the welding equipment according to the acquired data, and controlling the welding equipment to weld a long seam of a roof metal sheet.
  2. 2. The intelligent system for integrating the metal long joints of the building roof according to claim 1, wherein the laser (2) is fixedly arranged on the upper surface of the frame (11) through a hoop (15).
  3. 3. The building roof metal long seam integrated intelligent system according to claim 1, wherein a connecting rod (418) is arranged on the driving seat board (41), and the laser welding head (3) is arranged on the connecting rod (418).
  4. 4. The building roof metal long seam integrated intelligent system according to claim 1, wherein corner plates (16) are respectively arranged at the bottoms of four corners of the frame (11), first adjusting long holes (17) are vertically formed in vertical plates of the corner plates (16), the first adjusting long holes (17) are fixedly connected with the frame (11) through first connecting bolts (18), and the wheels (12) are arranged at the bottoms of the corner plates (16).
  5. 5. The building roof metal long seam integrated intelligent system according to claim 1, wherein two ends of the upper surface of the fixing seat (412) are respectively connected with the driving seat board (41) through T-shaped connecting blocks (421), through holes are respectively formed in the front side and the rear side of the driving seat board (41) close to the two T-shaped connecting blocks (421), adjusting plates (47) are vertically arranged in the two through holes respectively, vertical second adjusting long holes (419) are respectively formed in the left side and the right side of the adjusting plates (47), the second adjusting long holes (419) are respectively connected and fixed with the corresponding T-shaped connecting blocks (421) through second connecting bolts (420), and the positioning wheels (43) are rotatably arranged at the bottoms of the adjusting plates (47).
  6. 6. The intelligent system for integrating the metal long joints of the building roof according to claim 1, wherein the driving shafts (48) and the follow-up shafts (410) are two pairs, driving gears (417) are respectively arranged on the two driving shafts (48), the output end of the servo motor assembly (42) is provided with a gear and is connected with the two driving gears (417) through the gear, and the front end of the laser welding head (3) is arranged between the two pairs of driving shafts (48) and the follow-up shafts (410).
  7. 7. A welding method based on the intelligent system for building roof metal long seam integration according to any one of claims 1-6, said roof comprising a plurality of mutually assembled vertical serging roof boards (6), said long seam to be welded being located at a vertical serging position adjacent to said vertical serging roof boards (6) and being arranged along the length direction thereof, characterized in that said welding method comprises the steps of: The method comprises the steps of S1, welding preparation and positioning a welding trolley, wherein the welding trolley is stably placed on an upright serging roof plate (6) of a roof to be welded, so that a driving wheel (49) and a follower wheel (411) of a self-walking driving device (4) are ensured to be straddled on two sides of a long seam to be welded, the height of wheels (12) at four corners of a frame (11) is adjusted, the reference height of a laser welding head (3) relative to the surface of the upright serging roof plate (6) to be welded is initially set, preparation is made for welding focusing, the heights of positioning wheels (43) at the front side and the rear side of a driving seat plate (41) are adjusted, two groups of positioning wheels (43) are reliably pressed on the upper edge of the upright serging roof plate (6), and meanwhile, the preliminary inspection of welding equipment, a servo motor assembly (42), a distance measuring sensor (45) and a controller (5) is completed, and the connection and the normal operation of all equipment are ensured; S2, clamping and plate thickness self-adaption of the vertical serging roof plate (6) are achieved by screwing the limiting screw rods (423) to enable the pressing blocks (414) to move towards the fixed seat (412), constant clamping force is generated by the springs (415) between the movable seat (413) and the pressing blocks (414), the follower wheel (411) and the driving wheel (49) act cooperatively, the vertical serging roof plate (6) to be welded is reliably clamped, slipping or deviation in the running process of the welding trolley is avoided, meanwhile, a distance measuring sensor (45) on the driving seat plate (41) detects distance change between the distance measuring sensor and the distance measuring plate (46) on the movable seat (413) in real time, the distance change quantity directly reflects the distance between the follower wheel (411) and the driving wheel (49), namely the actual plate thickness of the vertical serging roof plate (6) to be welded is clamped, and the distance measuring sensor (45) feeds back the plate thickness signal to the controller (5) in real time, and key data input is provided for next self-adaption parameter adjustment; s3, after receiving plate thickness signals, the controller (5) automatically calls or calculates laser welding parameters which are most matched with the plate thickness according to a pre-built expert process database or algorithm model, and performs final mechanical positioning and locking on the welding trolley when the process parameters are matched, wherein the positioning wheels (43) are tightly pressed on the upper edge of the vertical lockstitch roof plate (6) and cooperate with the floating guide rods (44) to form a closed-loop track guiding and stable welding device together, so that the degree of freedom of the laser welding head (3) in a three-dimensional space is precisely restrained before welding begins; S4, starting welding and performing process self-adaptive control, namely controlling all equipment to weld through a controller (5) after all equipment is ready, transmitting power to a driving wheel (49) through a driving shaft (48) by controlling a servo motor assembly (42) to drive a welding trolley to stably walk along a long seam, controlling a laser (2) and a laser welding head (3) to synchronously weld the long seam, wherein in the welding process, a welding parameter self-adaptive matching mechanism is simultaneously effective, firstly, a floating guide rod (44) can passively compensate tiny unevenness on the surface of an upright seam-locking roof plate (6), and maintain the stability of the distance between the laser welding head and the upright seam-locking roof plate (6), secondly, the positioning wheel (43) and a guide shaft sleeve (14) jointly ensure the transverse position accuracy, so that the front end of the laser welding head (3) always centers the welding seam, and thirdly, based on a preset parameter and real-time feedback of a ranging sensor (45), the controller (5) can dynamically monitor the track of the welding seam, and when a plate thickness signal changes, the welding parameter is correspondingly performed on the upright seam-locking roof plate, so as to realize the sudden seam-locking assembly process self-adaptive control of the welding process; S5, resetting the welding trolley after the welding operation reaches the tail end of the vertical serging roof plate (6), controlling the servo motor assembly (42) to stop running, synchronously controlling the laser (2) to stop outputting, enabling an operator to release the clamping force of the follower wheel (411) and the driving wheel (49) on the vertical serging roof plate (6) by screwing the limit screw (423), finally, moving the welding trolley from the vertical serging roof plate (6) to complete a complete welding period, and resetting all equipment of the welding trolley to perform the welding operation of the next period.
  8. 8. The method according to claim 7, wherein in the step S4, when the thickness signal is changed by the ranging sensor (45), the position where the thickness signal is changed is used as a welding transition area, the time of the laser emitted by the laser welding head (3) reaching the position 5mm before the welding transition area is calculated according to the travelling speed of the welding carriage, and the welding is stopped at this time, and the welding parameters are adjusted according to the thickness information, and after the welding carriage travels 10mm, the laser (2) is started again to perform the welding with the adjusted welding parameters.
  9. 9. The welding method of the building roof metal long seam integrated intelligent system according to claim 7, wherein in the welding process, if the welding trolley is unstable in speed, skidding in place or being blocked, the laser (2) is controlled by the controller (5) to stop outputting.
  10. 10. The welding method of the building roof metal long seam integrated intelligent system according to claim 7, wherein the laser welding head (3) adopts a 50-200 μm core diameter optical fiber, the laser spot is 0.3-0.4mm, the incidence angle is 20-25 degrees, the laser power is 1500-2000W, and the welding speed is 1-3m/min.

Description

Building roof metal long seam integrated intelligent system and welding method Technical Field The application relates to the technical field of laser welding, in particular to an intelligent system for building roof metal long seam integration and a welding method. Background The metal roof is in a roof form which adopts a metal plate as a roof material and combines a structural layer and a waterproof layer, and the metal plate used by the metal roof is in various types, such as a galvanized plate, an aluminized zinc plate, an aluminum alloy plate, an aluminum-magnesium-manganese alloy plate, a titanium alloy plate, a copper plate, a stainless steel plate and the like. Metal roofing has been increasingly used and popular in our country since the last 70 th century. The vertical overlock metal roofing system is a innovation of the metal roofing industry, has the advantages of easy dead weight construction, good waterproof and wind-proof capabilities, long service life, attractive appearance, neatness and the like, and is widely applied to large-scale buildings such as large-span venues, industrial plants, alternating current hubs and the like. When the roof is constructed, long seam welding is carried out at the vertical seam-locking position where adjacent vertical seam-locking metal roof boards are meshed, the long seam is 50-300m generally, and in the welding construction process, the long seam is influenced by material characteristics, site working conditions, process suitability and structural constraints, and the following defects to be solved still exist in the prior art: (1) Because the single welding line is overlong, when the welding is carried out by manual work or a welding trolley, the relative position between the welding head and the welding line is difficult to be kept constant all the time, the problem of deviation is easy to occur, and continuous and uniform welding line with high quality is difficult to form. (2) In the long seam position formed by vertical overlock of the vertical overlock roof boards adjacent transversely and longitudinally, two transition areas with different thicknesses such as plate thickness, plate thickness and the like exist, the transition areas have two non-tight joint areas of the plates to form a cavity, the plates are burnt through to form welding defects by laser welding, corresponding welding parameters of different plate thickness areas also need to be adjusted, the traditional welding is usually adjusted by an operator according to the plate thickness, the welding parameters cannot be adaptively switched according to the plate thickness, and the construction efficiency is low. (3) When the existing welding trolley is used for walking on a roof, the balance is kept usually by means of the self weight of the trolley, the welding trolley is not fixedly connected with the vertical overlock metal roof plate to be welded into a whole, and the welding trolley is influenced by the complex working condition of high-altitude construction and has potential safety hazards. (4) When adopting traditional laser welding, if the welding dolly is slipped or blocked, need the manual work of operating personnel to stop the laser instrument, if operating personnel found later, easily shine operating personnel or work piece other positions after laser penetration work piece, there is the potential safety hazard. (5) Because the vertical overlock roof board is thinner in thickness, deformation is easy to occur, gaps which are unevenly distributed exist, and unstable welding quality is easy to cause. Disclosure of Invention The application provides an intelligent system and a welding method for integrating long metal joints of a building roof, which can solve the problem that the long metal joints of a large building roof are easy to deviate in welding, and can adaptively adjust welding parameters according to the thickness of a workpiece plate to ensure the consistent quality of welding joints. The technical scheme for solving the technical problems is as follows: According to one aspect of the present application, there is provided a building roofing metal long seam integrated intelligent system comprising a welding carriage comprising a vehicle body, a laser device, a self-walking drive, and a controller. The vehicle body comprises a vehicle frame, wheels with adjustable heights are respectively arranged at four corners of the vehicle frame, a plurality of floating holes are symmetrically formed in the front side and the rear side of the vehicle frame, and a guide shaft sleeve is arranged in each floating hole. The self-walking driving device comprises a driving seat plate, positioning wheels with adjustable height are respectively arranged below the front side and the rear side of the driving seat plate, a servo motor assembly is arranged on the upper surface of the driving seat plate, floating guide rods which correspond to guide shaft sleeves in floating holes one by one a