A tunnel steel arch frame I-beam plate welding device and method

Abstract

The present invention discloses a tunnel steel arch frame I-beam plate welding device and method, the device comprises: a conveying mechanism; a first displacement clamping mechanism; a second displacement clamping mechanism; a third displacement clamping mechanism; a connecting plate welding mechanism, comprising a connecting plate plate welding robot, a first connecting plate welding robot and a second connecting plate welding robot; a reinforcing plate welding mechanism, comprising a reinforcing plate plate welding robot and a reinforcing plate welding robot. The present invention combines the two processes of welding connecting plates at both ends of the I-beam and welding reinforcing plates at the joints of the I-beam into one, which can weld connecting plates at both ends of the I-beam and reinforcing plates at the joints of the I-beam, greatly improving production efficiency and reducing production costs, realizing centralized and automated production operations of I-beam plate welding, realizing mass production of steel arch frames, and having accurate mounting positions and good welding effects, thereby ensuring the final product quality of the steel arch frames and meeting production and construction requirements.

Description

Technical Field

[0001] The invention relates to a tunnel steel arch frame I-beam plate welding device and method, belonging to the technical field of steel arch frame production. Background Art

[0002] In tunnels, subways, hydropower stations, and underground caverns, bent I-beams are often used to build support arches for production. Generally, support arches are built by welding connecting plates at both ends of I-beams after bending them. In the prior art, the welding connecting plates at both ends of I-beams are mostly done manually, with low work efficiency and low degree of automation, and it is impossible to achieve mass production of steel arches. In addition, due to many factors such as the uneven quality of I-beam materials and the inability to completely consistent welding when overlapping and butt welding between I-beams, the I-beam bending arch rebound is inconsistent, resulting in the displacement of the spatial position of the weld of the I-beam connecting plate, which affects the fitting of the connecting plate and the end face of the I-beam and the welding operation of the connecting weld by the welding robot. Even if there are some technologies for welding positioning in the prior art, they are limited to the positioning of plane welds, which has great limitations. The weld position of the steel arch production is in a three-dimensional spatial position, and positioning is very difficult, and the problem of accurate position of the connecting plate cannot be solved, which affects the later use of the steel arch.

[0003] In addition, during the production process of the steel arch frame, the entire I-beam needs to be cut to a size that meets the production requirements, and after the cutting of the entire I-beam is completed, there will inevitably be residual scraps. In order to avoid the waste of I-beam scraps, the I-beam scraps need to be continued to be welded, that is, the I-beam scraps are continuously welded to the new entire I-beam, and reinforcing plates need to be welded at the joints to strengthen the connection strength between the two sections of I-beams at the joints, improve the quality of the steel arch frame products, and make them meet the production requirements. However, the existing steel arch frames are manually welded with reinforcing plates at the joints, which is labor-intensive and labor-intensive, and the labor cost is high. It is impossible to achieve continuous installation and welding work, the work efficiency is low, and it is impossible to achieve automated production and mass production of steel arch frames. In addition, the manual welding of reinforcing plates is poor, and it is easy to have problems such as inaccurate reinforcing plate installation positions and poor reinforcing plate welding effects.

[0004] In summary, in the prior art, two different processes are used for welding the connecting plates at both ends of the I-beam and welding the reinforcing plates at the joints of the I-beam, respectively, which results in low production efficiency and high production cost. It is impossible to realize the centralized and automated production operation of I-beam plate welding, and thus it is impossible to realize mass production of steel arch frames. In addition, the installation position is not accurate and the welding effect is poor, which affects the final product quality of the steel arch frames. Summary of the invention

[0005] In order to solve the above problems, the present invention provides a device and method for welding I-beam plates of a tunnel steel arch frame. The present invention combines the two processes of welding connecting plates at both ends of the I-beam and welding reinforcing plates at the joints of the I-beam into one, which can not only weld connecting plates at both ends of the I-beam, but also weld reinforcing plates at the joints of the I-beam, thereby greatly improving production efficiency and reducing production costs, realizing centralized and automated production operations of I-beam plate welding, and realizing mass production of steel arch frames, with precise mounting positions and good welding effects, thereby ensuring the final product quality of the steel arch frames and meeting production and construction requirements.

[0006] The first object of the present invention is to provide a tunnel steel arch frame I-beam plate welding device, comprising:

[0007] The conveying mechanism comprises a first conveying line for feeding the I-beam, a third conveying line for discharging the I-beam, and a second conveying line arranged between the first conveying line and the third conveying line;

[0008] A first displacement clamping mechanism is arranged at the first conveying line near the feed inlet of the I-beam;

[0009] A second displacement clamping mechanism is arranged between the first conveying line and the second conveying line;

[0010] A third displacement clamping mechanism is arranged between the second conveying line and the third conveying line;

[0011] The connecting plate welding mechanism comprises a connecting plate attaching robot and a first connecting plate welding robot arranged on both sides of the first displacement clamping mechanism and a second connecting plate welding robot arranged on both sides of the second displacement clamping mechanism;

[0012] A reinforcing plate welding mechanism is mounted above the third displacement clamping mechanism, and includes a movable reinforcing plate attaching robot for attaching the reinforcing plate and a movable reinforcing plate welding robot for welding the reinforcing plate;

[0013] Among them, the first displacement clamping mechanism is used to fix the I-beam fed on the first conveyor line and displace it, the connecting plate attaching robot is used to install the connecting plate on both ends of the I-beam, and the first connecting plate welding robot is used to perform two-sided welding on the joints between the I-beam fixed by the first displacement clamping mechanism and the connecting plate; the second displacement clamping mechanism is used to receive the I-beam after the displacement of the first displacement clamping mechanism and fix and continue to displace it, and the second connecting plate welding robot is used to perform the remaining two-sided welding on the joints between the I-beam fixed by the second displacement clamping mechanism and the connecting plate.

[0014] In one embodiment of the present invention, an adjustment base is disposed below the first conveyor line, the second conveyor line and the third conveyor line, and the first conveyor line, the second conveyor line and the third conveyor line are slidably connected to the adjustment base and have adjustable spacing.

[0015] In one embodiment of the present invention, the connecting plate welding mechanism further comprises a connecting plate conveying line arranged on one side of the first conveying line, and the connecting plate conveying line is used to convey connecting plates for grabbing by the connecting plate welding robot.

[0016] In one embodiment of the present invention, the first connecting plate welding robot and the second connecting plate welding robot are both equipped with visual positioning cameras, and the visual positioning cameras of the first connecting plate welding robot and the second connecting plate welding robot are both connected with visual positioning pins; the connecting plate pasting robot is connected with a connecting plate grabbing fixture for grabbing the connecting plate, and the connecting plate grabbing fixture is equipped with a visual positioning camera and a visual positioning pin; a plurality of the visual positioning cameras are respectively communicated and connected with the connecting plate pasting robot, the first connecting plate welding robot and the second connecting plate welding robot through a visual system.

[0017] In one embodiment of the present invention, the reinforcement plate welding mechanism includes a support frame, the third displacement clamping mechanism is located below the support frame, and a storage rack for placing the reinforcement plate is provided on one side below the support frame; the support frame is slidably connected with a first movable plate and a second movable plate, the first movable plate is fixedly connected with a reinforcement plate pasting robot for installing the reinforcement plate, and the second movable plate is fixedly connected with a reinforcement plate welding robot for welding the reinforcement plate.

[0018] In one embodiment of the present invention, the first position shifting clamping mechanism, the second position shifting clamping mechanism and the third position shifting clamping mechanism have the same structure, which include a base frame, the base frame is slidably connected to two mobile platforms, the mobile platforms are slidably connected to a base, and the base is rotatably connected to a positioner; the base is provided with a first driving mechanism and a movable first rack and a second rack, the first driving mechanism is drivingly connected to a gear meshing with both the first rack and the second rack, the first rack is fixedly connected to one of the mobile platforms through a connecting frame, and the second rack is fixedly connected to the other mobile platform through a connecting frame; the first rack and the second rack are arranged opposite to each other and are parallel to each other, and the gear driven by the first driving mechanism is located between the first rack and the second rack.

[0019] In one embodiment of the present invention, a rack portion is provided on the outer periphery of the positioner, the rack portion has a plurality of teeth, the base is fixedly connected to a second driving mechanism, the second driving mechanism is drivingly connected to a first gear, the second driving mechanism is used to drive the first gear to rotate, and the first gear is meshed with the rack portion; the positioner has a clamping portion for clamping the I-beam, and the I-beam is clamped by the clamping portion having an opening.

[0020] In one embodiment of the present invention, the steel arch frame is made of an I-beam, which is a curved structure; two connecting plates are respectively welded to the two end surfaces of the I-beam; the reinforcing plate includes a first reinforcing plate and a second reinforcing plate, the first reinforcing plate is an arc-shaped plate and is adapted to the inner and outer arc surfaces of the I-beam, and the two first reinforcing plates are respectively welded to the welds on the inner and outer arc surfaces of the I-beam; the two second reinforcing plates are respectively welded to the welds on the two sides of the web of the I-beam.

[0021] The second object of the present invention is to provide a method for welding a tunnel steel arch frame I-beam plate, using the tunnel steel arch frame I-beam plate welding device, comprising the following steps:

[0022] S1, I-beam feeding; the first conveyor line transports the I-beam to the second conveyor line;

[0023] S2, the I-beam is displaced once; the positioner of the first displacement clamping mechanism grabs the I-beam transported on the first conveyor line, and the rotating positioner lifts the I-beam upward;

[0024] S3, attaching the connecting plate to the I-beam and welding both sides; the connecting plate attaching robot grabs the connecting plate on the connecting plate conveyor line and attaches it to both ends of the I-beam, and the first connecting plate welding robot welds the upper end surface and one side surface of the joint between the I-beam and the connecting plate;

[0025] S4, the I-beam is displaced twice; the positioner of the first displacement clamping mechanism continues to rotate so that the opening of its clamping part faces the second conveyor line, the clamping part is opened, the I-beam falls onto the first conveyor line and continues to be transported to the second conveyor line; the positioner of the second displacement clamping mechanism grabs the I-beam transported from the first conveyor line and welded by the first connecting plate welding robot, and the positioner of the second displacement clamping mechanism is rotated to lift the I-beam upward;

[0026] S5, welding the remaining two sides of the I-beam; the second connecting plate welding robot welds the lower end surface and the other side surface of the joint between the I-beam and the connecting plate lifted upward by the second displacement clamping mechanism, completing the connection plate welding operation;

[0027] S6, the third displacement clamping mechanism grabs the I-beam; the positioner of the second displacement clamping mechanism continues to rotate so that the opening of its clamping part faces the third conveyor line, the clamping part is opened, the I-beam falls onto the second conveyor line and is transported to the third conveyor line; the positioner of the third displacement clamping mechanism grabs the I-beam transported from the second conveyor line after the connection plate welding operation is completed, and the positioner of the third displacement clamping mechanism is rotated to lift the I-beam;

[0028] S7, scanning and positioning of the joint position of the I-beam; the visual positioning camera installed on the reinforced plate attaching robot scans the I-beam with joints and preliminarily locates the joint position;

[0029] S8, adjusting the spacing of the positioners of the third position-shifting clamping mechanism; according to the joint position located in S7, adjusting the spacing of the positioners of the third position-shifting clamping mechanism and clamping the I-beam, so that the positioners avoid the joint position of the I-beam, ensuring that the joint is in a constructible position;

[0030] S9, reinforcing plate installation; the reinforcing plate attaching robot grabs the first reinforcing plate and the second reinforcing plate on the material storage rack, walks to the joint position for precise visual positioning, adjusts the angle of the reinforcing plate according to the angle of the positioning position, and attaches the reinforcing plate to the I-beam;

[0031] S10, reinforcing plate welding; the reinforcing plate welding robot welds the reinforcing plates after being attached in step S9, and the reinforcing plate attaching robot attaches each reinforcing plate, and the reinforcing plate welding robot welds the reinforcing plate. After welding is completed, the reinforcing plate attaching robot attaches the next reinforcing plate, and the reinforcing plate welding robot continues to weld the next reinforcing plate until the two first reinforcing plates are respectively welded to the welds of the inner arc surface and the outer arc surface of the I-beam, and the two second reinforcing plates are respectively welded to the welds on the two sides of the web of the I-beam;

[0032] S11, I-beam unloading; the positioner of the third position-shifting clamping mechanism continues to rotate so that the opening of its clamping part faces the third conveyor line, the clamping part is opened, and the I-beam falls onto the third conveyor line to complete the product unloading.

[0033] In one embodiment of the present invention, the welding process in steps S3 and S5 further includes the following steps:

[0034] S31. Establish communication between the visual system and the connecting plate pasting robot system, calibrate the pasting visual target position at the center of the I-beam pasting end face, align the visual positioning needle on the connecting plate pasting robot with the pasting visual target position of the I-beam end face, adjust the visual aperture and focal length parameters, and adjust the photo clarity and centering effect in the visual system; establish a common coordinate system between the visual system and the connecting plate pasting robot, send the target coordinate position to the connecting plate pasting robot, and anchor the pasting photo position and the pasting target coordinate position; the visual positioning camera takes a photo of the I-beam pasting end face, obtains the coordinates of the four corner points, and sends them to the connecting plate pasting robot for anchoring;

[0035] When the I-beam reaches the plate-attaching position of the connecting plate, the connecting plate-attaching robot positions the I-beam, moves the visual positioning camera to the target position anchored by the system, and the visual system takes a picture of the I-beam bonding end face, obtains the position coordinates of the four corner points, and compares them with the coordinates of the four corner points anchored in the system. After obtaining the position change and deflection angle parameters, the parameters are sent to the connecting plate-attaching robot. The connecting plate-attaching robot adjusts the plate-attaching position and rotation angle according to the received position change and deflection angle parameters, and attaches the connecting plate to the I-beam bonding end face. The I-beam bonding end face is accurately attached to the connecting plate at the center position of the connecting plate.

[0036] S32. Establish communication between the visual system and the connecting plate welding robot system, calibrate the welding visual target position at the center of the weld between the I-beam plate and the connecting plate, align the visual positioning needle on the connecting plate welding robot with the weld target position, adjust the visual aperture and focal length parameters, and adjust the clarity and centering effect of the photo taken in the visual system; send the welding target coordinate position to the connecting plate plate robot, and anchor the welding photo position and the welding target coordinate position; use the visual positioning camera to take a photo of the weld, and obtain the coordinates of the two end points of the weld, and send them to the connecting plate welding robot at the same time;

[0037] When the I-beam is fitted with the connecting plate, the connecting plate welding robot moves the visual positioning camera to the welding visual target position anchored by the system. The visual system takes a picture of the I-beam weld, obtains the position coordinates of the two end points of the weld, and compares them with the position coordinates of the two end points of the weld anchored in the system. After obtaining the position change parameters, the parameters are sent to the connecting plate welding robot. The connecting plate welding robot runs the welding gun for welding according to the received position change parameters, and the connecting plate welding robot accurately welds according to the new weld position.

[0038] The beneficial effects of the present invention are as follows:

[0039] 1. The present invention forms a complete production line by combining a first conveyor line for feeding I-beams, a third conveyor line for discharging I-beams, and a second conveyor line arranged between the first conveyor line and the third conveyor line; and arranges a first displacement clamping mechanism at the feeding port of the first conveyor line close to the I-beams, arranges a second displacement clamping mechanism between the first conveyor line and the second conveyor line, arranges a third displacement clamping mechanism between the second conveyor line and the third conveyor line, arranges a connecting plate pasting robot and a first connecting plate welding robot on both sides of the first displacement clamping mechanism, arranges a second connecting plate welding robot on both sides of the second displacement clamping mechanism, and arranges a reinforcing plate pasting welding mechanism above the third displacement clamping mechanism. The present invention makes the above-mentioned mechanisms cooperate closely through the layout and matching of the conveying mechanism, the first displacement clamping mechanism, the second displacement clamping mechanism, the third displacement clamping mechanism, the connecting plate welding mechanism and the reinforcing plate welding mechanism, thereby combining the two processes of welding the connecting plates at both ends of the I-beam and welding the reinforcing plates at the joints of the I-beam into one, which can not only weld the connecting plates at both ends of the I-beam, but also weld the reinforcing plates at the joints of the I-beam, thereby greatly improving the production efficiency and reducing the production cost, realizing the centralized and automated production operation of I-beam plate welding, realizing the mass production of steel arch frames, and the precise installation position and good welding effect, thereby ensuring the final product quality of the steel arch frames and making them meet the production and construction requirements.

[0040] 2. The connecting plate welding mechanism provided by the present invention performs a displacement of the fed I-beam through the first displacement clamping mechanism, and realizes the welding operation on the upper end face and one side of the joint between the I-beam and the connecting plate through the connecting plate attaching robot and the first connecting plate welding robot; the I-beam welded by the first connecting plate welding robot is subjected to a second displacement by the second displacement clamping mechanism, and realizes the welding operation on the lower end face and the other side of the joint between the I-beam and the connecting plate through the second connecting plate welding robot. By changing the position of the I-beam twice, the welding position of the I-beam and the connecting plate by the second connecting plate welding robot is flipped 90° relative to the welding position of the I-beam and the connecting plate by the first connecting plate welding robot. Therefore, the welding robot only needs to perform welding operations from the upper end and one side, and there is no need to perform welding operations from the bottom and the other side, so that the all-round welding of the joint between the I-beam and the connecting plate can be achieved, and the welding effect is good, the welding quality is high, and the product quality is guaranteed. Moreover, the connection plate welding mechanism only requires the welding robot to weld the upper end and one side of the I-beam and the connection plate, and does not require the welding robot to walk around the connection of the I-beam and the connection plate to weld them all around, which is convenient for the welding robot to operate and avoids the situation where the welding robot cannot rotate around the weld seam due to the other structures blocking the welding robot and thus cannot perform all-round welding operations. At the same time, it also greatly reduces the complexity of the welding robot programming operation, and does not affect the welding quality while reducing the welding cost.

[0041] 3. The connecting plate welding mechanism provided by the present invention can solve the problem of displacement change of the I-beam connecting plate and its weld space position caused by the inconsistency of I-beam deformation and bending springback during the mounting and welding of the connecting plate; it can automatically find the offset position and deflection angle of the I-beam end face, and combine with the connecting plate grabbing fixture to enable the connecting plate to accurately fit with the end face of the I-beam, accurately find the weld position, and accurately weld. In addition, multiple visual positioning cameras are respectively connected to the connecting plate mounting robot, the first connecting plate welding robot, and the second connecting plate welding robot through the visual system; through this setting, the I-beam mounting end face can be accurately mounted with the connecting plate in the center position of the connecting plate, and the connecting plate welding robot can also accurately weld according to the weld position. It has a simple structure, convenient and flexible operation, a stable system, accurate calculation, and accurate mounting and welding positions.

[0042] 4. The displacement clamping mechanism provided by the present invention drives the first rack and the second rack to move closer to or farther from each other through the first driving mechanism, thereby making the two positioners move closer to or farther from each other, thereby realizing the adjustment of the spacing between the two positioners, so as to be suitable for the clamping of I-beams of different sizes. At the same time, the spacing between the two positioners is adjusted by the first driving mechanism to avoid the weld position of the I-beam, so as to avoid affecting the welding operation of the robot on the reinforcing plate of the I-beam due to the positioner blocking the weld position of the I-beam. In addition, the displacement clamping mechanism moves on the mobile platform through the base and the positioner, and can realize the forward and backward movement of the positioner. The second driving mechanism drives the first gear to rotate, so that the rack part meshing with the first gear rotates, and then the rotation movement of the positioner can be realized, so as to realize the feeding and discharging of the I-beam. Therefore, the displacement clamping mechanism can simultaneously meet the requirements of the positioner for rotational movement and forward and backward movement, and the spacing is adjustable, and the operation is stable, safe and reliable, and the clamping is firm, which can simultaneously meet the requirements of the clamping, transportation and welding of the I-beam. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 A stereoscopic diagram from a first perspective of a tunnel steel arch frame I-beam plate welding device provided in an embodiment of the present invention.

[0044] Figure 2 A stereoscopic diagram from a second viewing angle of the tunnel steel arch frame I-beam plate welding device provided in an embodiment of the present invention.

[0045] Figure 3 A stereoscopic diagram from a first viewing angle of a connection plate welding mechanism provided in an embodiment of the present invention.

[0046] Figure 4 A stereoscopic diagram from a second viewing angle of the connecting plate welding mechanism provided in an embodiment of the present invention.

[0047] Figure 5A stereoscopic diagram from a first perspective of a connecting plate attaching robot and a first connecting plate welding robot provided in an embodiment of the present invention.

[0048] Figure 6 A stereoscopic diagram from a second perspective of the connecting plate attaching robot and the first connecting plate welding robot provided in an embodiment of the present invention.

[0049] Figure 7 A stereoscopic diagram of the visual positioning camera provided in an embodiment of the present invention installed on a connecting plate mounting robot and a first connecting plate welding robot.

[0050] Figure 8 A three-dimensional diagram of the connecting plate attaching robot and the first connecting plate welding robot provided in an embodiment of the present invention when they are working.

[0051] Fig. 9 A stereoscopic diagram of the connecting plate grabbing fixture, the vision positioning camera and the vision positioning alignment pin provided in an embodiment of the present invention.

[0052] Fig.10 A stereoscopic diagram of a connecting plate welding robot, a visual positioning camera, and a visual positioning needle provided in an embodiment of the present invention.

[0053] Fig.11 A stereoscopic diagram from a first perspective of a reinforcement plate welding mechanism and a portion of a conveying mechanism provided in an embodiment of the present invention.

[0054] Fig.12 A stereoscopic diagram from a second viewing angle of the reinforcement plate welding mechanism and part of the conveying mechanism provided in an embodiment of the present invention.

[0055] Fig.13 A stereoscopic diagram from a first viewing angle of the reinforcement plate welding mechanism provided in an embodiment of the present invention.

[0056] Fig.14 A stereoscopic diagram from a second viewing angle of the reinforcement plate welding mechanism provided in an embodiment of the present invention.

[0057] Fig.15 A three-dimensional diagram of a displacement clamping mechanism provided in an embodiment of the present invention.

[0058] Fig.16 A three-dimensional diagram of a partial structure of a displacement clamping mechanism provided in an embodiment of the present invention.

[0059] Fig.17 A three-dimensional diagram of an I-beam requiring a welding connection plate and a reinforcement plate provided in an embodiment of the present invention.

[0060] In the figure: 100, conveying mechanism; 11, first conveying line; 12, second conveying line; 13, third conveying line; 14, adjusting base; 200, connecting plate welding mechanism; 2, connecting plate conveying line; 21, connecting plate board bonding robot; 22, first connecting plate welding robot; 23, second connecting plate welding robot; 24, visual positioning camera; 25, visual positioning pin; 26, connecting plate grabbing fixture; 300, reinforcing plate welding mechanism; 3, supporting frame; 31, first moving plate; 32, second moving plate; 33, reinforcing plate board bonding machine Person; 34. Reinforcement plate welding robot; 35. Material storage rack; 401. First position shifting clamping mechanism; 402. Second position shifting clamping mechanism; 403. Third position shifting clamping mechanism; 41. Underframe; 42. Mobile platform; 43. Base; 44. Positioner; 441. Rack portion; 442. Clamping portion; 45. First driving mechanism; 46. First rack; 47. Second rack; 48. Connecting frame; 49. Second driving mechanism; 491. First gear; 5. I-beam; 51. Connecting plate; 52. First reinforcement plate; 53. Second reinforcement plate. DETAILED DESCRIPTION

[0061] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0062] In the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected", and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0063] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0064] like Figure 1 and 2 As shown, the present invention provides a tunnel steel arch I-beam plate welding device, in some embodiments, includes a conveying mechanism 100, a connecting plate welding mechanism 200, a reinforcing plate welding mechanism 300, a first displacement clamping mechanism 401, a second displacement clamping mechanism 402 and a third displacement clamping mechanism 403; the conveying mechanism 100 includes a first conveying line 11 for feeding the I-beam 5, a third conveying line 13 for discharging the I-beam 5 and a second conveying line 12 arranged between the first conveying line 11 and the third conveying line 13, The first displacement clamping mechanism 401 is located at the feed port of the first conveyor line 11 close to the I-beam 5, the second displacement clamping mechanism 402 is located between the first conveyor line 11 and the second conveyor line 12, and the third displacement clamping mechanism 403 is located between the second conveyor line 12 and the third conveyor line 13; the connecting plate welding mechanism 200 is arranged on both sides of the first displacement clamping mechanism 401 and the second displacement clamping mechanism 402, and the reinforcing plate welding mechanism 300 is erected above the third displacement clamping mechanism 403.

[0065] Optionally, an adjustment base 14 is provided below the first conveyor line 11, the second conveyor line 12 and the third conveyor line 13, and the first conveyor line 11, the second conveyor line 12 and the third conveyor line 13 are slidably connected to the adjustment base 14 and the spacing is adjustable. Thus, the spacing of the first conveyor line 11 can be adjusted by the adjustment base 14 below the first conveyor line 11 to adapt to the transportation of I-beams 5 of different sizes; the spacing of the second conveyor line 12 can be adjusted by the adjustment base 14 below the second conveyor line 12 to adapt to the transportation of I-beams 5 of different sizes; the spacing of the third conveyor line 13 can be adjusted by the adjustment base 14 below the third conveyor line 13 to adapt to the transportation of I-beams 5 of different sizes.

[0066] like Figure 3-10As shown, in some embodiments, the connecting plate welding mechanism 200 includes a connecting plate attaching robot 21 and a first connecting plate welding robot 22 arranged on both sides of the first displacement clamping mechanism 401 and a second connecting plate welding robot 23 arranged on both sides of the second displacement clamping mechanism 402, the first displacement clamping mechanism 401 is used to fix the I-beam 5 fed on the first conveyor line 11 and displace it, the connecting plate attaching robot 21 is used to install the connecting plate 51 on both ends of the I-beam 5, the first connecting plate welding robot 22 is used to perform two-sided welding on the joint between the I-beam 5 and the connecting plate 51 fixed by the first displacement clamping mechanism 401; the second displacement clamping mechanism 402 is used to receive the I-beam 5 after the displacement of the first displacement clamping mechanism 401 and fix and continue to displace it, the second connecting plate welding robot 23 is used to perform the remaining two-sided welding on the joint between the I-beam 5 and the connecting plate 51 fixed by the second displacement clamping mechanism 402.

[0067] In this embodiment, the displacement clamping mechanism displacement of the I-beam 5 means that the displacement clamping mechanism drives the I-beam 5 to rotate together with it through its own rotation, thereby changing the position of the I-beam 5. Specifically, when the first displacement clamping mechanism 401 rotates 90°, the I-beam 5 is driven by it to rotate 90°. At this time, the I-beam 5 is lifted upward by the first displacement clamping mechanism 401, and the connecting plate attaching robot 21 attaches the connecting plate 51 to the two ends of the I-beam 5. At the same time, the first connecting plate welding robot 22 welds the upper end surface and one side surface of the joint between the I-beam 5 and the connecting plate 51.

[0068] After that, the first displacement clamping mechanism 401 continues to rotate 90°, placing the I-beam 5 on the first conveyor line 11 and continuing to transport it to the second conveyor line 12. At this time, the I-beam 5 is flipped 180° relative to the position when it is fed from the first conveyor line 11. The second displacement clamping mechanism 402 receives the I-beam 5 transported from the first conveyor line 11, and continues to drive it to rotate 90°, thereby lifting the I-beam 5 upward. At this time, the I-beam 5 lifted upward by the second displacement clamping mechanism 402 is flipped 180° relative to the I-beam 5 lifted upward by the first displacement clamping mechanism 401. The second connecting plate welding robot 23 welds the lower end surface and the other side surface of the joint between the I-beam 5 lifted upward by the second displacement clamping mechanism 402 and the connecting plate 51. Among them, the lower end surface corresponds to the upper end surface, which refers to the upper and lower end surfaces at the joint of the I-beam 5 and the connecting plate 51; one side surface corresponds to the other side surface, which refers to the two side surfaces at the joint of the I-beam 5 and the connecting plate 51.

[0069] Therefore, the present embodiment provides a connecting plate welding mechanism 200 that performs a displacement of the fed I-beam 5 through the first displacement clamping mechanism 401, and realizes welding operations on the upper end face and one side of the joint between the I-beam 5 and the connecting plate 51 through the connecting plate attaching robot 21 and the first connecting plate welding robot 22; performs a secondary displacement of the I-beam 5 welded by the first connecting plate welding robot 22 through the second displacement clamping mechanism 402, and realizes welding operations on the lower end face and the other side of the joint between the I-beam 5 and the connecting plate 51 through the second connecting plate welding robot 23. By changing the position of the I-beam 5 twice, the welding position of the I-beam 5 and the connecting plate 51 by the second connecting plate welding robot 23 is flipped 180° relative to the welding position of the I-beam 5 and the connecting plate 51 by the first connecting plate welding robot 22. Therefore, the welding robot only needs to perform welding operations from the upper end and one side, and does not need to perform welding operations from the bottom and the other side, so that the full-scale welding of the joint between the I-beam 5 and the connecting plate 51 can be achieved, and the welding effect is good, the welding quality is high, and the product quality is guaranteed. In addition, the connecting plate welding mechanism 200 only needs the welding robot to weld the upper end and one side of the I-beam 5 and the connecting plate 51, and does not need the welding robot to walk around the connection between the I-beam 5 and the connecting plate 51 for a circle to weld them all the way, which is convenient for the operation of the welding robot and avoids the situation that the welding robot cannot rotate around the weld for a circle due to the other structures blocking the welding robot. At the same time, it also greatly reduces the complexity of the programming operation of the welding robot, and while reducing the welding cost, it will not affect the welding quality.

[0070] Furthermore, the connecting plate welding mechanism 200 also includes a connecting plate conveying line 21 arranged on one side of the first conveying line 11, and the connecting plate conveying line 21 is used to convey the connecting plate 51 for the connecting plate welding robot 21 to grasp.

[0071] Furthermore, the first connecting plate welding robot 22 and the second connecting plate welding robot 23 are both equipped with a visual positioning camera 24, and the visual positioning cameras 24 of the first connecting plate welding robot 22 and the second connecting plate welding robot 23 are both connected with a visual positioning pin 25; the connecting plate pasting robot 21 is connected with a connecting plate grabbing fixture 26 for grabbing the connecting plate 51, and the connecting plate grabbing fixture 26 is equipped with a visual positioning camera 24 and a visual positioning pin 25; the multiple visual positioning cameras 24 are respectively communicated and connected with the connecting plate pasting robot 21, the first connecting plate welding robot 22 and the second connecting plate welding robot 23 through a visual system.

[0072] The connecting plate welding mechanism 200 provided in this embodiment of the present application can solve the problem of displacement change of the spatial position of the I-beam connecting plate and its weld due to the inconsistency of the deformation and bending springback of the I-beam when the connecting plate 51 is mounted and welded; it can automatically find the offset position of the end face of the I-beam and the angle of deflection, and in combination with the connecting plate grabbing fixture 26, the connecting plate 51 can be accurately fitted with the end face of the I-beam 5, accurately find the weld position, and accurately weld. In addition, multiple visual positioning cameras 24 are respectively connected to the connecting plate mounting robot 21, the first connecting plate welding robot 22, and the second connecting plate welding robot 23 through the visual system; through this setting, the I-beam mounting end face can be accurately fitted with the connecting plate 51 at the center position of the connecting plate, and the connecting plate welding robot can also accurately weld according to the weld position, with a simple structure, convenient and flexible operation, a stable system, accurate calculation, and accurate mounting and welding positions.

[0073] It should be noted that the structure of the connecting plate grabbing fixture 26 provided in this embodiment of the present application is the same as the structure of a connecting plate grabbing fixture for installing a steel arch frame welding robot disclosed in the Chinese patent document with publication number CN216710903U in the prior art, and the specific structure of the connecting plate grabbing fixture 26 will not be repeated here.

[0074] like Figure 11-14 As shown, in some embodiments, the reinforcement plate welding mechanism 300 includes a support frame 3, the third displacement clamping mechanism 403 is located below the support frame 3, and a storage rack 35 for placing the reinforcement plate is provided on one side below the support frame 3; the support frame 3 is slidably connected with a first movable plate 31 and a second movable plate 32, the first movable plate 1 is fixedly connected with a reinforcement plate pasting robot 33 for installing the reinforcement plate, and the second movable plate 32 is fixedly connected with a reinforcement plate welding robot 34 for welding the reinforcement plate.

[0075] In this embodiment, the first movable plate 31 and the second movable plate 32 can be driven by a first driving mechanism such as a motor to slide on a guide rail provided on the support frame 3. For example, a rack can be provided on the support frame 3, and the first movable plate 31 and the second movable plate 32 are fixedly connected to a motor, and the motor drives a gear connected to mesh with the rack, and the motor drives the gear to rotate, so that the first movable plate 31 and the second movable plate 32 slide on the support frame 3.

[0076] In addition, the reinforcing plate attaching robot 33 and the reinforcing plate welding robot 34 are also equipped with a visual positioning camera 24 and a visual positioning needle 25. The visual positioning camera 24 scans the I-beam 5 with the seam and locates the seam position.

[0077] When the reinforcing plate welding mechanism 300 is in use, the reinforcing plate attaching robot 33 installs the reinforcing plate in the storage rack 35 on the weld of the I-beam 5 clamped by the third displacement clamping mechanism 403, and the reinforcing plate welding robot 34 welds the reinforcing plate installed by the reinforcing plate attaching robot 33 to the I-beam 5 to complete the automatic reinforcing plate welding operation.

[0078] like Fig.15 and 16 As shown, in some embodiments, the first displacement clamping mechanism 401, the second displacement clamping mechanism 402 and the third displacement clamping mechanism 403 have the same structure, which includes a base frame 41, the base frame 41 is slidably connected to two mobile platforms 42, the mobile platforms 42 are slidably connected to a base 43, and the base 43 is rotatably connected to a positioner 44; the base frame 41 is provided with a first driving mechanism 45 and a movable first rack 46 and a second rack 47, the first driving mechanism 45 is drivingly connected to a gear meshing with both the first rack 46 and the second rack 47, the first rack 46 is fixedly connected to one of the mobile platforms 42 through a connecting frame 48, and the second rack 47 is fixedly connected to the other mobile platform 42 through a connecting frame 48; the first rack 46 and the second rack 47 are arranged opposite to each other and are parallel to each other, and the gear driven by the first driving mechanism 45 is located between the first rack 46 and the second rack 47.

[0079] The first shifting clamping mechanism 401, the second shifting clamping mechanism 402 and the third shifting clamping mechanism 403 provided in this embodiment of the present application drive the gears to rotate through the first driving mechanism 45. The rotation of the gears drives the first rack 46 and the second rack 47 to move closer to or away from each other, thereby making the two positioners 44 move closer to or away from each other, thereby realizing the adjustment of the distance between the two positioners 44.

[0080] Specifically, Fig.15 The side of the middle I-beam 5 facing the base frame 41 is a front view. When the first driving mechanism 45 rotates clockwise, the first rack 46 and the second rack 47 move toward the outside of the base frame 41. At this time, the two positioners 44 move away from each other and the distance between them becomes larger; when the first driving mechanism 45 rotates counterclockwise, the first rack 46 and the second rack 47 move toward the center of the base frame 41. At this time, the two positioners 44 move close to each other and the distance between them becomes smaller.

[0081] Exemplarily, the first driving mechanism 45 can be a motor and a reducer meshed with the motor, the motor drives the reducer to rotate, the reducer drives the gear to rotate, thereby driving the first rack 46 and the second rack 47 to move. Among them, the sliding of the base 43 on the mobile platform 42 can be achieved by meshing the gear with the rack in the prior art, and the motor drives the gear to rotate. For example, a rack can be set on the mobile platform 42, the base 43 is fixedly connected to the motor, and the motor drives the gear connected to the rack meshed with the mobile platform 42. The motor drives the gear to rotate, so that the base 43 and the positioner 44 slide on the mobile platform 42.

[0082] Furthermore, a rack portion 441 is provided on the outer periphery of the positioner 44, and the rack portion 441 has a plurality of teeth. The base 43 is fixedly connected to a second driving mechanism 49, and the second driving mechanism 49 is drivingly connected to a first gear 491. The second driving mechanism 49 is used to drive the first gear 491 to rotate, and the first gear 491 is meshed with the rack portion 441; the positioner 44 has a clamping portion 442 for clamping the I-beam 5, and the I-beam 5 is clamped by the clamping portion 442 having an opening.

[0083] In this embodiment, since the first gear 491 is meshed with the rack portion 441 , the second driving mechanism 49 drives the first gear 491 to rotate, so that the rack portion 441 meshed with the first gear 491 rotates, thereby realizing the rotational movement of the positioner 44 .

[0084] It should be noted that the internal structure of the positioner 44 provided in this embodiment of the present application is the same as the internal structure of a steel arch frame I-beam and connecting plate welding positioner clamping device disclosed in the Chinese patent document with publication number CN216802309U in the prior art, and the internal structure of the positioner 44 is not repeated here.

[0085] When the positioner clamping mechanism is in use, when the conveyor line on the feeding side transports the I-beam 5, the second driving mechanism 49 drives the positioner 44 to rotate so that the opening of the clamping part 442 faces the conveyor line on the feeding side of the I-beam 5, and the base 43 and the positioner 44 move to the conveyor line on the feeding side on the mobile platform 42, and the clamping part 442 of the positioner 44 clamps the I-beam 5 on the conveyor line. The second driving mechanism 49 drives the positioner 44 to rotate, so that the positioner 44 rotates 90°, so that the opening of the clamping part 442 lifts the I-beam 5 upward. The positioner 44 moves on the mobile platform 42 to the conveyor line on the discharge side, and the second driving mechanism 49 drives the positioner 44 to rotate, so that the positioner 44 continues to rotate 90°, so that the opening of the clamping part 442 faces the conveyor line on the discharge side of the I-beam 5, and the clamping part 442 is opened to drop the I-beam 5 onto the conveyor line on the discharge side, thereby realizing the transportation and change of position of the I-beam 5 between the two conveyor lines.

[0086] The displacement clamping mechanism provided in this embodiment of the present application drives the first rack 46 and the second rack 47 to move closer to or farther from each other through the first driving mechanism 45, thereby making the two positioners 44 move closer to or farther from each other, thereby adjusting the spacing between the two positioners 44 to adapt to the clamping of I-beams 5 of different sizes. At the same time, the spacing between the two positioners 44 is adjusted by the first driving mechanism 45 to avoid the weld position of the I-beam 5, so as to avoid affecting the welding operation of the robot on the reinforcement plate of the I-beam 5 due to the positioner 44 blocking the weld position of the I-beam 5.

[0087] Furthermore, the position-shifting clamping mechanism moves on the mobile platform 42 through the base 43 and the positioner 44, and can realize the forward and backward movement of the positioner 44. The first gear 491 is driven to rotate by the second driving mechanism 49, so that the rack portion 441 meshing with the first gear 491 rotates, and then the rotational movement of the positioner 44 can be realized, so that the feeding and unloading of the I-beam 5 can be realized. Therefore, the position-shifting clamping mechanism can simultaneously satisfy the rotational movement and forward and backward movement of the positioner 44, and the spacing is adjustable, and the operation is stable, safe and reliable, and the clamping is firm, and it can simultaneously meet the clamping, transportation and welding work of the I-beam 5.

[0088] like Fig.17 As shown, the steel arch frame is made of an I-beam 5, and the I-beam 5 is a curved structure; two connecting plates 51 are respectively welded to the two end surfaces of the I-beam 5; the reinforcing plate includes a first reinforcing plate 52 and a second reinforcing plate 53, the first reinforcing plate 52 is an arc-shaped plate and is compatible with the inner arc surface and the outer arc surface of the I-beam 5, and the two first reinforcing plates 52 are respectively welded to the welds of the inner arc surface and the outer arc surface of the I-beam 5; the second reinforcing plate 53 is a hexagonal structure, and the two second reinforcing plates 53 are respectively welded to the welds on the two sides of the web of the I-beam 5.

[0089] In addition, the present invention also provides a method for welding an I-beam plate of a tunnel steel arch frame, using the above-mentioned device for welding an I-beam plate of a tunnel steel arch frame, comprising the following steps:

[0090] S1, feeding of I-beam 5; the first conveyor line 11 transports the I-beam 5 to the second conveyor line 12;

[0091] S2, the I-beam 5 is displaced once; the positioner 44 of the first displacement clamping mechanism 401 grabs the I-beam 5 transported on the first conveyor line 11, and the positioner 44 is rotated to lift the I-beam 5 upward;

[0092] S3, attach the connecting plate 51 to the I-beam 5 and weld both sides; the connecting plate attaching robot 21 grabs the connecting plate 51 on the connecting plate conveyor line 2 and attaches it to the two ends of the I-beam 5, and the first connecting plate welding robot 22 welds the upper end surface and one side surface of the joint between the I-beam 5 and the connecting plate 51;

[0093] S4, the I-beam 5 is displaced twice; the positioner 44 of the first displacement clamping mechanism 401 continues to rotate so that the opening of its clamping part 442 faces the second conveyor line 12, the clamping part 442 is opened, the I-beam 5 falls on the first conveyor line 11 and continues to be transported to the second conveyor line 12; the positioner 44 of the second displacement clamping mechanism 402 grabs the I-beam 5 transported from the first conveyor line 11 and welded by the first connecting plate welding robot 22, and the positioner 44 of the second displacement clamping mechanism 402 is rotated to lift the I-beam 5 upward;

[0094] S5, welding the remaining two sides of the I-beam 4; the second connecting plate welding robot 23 welds the lower end surface and the other side surface of the joint between the I-beam 5 lifted upward by the second displacement clamping mechanism 402 and the connecting plate 51, completing the welding operation of the connecting plate 51;

[0095] S6, the third displacement clamping mechanism 403 grabs the I-beam 5; the positioner 44 of the second displacement clamping mechanism 402 continues to rotate, so that the opening of its clamping part 442 faces the third conveyor line 13, and the clamping part 442 is opened, and the I-beam 5 falls onto the second conveyor line 12 and is transported to the third conveyor line 13; the positioner 44 of the third displacement clamping mechanism 403 grabs the I-beam 5 transported from the second conveyor line 12 after the welding operation of the connecting plate 51 is completed, and the positioner 44 of the third displacement clamping mechanism 403 is rotated to lift the I-beam 5;

[0096] S7, scanning and positioning the joint position of the I-beam 5; the visual positioning camera 24 installed on the reinforced plate attaching robot 33 scans the I-beam 5 with the joint and performs preliminary positioning of the joint position;

[0097] S8, the positioner 44 of the third position-shifting clamping mechanism 403 adjusts the spacing; according to the joint position located in S7, the spacing of the positioner 44 of the third position-shifting clamping mechanism 403 is adjusted and the I-beam 5 is clamped, so that the positioner 44 avoids the joint position of the I-beam 5, ensuring that the joint is in a constructible position;

[0098] S9, reinforcing plate installation; the reinforcing plate attaching robot 33 grabs the first reinforcing plate 35 and the second reinforcing plate 36 on the storage rack 35, and walks to the joint position for precise visual positioning, adjusts the angle of the reinforcing plate according to the angle of the positioning position, and attaches the reinforcing plate to the I-beam 5;

[0099] S10, reinforcing plate welding; the reinforcing plate welding robot 34 welds the reinforcing plates after being attached in step S9, and the reinforcing plate attaching robot 33 attaches each reinforcing plate, and the reinforcing plate welding robot 34 welds the reinforcing plate. After welding is completed, the reinforcing plate attaching robot 33 attaches the next reinforcing plate, and the reinforcing plate welding robot 34 continues to weld the next reinforcing plate until the two first reinforcing plates 35 are respectively welded to the welds of the inner arc surface and the outer arc surface of the I-beam 5, and the two second reinforcing plates 36 are respectively welded to the welds on the two sides of the web of the I-beam 5;

[0100] S11, the I-beam 5 is discharged; the positioner 44 of the third position-shifting clamping mechanism 403 continues to rotate so that the opening of its clamping portion 442 faces the third conveyor line 13, the clamping portion 442 is opened, and the I-beam 5 falls onto the third conveyor line 13 to complete the product discharge.

[0101] Furthermore, the welding process in steps S3 and S5 further includes the following steps:

[0102] S31, establish system communication between the visual system and the connecting plate pasting robot 21, calibrate the visual target position of the pasting at the center of the I-beam pasting end face, align the visual positioning pin 25 on the connecting plate pasting robot 21 with the visual target position of the pasting at the end face of the I-beam, adjust the visual aperture and focal length parameters, and adjust the clarity and centering effect of the photos taken in the visual system; establish a common coordinate system between the visual system and the connecting plate pasting robot 21, send the target coordinate position to the connecting plate pasting robot 21, and anchor the pasting photo position and the pasting target coordinate position; the visual positioning camera 24 takes a photo of the I-beam pasting end face, obtains the coordinates of the four corner points, and sends them to the connecting plate pasting robot 21 for anchoring;

[0103] During normal production, when the I-beam 5 reaches the plate-attaching position of the connecting plate 51, the connecting plate-attaching robot 21 positions the I-beam 5, moves the visual positioning camera 24 to the target position anchored by the system, and the visual system takes a picture of the I-beam bonding end face, obtains the position coordinates of the four corner points, and compares them with the coordinates of the four corner points anchored in the system. After obtaining the position change and deflection angle parameters, the parameters are sent to the connecting plate-attaching robot 21. The connecting plate-attaching robot 21 adjusts the plate-attaching position and rotation angle according to the received position change and deflection angle parameters, and attaches the connecting plate 51 to the bonding end face of the I-beam 5. In this way, the bonding end face of the I-beam can be accurately attached to the connecting plate 51 at the center position of the connecting plate.

[0104] S32, establish communication between the visual system and the connecting plate welding robot system, calibrate the welding visual target position at the center of the weld between the I-beam plate and the connecting plate, align the visual positioning pin 7 on the connecting plate welding robot with the weld target position, adjust the visual aperture and focal length parameters, and adjust the clarity and centering effect of the photo taken in the visual system; send the welding target coordinate position to the connecting plate plate robot 21, and anchor the welding photo position and the welding target coordinate position; the visual positioning camera 24 takes a photo of the weld, and obtains the coordinates of the two end points of the weld, and sends them to the connecting plate welding robot at the same time;

[0105] During normal production, when the I-beam 5 is fitted with the connecting plate 51, the connecting plate welding robot moves the visual positioning camera 24 to the welding visual target position anchored by the system, and the visual system takes a picture of the I-beam weld, obtains the position coordinates of the two end points of the weld, and compares them with the position coordinates of the two end points of the weld anchored in the system. After obtaining the position change parameters, the parameters are sent to the connecting plate welding robot, and the connecting plate welding robot operates the welding gun to perform welding according to the received position change parameters. In this way, the connecting plate welding robot can accurately perform welding according to the new weld position.

[0106] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0107] The above embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention.

[0108] The principles and implementation methods of the present invention are described in this article using specific embodiments. The description of the above embodiments is only used to help understand the method and core ideas of the present invention. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of the present invention, several improvements and modifications can be made to the present invention, and these improvements and modifications also fall within the scope of protection of the claims of the present invention. Therefore, the scope of protection of the patent of the present invention shall be based on the attached claims.

Claims

1. A tunnel steel arch frame I-beam plate welding device, It is characterized in that include: A conveying mechanism (100) comprising a first conveying line (11) for feeding I-beams (5), a third conveying line (13) for discharging I-beams (5), and a second conveying line (12) arranged between the first conveying line (11) and the third conveying line (13); A first displacement clamping mechanism (401) is arranged at a feeding port of the first conveying line (11) close to the I-beam (5); A second displacement clamping mechanism (402) is arranged between the first conveying line (11) and the second conveying line (12); A third displacement clamping mechanism (403) is arranged between the second conveying line (12) and the third conveying line (13); A connecting plate welding mechanism (200), comprising a connecting plate attaching robot (21) and a first connecting plate welding robot (22) arranged on both sides of the first displacement clamping mechanism (401), and a second connecting plate welding robot (23) arranged on both sides of the second displacement clamping mechanism (402); A reinforcing plate welding mechanism (300) is mounted above the third displacement clamping mechanism (403), comprising a movable reinforcing plate attaching robot (33) for attaching the reinforcing plate and a movable reinforcing plate welding robot (34) for welding the reinforcing plate; The first displacement clamping mechanism (401) is used to fix the I-beam (5) fed on the first conveyor line (11) and to displace it; the connecting plate attaching robot (21) is used to attach the connecting plate (51) to both ends of the I-beam (5); the first connecting plate welding robot (22) is used to perform two-sided welding on the butt joint between the I-beam (5) and the connecting plate (51) fixed by the first displacement clamping mechanism (401); the second displacement clamping mechanism (402) is used to receive the I-beam (5) after being displaced by the first displacement clamping mechanism (401) and to fix and continue to displace it; the second connecting plate welding robot (23) is used to perform the remaining two-sided welding on the butt joint between the I-beam (5) and the connecting plate (51) fixed by the second displacement clamping mechanism (402); The reinforcing plate welding mechanism (300) comprises a support frame (3), the third displacement clamping mechanism (403) is located below the support frame (3), and a storage rack (35) for placing reinforcing plates is provided on one side below the support frame (3); the support frame (3) is slidably connected to a first movable plate (31) and a second movable plate (32), the first movable plate (31) is fixedly connected to a reinforcing plate attaching robot (33) for attaching the reinforcing plate, and the second movable plate (32) is fixedly connected to a reinforcing plate welding robot (34) for welding the reinforcing plate; The first displacement clamping mechanism (401), the second displacement clamping mechanism (402) and the third displacement clamping mechanism (403) have the same structure, and comprise a base frame (41), wherein the base frame (41) is slidably connected to two movable platforms (42), wherein the movable platforms (42) are slidably connected to a base (43), and wherein the base (43) is rotatably connected to a positioner (44); the base frame (41) is provided with a first driving mechanism (45) and a movable first rack (46) and a second rack (47), wherein the first driving mechanism ( 45) is drivingly connected to a gear meshing with both the first rack (46) and the second rack (47); the first rack (46) is fixedly connected to one of the mobile platforms (42) via a connecting frame (48); the second rack (47) is fixedly connected to the other mobile platform (42) via a connecting frame (48); the first rack (46) and the second rack (47) are arranged opposite to each other and parallel to each other, and the gear drivingly connected to the first driving mechanism (45) is located between the first rack (46) and the second rack (47).

2. The tunnel steel arch I-beam plate welding device according to claim 1, It is characterized in that An adjustment base (14) is provided below each of the first conveyor line (11), the second conveyor line (12) and the third conveyor line (13); the first conveyor line (11), the second conveyor line (12) and the third conveyor line (13) are slidably connected to the adjustment base (14) and the spacing between them is adjustable.

3. The tunnel steel arch I-beam plate welding device according to claim 1, It is characterized in that The connecting plate welding mechanism (200) further comprises a connecting plate conveying line (2) arranged on one side of the first conveying line (11), the connecting plate conveying line (2) being used to convey connecting plates (51) for being grasped by the connecting plate welding robot (21).

4. The tunnel steel arch I-beam plate welding device according to claim 1, It is characterized in that The first connecting plate welding robot (22) and the second connecting plate welding robot (23) are both equipped with a visual positioning camera (24), and the visual positioning cameras (24) of the first connecting plate welding robot (22) and the second connecting plate welding robot (23) are both connected to a visual positioning pin (25); the connecting plate pasting robot (21) is connected to a connecting plate grabbing fixture (26) for grabbing the connecting plate (51), and the connecting plate grabbing fixture (26) is equipped with a visual positioning camera (24) and a visual positioning pin (25); the plurality of visual positioning cameras (24) are respectively connected to the connecting plate pasting robot (21), the first connecting plate welding robot (22) and the second connecting plate welding robot (23) in communication through a visual system.

5. The tunnel steel arch frame I-beam plate welding device according to claim 1, It is characterized in that The outer periphery of the positioner (44) is provided with a rack portion (441), and the rack portion (441) has a plurality of teeth. The base (43) is fixedly connected to a second driving mechanism (49), and the second driving mechanism (49) is drivingly connected to a first gear (491). The second driving mechanism (49) is used to drive the first gear (491) to rotate, and the first gear (491) is meshed with the rack portion (441). The positioner (44) has a clamping portion (442) for clamping the I-beam (5), and the I-beam (5) is clamped by the clamping portion (442) having an opening.

6. The tunnel steel arch I-beam plate welding device according to claim 1, It is characterized in that The steel arch frame is made of an I-beam (5), which is a curved structure; two connecting plates (51) are respectively welded to the two end surfaces of the I-beam (5); the reinforcing plate comprises a first reinforcing plate (52) and a second reinforcing plate (53); the first reinforcing plate (52) is an arc-shaped plate and is adapted to the inner arc surface and the outer arc surface of the I-beam (5); the two first reinforcing plates (52) are respectively welded to the welds of the inner arc surface and the outer arc surface of the I-beam (5); and the two second reinforcing plates (53) are respectively welded to the welds of the two side surfaces of the web of the I-beam (5).

7. A method for welding I-beam plates of tunnel steel arch frames, It is characterized in that The tunnel steel arch frame I-beam plate welding device according to any one of claims 1 to 6 is used, comprising the following steps: S1, feeding the I-beam (5); the first conveyor line (11) transports the I-beam (5) to the second conveyor line (12); S2, the I-beam (5) is displaced once; the positioner (44) of the first displacement clamping mechanism (401) grabs the I-beam (5) transported on the first conveyor line (11), and rotates the positioner (44) to lift the I-beam (5) upward; S3, attaching a connecting plate (51) to the I-beam (5) and welding both sides thereof; a connecting plate attaching robot (21) grabs the connecting plate (51) on the connecting plate conveyor line (2) and attaches it to both ends of the I-beam (5), and a first connecting plate welding robot (22) welds the upper end surface and one side surface of the joint between the I-beam (5) and the connecting plate (51); S4, the I-beam (5) is displaced for the second time; the positioner (44) of the first displacement clamping mechanism (401) continues to rotate so that the opening of its clamping portion (442) faces the second conveyor line (12), the clamping portion (442) is opened, the I-beam (5) falls onto the first conveyor line (11) and continues to be transported to the second conveyor line (12); the positioner (44) of the second displacement clamping mechanism (402) grabs the I-beam (5) transported from the first conveyor line (11) and welded by the first connecting plate welding robot (22), and the positioner (44) of the second displacement clamping mechanism (402) is rotated to lift the I-beam (5) upward; S5, welding the remaining two sides of the I-beam (5); the second connecting plate welding robot (23) welds the lower end surface and the other side surface of the joint between the I-beam (5) lifted upward by the second displacement clamping mechanism (402) and the connecting plate (51), thereby completing the welding operation of the connecting plate (51); S6, the third displacement clamping mechanism (403) grabs the I-beam (5); the positioner (44) of the second displacement clamping mechanism (402) continues to rotate so that the opening of its clamping portion (442) faces the third conveyor line (13), the clamping portion (442) is opened, the I-beam (5) falls onto the second conveyor line (12) and is transported to the third conveyor line (13); the positioner (44) of the third displacement clamping mechanism (403) grabs the I-beam (5) transported from the second conveyor line (12) after the welding operation of the connecting plate (51) is completed, and the positioner (44) of the third displacement clamping mechanism (403) is rotated to lift the I-beam (5); S7, scanning and positioning the joint position of the I-beam (5); the visual positioning camera (24) installed on the reinforced plate attaching robot (33) scans the I-beam (5) with the joint and performs preliminary positioning of the joint position; S8, adjusting the spacing of the positioners (44) of the third position-shifting clamping mechanism (403); adjusting the spacing of the positioners (44) of the third position-shifting clamping mechanism (403) and clamping the I-beam (5) according to the joint position located in S7, so that the positioners (44) avoid the joint position of the I-beam (5) to ensure that the joint is in a constructible position; S9, reinforcing plate mounting; the reinforcing plate mounting robot (33) grabs the first reinforcing plate (52) and the second reinforcing plate (53) on the material storage rack (35), moves to the joint position for precise visual positioning, adjusts the angle of the reinforcing plate according to the angle of the positioning position, and mounts the reinforcing plate on the I-beam (5); S10, reinforcing plate welding; the reinforcing plate welding robot (34) welds the reinforcing plates attached in step S9, and each time the reinforcing plate attaching robot (33) attaches a reinforcing plate, the reinforcing plate welding robot (34) welds the reinforcing plate. After welding is completed, the reinforcing plate attaching robot (33) attaches the next reinforcing plate, and the reinforcing plate welding robot (34) continues to weld the next reinforcing plate until the two first reinforcing plates (52) are respectively attached to the weld seams of the inner arc surface and the outer arc surface of the I-beam (5), and the two second reinforcing plates (53) are respectively attached to the weld seams of the two side surfaces of the web of the I-beam (5); S11, the I-beam (5) is discharged; the positioner (44) of the third position-changing clamping mechanism (403) continues to rotate so that the opening of its clamping portion (442) faces the third conveying line (13), the clamping portion (442) is opened, and the I-beam (5) falls onto the third conveying line (13) to complete the product discharge.

8. The method for welding the I-beam plate of the tunnel steel arch frame according to claim 7, It is characterized in that The welding process in steps S3 and S5 also includes the following steps: S31, establish communication between the visual system and the connecting plate pasting robot (21), calibrate the pasting visual target position at the center of the I-beam pasting end face, align the visual positioning pin (25) on the connecting plate pasting robot (21) with the pasting visual target position on the end face of the I-beam (5), adjust the visual aperture and focal length parameters, and adjust the clarity and centering effect of the photo taken in the visual system; establish a common coordinate system between the visual system and the connecting plate pasting robot (21), send the target coordinate position to the connecting plate pasting robot (21), and anchor the pasting photo position and the pasting target coordinate position; the visual positioning camera (24) takes a photo of the pasting end face of the I-beam (5), obtains the coordinates of the four corner points, and sends them to the connecting plate pasting robot (21) for anchoring; When the I-beam (5) reaches the plate-attaching position of the connecting plate (51), the connecting plate-attaching robot (21) positions the I-beam (5), moves the visual positioning camera (24) to the target position anchored by the system, and the visual system takes a picture of the end face of the I-beam (5) to obtain the position coordinates of the four corner points, and compares them with the coordinates of the four corner points anchored in the system. After obtaining the position change and deflection angle parameters, the parameters are sent to the connecting plate-attaching robot (21). The connecting plate-attaching robot (21) adjusts the plate-attaching position and rotation angle according to the received position change and deflection angle parameters, and attaches the connecting plate (51) to the end face of the I-beam (5). The end face of the I-beam (5) is accurately attached to the connecting plate (51) at the center position of the connecting plate (51); S32, establishing communication between the visual system and the connecting plate welding robot system, calibrating the welding visual target position at the center of the weld where the I-beam plate and the connecting plate (51) are attached, aligning the visual positioning pin (25) on the connecting plate welding robot with the weld target position, adjusting the visual aperture and focal length parameters, and adjusting the clarity and centering effect of the photographed photo in the visual system; sending the welding target coordinate position to the connecting plate attaching robot (21), and anchoring the welding photographing position and the welding target coordinate position; the visual positioning camera (24) takes a photo of the weld, and obtains the coordinates of the two end points of the weld, and sends them to the connecting plate (51) welding robot at the same time; When the I-beam (5) and the connecting plate (51) are fitted together, the connecting plate welding robot moves the visual positioning camera (24) to the welding visual target position anchored by the system, and the visual system takes a picture of the weld of the I-beam (5), obtains the position coordinates of the two end points of the weld, and compares them with the position coordinates of the two end points of the weld anchored in the system. After obtaining the position change parameters, the parameters are sent to the connecting plate welding robot, and the connecting plate welding robot operates the welding gun to weld according to the received position change parameters, and the connecting plate welding robot accurately welds according to the new weld position.

Images