A fully finished tunnel steel arch automatic production line and production process

Abstract

The present invention discloses a completely finished tunnel steel arch frame automatic production line and production process, the production line includes: a conveying mechanism; a butt welding mechanism, including a butt welding robot for welding two sections of I-beams; an arch bending mechanism for bending the I-beam; a cutting mechanism for cutting the I-beam; a drilling mechanism for drilling holes in the I-beam; a connecting plate welding mechanism; and a reinforcing plate welding mechanism. The present invention integrates the processes of butt welding, arch forming, cutting, drilling, welding connecting plates at both ends and welding reinforcing plates of the I-beam into an integrated design to form a complete completely finished steel arch frame automatic production line and production process, which can make the above processes closely cooperate, greatly improve production efficiency, reduce production costs, realize centralized and automated production operations of completely finished steel arch frames, realize mass production of steel arch frames, and ensure the final product quality of the steel arch frames to meet production and construction requirements.

Description

Technical Field

[0001] The invention relates to an automatic production line and a production process for a completely finished tunnel steel arch frame, belonging to the technical field of steel arch frame production. Background Art

[0002] Steel arch is a support measure for underground projects reinforced by bending I-beams. It can be combined with anchor rods, shotcrete and steel mesh to form a composite support arch, which is widely used in tunnels, subways, hydropower stations, underground caverns and other projects. Generally, support arches are constructed by bending I-beams and welding connecting plates at both ends. Therefore, during the production process, the steel arch needs to be bent and formed by I-beams; drilling holes for I-beams is required for the conduits to pass through; and welding connecting plates at both ends of I-beams is required to construct the support 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 construction requirements. After the cutting of the entire I-beam is completed, it is inevitable that there will be residual scraps, which will cause a large amount of waste of I-beam scraps. In the prior art, the I-beam scraps are manually welded to the new entire I-beam, and a reinforcing plate is welded at the joint to strengthen the connection strength between the two sections of I-beams at the joint, improve the quality of the steel arch frame products, and make them meet the construction requirements. However, the manual welding method has a large workload, high labor costs, low work efficiency, and low degree of automation. It cannot ensure that the two sections of I-beams can be completely aligned during welding, which affects the product quality of the I-beam after welding; and the manual welding of the reinforcing plate has a poor effect, which is prone to problems such as inaccurate reinforcing plate installation position, poor reinforcing plate welding effect, and inability to achieve continuous installation and welding of reinforcing plates, which seriously affects the production efficiency and product quality of the steel arch frame.

[0004] However, in the prior art, different processes are used for the continuous welding of I-beams and the welding of reinforcement plates, the bending and arching of I-beams, the cutting of I-beams, the drilling of I-beams, and the welding of connecting plates at both ends of I-beams, and there is no connection between the various processes, which makes it impossible to achieve the centralized and automated production of fully finished steel arch frames. In addition, the above-mentioned multiple scattered processes make the steel arch frames occupy a large area during the production process, with high production costs and low production efficiency, and it is impossible to achieve mass production of steel arch frames. Summary of the invention

[0005] To solve the above problems, the present invention provides a completely finished automatic production line and production process for tunnel steel arch frames. The present invention integrates the I-beam butt welding process, I-beam bending and arch forming process, I-beam cutting process, I-beam drilling process, I-beam end welding connecting plate process and I-beam welding reinforcement plate process into an integrated design to form a complete completely finished steel arch frame automatic production line and production process, which can make the above processes closely coordinated, greatly improve production efficiency, reduce production cost, realize centralized and automated production operations of completely finished steel arch frames, realize mass production of steel arch frames, and ensure the final product quality of steel arch frames to meet production and construction requirements.

[0006] The first object of the present invention is to provide a fully finished tunnel steel arch automatic production line, comprising:

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

[0008] A butt welding mechanism is arranged at the discharge port of the first conveyor line, comprising a butt welding robot for welding two sections of I-beams;

[0009] The arch bending mechanism is arranged on the side of the butt welding mechanism away from the first conveyor line, and is used to bend the I-beam; the I-beam in the arch bending mechanism is connected with the I-beam fed by the first conveyor line, and the two sections of the I-beam are welded at the joint by the butt welding robot;

[0010] A cutting mechanism, arranged on a side of the bending mechanism away from the butt welding mechanism, for cutting off the I-beam;

[0011] A drilling mechanism, disposed between the cutting mechanism and the second conveying line, for drilling holes in the I-beam;

[0012] The connecting plate welding mechanism comprises connecting plate attaching robots arranged on both sides of the second conveyor line for attaching connecting plates to both ends of the I-beam, a first connecting plate welding robot for welding a part of the butt joint between the connecting plate and the I-beam, and a second connecting plate welding robot for welding the remaining butt joint between the connecting plate and the I-beam;

[0013] The reinforcing plate welding mechanism comprises a reinforcing plate welding assembly mounted above the third conveyor line and / or the fourth conveyor line and a lifting and transporting assembly mounted above the reinforcing plate welding assembly, wherein the lifting and transporting assembly is used to lift the seamless I-beam from the third conveyor line and transport it over the reinforcing plate welding assembly to the fourth conveyor line; the reinforcing plate welding assembly comprises a movable reinforcing plate attaching robot for attaching reinforcing plates and a movable reinforcing plate welding robot for welding reinforcing plates, and the I-beam with a seam is transported to the fourth conveyor line after the reinforcing plate is welded by the reinforcing plate welding assembly, and is discharged together with the seamless I-beam.

[0014] In one embodiment of the present invention, the butt welding mechanism also includes a first base arranged on one side of the butt welding robot, an upper pressure plate and a side pressure plate arranged on the first base and movable, and a side pressure roller arranged on the bending mechanism and movable; the upper pressure plate is used to press and fix the I-beam on one side of the butt welding robot in the vertical direction, and the side pressure plate is located on one side of the upper pressure plate, and is used to press and fix the I-beam on one side of the butt welding robot in the horizontal direction; the side pressure roller is used to press and fix the I-beam on the other side of the butt welding robot in the horizontal direction, and the bending mechanism is provided with a pressing mechanism, and the pressing mechanism is used to press and fix the I-beam on the other side of the butt welding robot in the vertical direction.

[0015] In one embodiment of the present invention, the arch bending mechanism includes a fixed workbench and a rotating workbench rotatably connected to the fixed workbench and located above it, and a feed cylinder, a plurality of first drive mechanisms and a plurality of clamping mechanisms are installed on the rotating workbench; the first drive mechanism is connected to a rotating roller, and the first drive mechanism is used to drive the rotating roller to rotate to drive the I-beam to move; the clamping mechanism includes a rotatable upper rotating roller, a rotatable lower rotating roller and an adjusting handle connected to the upper rotating roller, the I-beam is located between the upper rotating roller and the lower rotating roller, and the adjusting handle is used to drive the upper rotating roller to move toward the lower rotating roller to clamp the I-beam; the feed cylinder is connected to a top roller seat, and a rotatable top roller is arranged in the top roller seat, and the feed cylinder is used to drive the top roller seat and the top roller to push out to bend the I-beam; the side pressure roller is installed on the fixed workbench.

[0016] In one embodiment of the present invention, the cutting mechanism includes an elevator, a second driving mechanism connected to the elevator, a saw blade connected to the second driving mechanism, a chip cover, a shielding brush and a third driving mechanism; the elevator is used to drive the second driving mechanism and the saw blade to perform lifting and lowering movements, and the driving mechanism is used to drive the saw blade to rotate to cut the I-beam; the two chip covers are located on both sides of the I-beam and are arranged outside the saw blade, and the two shielding brushes are arranged on both sides below the saw blade, and the I-beam is in contact with a number of brushes arranged with the shielding brushes and can move in the shielding brushes; the output ends of the two third driving mechanisms are respectively connected to two fixed rollers, the two fixed rollers are arranged opposite to each other and are located on both sides of the I-beam, and the third driving mechanism is used to drive the fixed rollers to move to clamp and fix the I-beam.

[0017] In one embodiment of the present invention, the drilling mechanism is arranged on a side of the cutting mechanism away from the bending mechanism, and includes a drilling robot, a plasma cutting gun connected to the end of the drilling robot, and a waste collection box arranged under the I-beam. The drilling robot drives the plasma cutting gun to move to drill the I-beam, and the waste collection box is used to receive the waste generated by drilling.

[0018] In one embodiment of the present invention, the connecting plate welding mechanism also includes a second connecting plate conveyor line arranged on one side of the connecting plate attaching robot and located below the second conveyor line, the second connecting plate conveyor line is connected to the first connecting plate conveyor line, the first connecting plate conveyor line is used to convey the connecting plate to the second connecting plate conveyor line, and the connecting plate attaching robot grabs the connecting plate from the second connecting plate conveyor line; the first connecting plate welding robot and the second connecting plate welding robot are both equipped with a visual positioning camera, the connecting plate attaching robot is connected to a connecting plate grabbing fixture for grabbing the connecting plate, and the connecting plate grabbing fixture is equipped with a visual positioning camera.

[0019] In one embodiment of the present invention, the reinforcement plate welding assembly includes a third support frame, a storage rack arranged on one side below the third support frame and used to place the reinforcement plate, and a first movable plate and a second movable plate slidably connected to the third support frame, the first movable plate is fixedly connected to the reinforcement plate pasting robot, and the second movable plate is fixedly connected to the reinforcement plate welding robot.

[0020] In one embodiment of the present invention, the lifting and transporting assembly includes a truss, a mobile frame is slidably connected to the truss, two lifting mechanisms are slidably connected to the mobile frame, the lifting mechanism is connected to a hoist for hoisting I-beams, and the lifting mechanism is used to drive the hoist to rise and fall; the lifting mechanism is fixedly connected to a fourth driving mechanism, and the fourth driving mechanism is used to drive the lifting mechanism to move on the mobile frame, and the ends of the two lifting mechanisms are connected by a telescopic rod; the lifting mechanism is a multi-section electric cylinder.

[0021] In one embodiment of the present invention, a displacement clamping mechanism for fixing the I-beam is provided between the second conveyor line and the third conveyor line, and between the third conveyor line and the fourth conveyor line, the displacement clamping mechanism includes a base frame, the base frame is slidably connected to two mobile platforms, the mobile platform is slidably connected to a second base, and the second base is rotatably connected to a positioner; the base frame is provided with a fifth driving mechanism and a movable first rack and a second rack, the fifth driving mechanism is drivingly connected to a gear meshing with the first rack and the second rack, and the first rack is fixed to one of the mobile platforms via 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 and connected by the fifth driving mechanism is located between the first rack and the second rack; a rack portion is provided on the periphery of the positioner, and the rack portion has a plurality of teeth; the second base is fixedly connected with a sixth driving mechanism, and the sixth driving mechanism is driven and connected with a first gear, and the sixth 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 with an opening.

[0022] The second object of the present invention is to provide a completely finished tunnel steel arch frame automatic production process, using the completely finished tunnel steel arch frame automatic production line, comprising the following steps:

[0023] S1, I-beam feeding, the first conveyor line transports the I-beam on the first support frame to the butt welding mechanism and the arch bending mechanism;

[0024] S2, butt welding, after aligning and pressing the front and rear sections of the I-beam through the upper pressing plate, side pressing plate, side pressing roller of the butt welding mechanism and the pressing mechanism of the arch bending mechanism, welding is performed by the butt welding robot;

[0025] S3, arch bending and forming, the I-beam passes through the lower rotating roller of the clamping mechanism from the first conveyor line and enters the arch bending mechanism, and passes through each clamping mechanism and two rotating rollers in sequence. When the entry end of the I-beam reaches the second rotating roller, the upper rotating roller is pressed down onto the I-beam by adjusting the handle to clamp the I-beam, and the feed cylinder pushes the top roller seat and the top roller forward to bend the I-beam. At the same time, the first driving mechanism drives the rotating roller to rotate to drive the I-beam to move. While the I-beam is being bent and formed, the rotating table is rotated on the fixed table under the action of the bending tension of the I-beam;

[0026] S4, follow-up drilling, the I-beam is transported to the drilling area of ​​the drilling mechanism, the drilling robot adjusts the drilling height and drilling position of the plasma cutting gun, and the drilling robot drives the plasma cutting gun to move up and down to drill multiple holes in the moving I-beam;

[0027] S5, fixed-length cutting. When the drilling operation of all holes is completed, the third driving mechanism of the cutting mechanism drives the fixed roller to move to clamp and fix the I-beam in the opposite direction, the second driving mechanism drives the saw blade to rotate, and the elevator drives the second driving mechanism and the saw blade to descend, so that the rotating saw blade cuts the I-beam, and the cut I-beam is transported to the connecting plate welding mechanism by the second conveyor line;

[0028] S6, welding the connecting plate, the displacement clamping mechanism grabs the I-beam transported by the second conveyor line, the connecting plate attaching robot grabs the connecting plate transported on the second connecting plate conveyor line and attaches it to the two ends of the I-beam, and the first connecting plate welding robot performs partial initial welding on the joint between the I-beam and the connecting plate. After the welding is completed, the first connecting plate welding robot is retracted, the displacement clamping mechanism adjusts the welding direction, and the second connecting plate welding robot performs the remaining surface welding on the joint between the I-beam and the connecting plate. The I-beam after the connecting plate is welded is transported to the third conveyor line;

[0029] S7, identifying and screening I-beams, the visual inspection system inspects whether there are seams on the I-beams transported on the third conveyor line; if the I-beams are detected to have no seams, the lifting and transporting assembly lifts the I-beams without seams and transports them to the fourth conveyor line for product unloading; if the I-beams are detected to have seams, the third conveyor line continues to transport the I-beams with seams to the reinforcement plate welding assembly;

[0030] S8, grab the I-beam with seams, strengthen the positioner clamping mechanism under the plate welding assembly to grab the I-beam with seams on the third conveyor line, and rotate the positioner to lift the I-beam with seams;

[0031] S9, 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 performs preliminary positioning of the joint position;

[0032] S10, adjusting the spacing of the positioners. According to the joint position located in S9, the spacing of the positioners is adjusted and the I-beam is clamped, so that the positioners avoid the joint position of the I-beam to ensure that the joint is in a constructible position.

[0033] S11, reinforcing plate installation, the reinforcing plate attaching robot grabs the reinforcing plate in the 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;

[0034] S12, reinforcing plate welding, the reinforcing plate welding robot welds the reinforcing plates after being attached in step S11, and the reinforcing plate attaching robot attaches each reinforcing plate, and the reinforcing plate welding robot welds the reinforcing plate, after the 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;

[0035] S13, I-beam unloading, the displacement clamping mechanism under the reinforcing plate welding assembly transports the I-beam after the plate welding operation to the fourth conveyor line, and the product unloading is completed together with the seamless I-beam lifted and transported by the lifting and transporting assembly in step S7.

[0036] The beneficial effects of the present invention are as follows:

[0037] 1. The present invention integrates the I-beam butt welding process, I-beam bending and arch forming process, I-beam cutting process, I-beam drilling process, I-beam two-end welding connecting plate process and I-beam welding reinforcing plate process into an integrated design to form a complete automatic production line and production process for steel arch frames that are completely finished products. The present invention can make the above processes closely cooperate with each other, greatly improve production efficiency, and reduce production costs. Through the structural layout between the conveying mechanism, the butt welding mechanism, the bending mechanism, the cutting mechanism, the drilling mechanism, the connecting plate welding mechanism, the reinforcing plate welding mechanism and the displacement clamping mechanism, they are closely coordinated, and the centralized and automated production operation of the completely finished steel arch frames can be realized, and continuous production operation can be realized, with precise operation, high degree of automation, precise structure, high work efficiency, and mass production of steel arch frames can be realized, and the final product quality of the steel arch frames can be guaranteed to meet the production and construction requirements.

[0038] 2. The arch bending mechanism provided by the present invention has an upper and lower workbench. A rotating workbench is rotatably connected above the fixed workbench. The rotating workbench used for arch bending can be rotated so that when the I-beam is bent, the part of the I-beam at the entry end does not move. The arch bending mechanism can be docked with the first conveyor line to achieve automatic feeding, reduce manual operation, and have high work efficiency. It can achieve continuous feeding operation, so that the production of steel arch frames can achieve automated production line operation. In addition, since there is no displacement at the entry end, it can be aligned and welded with the I-beam of the first conveyor line, saving waste of tail materials and reducing engineering construction costs. It solves the problem of traditional I-beam arch bending machines, which have only one workbench. When the I-beam is bent, both ends of the I-beam will be displaced due to the bending of the I-beam, and cannot be docked with the fixed I-beam feeding conveyor line.

[0039] 3. The lifting and transporting assembly provided by the present invention can extract the seamless I-beams that do not need to be installed with reinforcing plates from the third conveyor line, and has a compact structure, is safe and reliable, and has stable operation. It can be used by simply being erected above the conveying mechanism and the plate welding assembly, and occupies a small area, greatly saving the cost required for additional I-beam screening equipment, and avoiding the impact of the seamless I-beams that do not need to be installed with reinforcing plates on the reinforcing plate installation process. In addition, the two lifting mechanisms of the lifting and transporting assembly slide on the mobile frame, and the spacing between the two lifting mechanisms can be adjusted to accommodate I-beams of different sizes; a telescopic rod is provided at the end of the two lifting mechanisms, which can strengthen the connection strength between the two lifting mechanisms, making the lifting of the I-beams more stable and reliable, and improving the stability of equipment operation; the multi-section electric cylinder cooperates with the telescopic rod to achieve multi-stage telescopic grasping, which can reduce the height, improve safety and equipment operation stability.

[0040] 4. The displacement clamping mechanism provided in the present invention drives the first rack and the second rack to move closer to or farther from each other through the fifth 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, if there is a weld in the middle of the I-beam that needs to be welded to a plate, the spacing between the two positioners is adjusted by the fifth driving mechanism to avoid the weld position of the I-beam, so as to avoid affecting the welding operation of the robot on the I-beam due to the positioner blocking the weld position of the I-beam; and the displacement clamping mechanism moves on the second mobile platform through the second base and the positioner, so as to realize the forward and backward movement of the positioner, and drives the first gear to rotate through the sixth driving mechanism, so as to rotate the rack part meshing with the first gear, thereby realizing the rotation movement of the positioner, so as to realize the feeding and discharging of the I-beam. Therefore, the displacement clamping mechanism can simultaneously satisfy the rotation movement and forward and backward movement of the positioner, and the spacing is adjustable, and the operation is stable, safe and reliable, and the clamping is firm, which can simultaneously meet the clamping, transportation and welding work of the I-beam.

[0041] 5. The plate-pasting robot provided in the present invention can accurately visually locate the joint position of the I-beam, adjust the angle of the reinforcing plate according to the angle of the positioning position, and accurately fit the reinforcing plate on the I-beam. The installation position is accurate and the welding effect is good, thereby ensuring the product quality of the steel arch frame.

[0042] 6. The butt welding mechanism provided by the present invention can position one section of I-beam in the horizontal direction by moving the side pressure plate, and can position the other section of I-beam in the horizontal direction by moving the side pressure roller, so that the two sections of I-beam can be aligned in the horizontal direction; one section of I-beam can be positioned in the vertical direction by moving the upper pressure plate, and the other section of I-beam can be positioned in the vertical direction by the clamping mechanism of the arch bending mechanism, so that the two sections of I-beam can be aligned in the vertical direction. Therefore, through the common alignment in the vertical and horizontal directions, the two sections of I-beam can be completely aligned during welding, ensuring the product quality of the I-beam after welding.

[0043] 7. The drilling mechanism provided by the present invention ensures that there will be no position deviation between the plasma cutting gun and the I-beam during drilling through the precise control of the drilling robot, thereby ensuring the drilling accuracy. In addition, drilling with the plasma cutting gun reduces the roughness of the drilling surface, reduces the labor intensity of workers, and improves the drilling efficiency. The waste and cutting slag produced by drilling fall into a waste collection box for collection, thereby ensuring the cleanliness of the production environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 A stereoscopic diagram from a first perspective of an automatic production line for tunnel steel arch frames provided in an embodiment of the present invention.

[0045] Figure 2 A stereoscopic diagram from a second viewing angle of the automatic production line for tunnel steel arch frames provided in an embodiment of the present invention.

[0046] Figure 3 A three-dimensional diagram of part of the mechanism of the automatic production line for tunnel steel arches provided in an embodiment of the present invention.

[0047] Figure 4 A three-dimensional diagram of a butt welding mechanism, a bending mechanism, a cutting mechanism, a drilling mechanism and a portion of a first conveyor line provided in an embodiment of the present invention.

[0048] Figure 5 A three-dimensional diagram of a butt welding mechanism, a bending mechanism, a cutting mechanism and a drilling mechanism provided in an embodiment of the present invention.

[0049] Figure 6 A three-dimensional diagram of a butt welding mechanism and an arch bending mechanism provided in an embodiment of the present invention.

[0050] Figure 7A three-dimensional diagram of a cutting mechanism and a drilling mechanism provided in an embodiment of the present invention.

[0051] Figure 8 A three-dimensional diagram of a connecting plate welding mechanism and a reinforcing plate welding mechanism provided in an embodiment of the present invention.

[0052] Fig. 9 A three-dimensional diagram of a connecting plate welding mechanism and a reinforcing plate welding assembly provided in an embodiment of the present invention.

[0053] Fig.10 A stereoscopic diagram from a first viewing angle of a connection plate welding mechanism provided in an embodiment of the present invention.

[0054] Fig.11 A stereoscopic diagram from a second viewing angle of the connecting plate welding mechanism provided in an embodiment of the present invention.

[0055] Fig.12 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.

[0056] Fig.13 A three-dimensional diagram of a reinforcement plate welding mechanism provided in an embodiment of the present invention.

[0057] Fig.14 A three-dimensional diagram of a lifting and transporting assembly provided in an embodiment of the present invention.

[0058] Fig.15 A stereoscopic diagram from a first perspective of a reinforcement plate welding assembly and a portion of a conveying mechanism provided in an embodiment of the present invention.

[0059] Fig.16 A stereoscopic diagram from a second perspective of a reinforcement plate welding assembly and a portion of a conveying mechanism provided in an embodiment of the present invention.

[0060] Fig.17 A three-dimensional diagram of a reinforcement plate welding assembly and a displacement clamping mechanism provided in an embodiment of the present invention.

[0061] Fig.18 A three-dimensional diagram of a displacement clamping mechanism provided in an embodiment of the present invention.

[0062] Fig.19 A three-dimensional diagram of a partial structure of a displacement clamping mechanism provided in an embodiment of the present invention.

[0063] Fig. 20 A three-dimensional diagram of an I-beam after being welded to a connecting plate and a reinforcing plate provided in an embodiment of the present invention.

[0064] In the figure: 100, conveying mechanism; 11, first conveying line; 12, second conveying line; 13, third conveying line; 14, fourth conveying line; 15, adjusting base; 16, first support frame; 17, second support frame; 200, butt welding mechanism; 21, butt welding robot; 22, upper pressure plate; 23, side pressure plate; 24, side pressure roller; 25, first base; 300, bending mechanism; 31, fixed workbench; 32, rotating workbench; 33, rotating roller; 34, feed cylinder; 35, top roller seat; 36 , top roller; 37, clamping mechanism; 371, upper roller; 372, lower roller; 373, adjustment handle; 38, first drive mechanism; 400, cutting mechanism; 41, saw blade; 42, second drive mechanism; 43, lift; 44, chip cover; 45, shielding brush; 46, fixed roller; 47, third drive mechanism; 500, drilling mechanism; 51, drilling robot; 52, plasma cutting gun; 53, waste collection box; 600, connecting plate welding mechanism; 61, connecting plate board robot; 62, first connecting plate 1. Connecting plate welding robot; 63. Second connecting plate welding robot; 64. Visual positioning camera; 65. Connecting plate grabbing fixture; 66. First connecting plate conveyor line; 67. Second connecting plate conveyor line; 700. Strengthening plate welding mechanism; 70. Strengthening plate welding assembly; 701. Third support frame; 702. First moving plate; 703. Second moving plate; 704. Strengthening plate attaching robot; 705. Strengthening plate welding robot; 706. Material storage rack; 71. Lifting and transport assembly; 711. Truss; 712. Moving plate Moving frame; 713, fourth driving mechanism; 714, lifting mechanism; 715, sling; 716, telescopic rod; 800, displacement clamping mechanism; 81, base frame; 82, moving platform; 83, second base; 84, positioner; 841, rack portion; 842, clamping portion; 85, fifth driving mechanism; 86, first rack; 87, second rack; 88, connecting frame; 89, sixth driving mechanism; 891, first gear; 9, I-beam; 91, connecting plate; 92, first reinforcing plate; 93, second reinforcing plate. DETAILED DESCRIPTION

[0065] 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.

[0066] 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.

[0067] 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.

[0068] like Figure 1 , 2 , 3, 8 and 9, the present invention provides a fully finished tunnel steel arch frame automatic production line, in some embodiments, including a conveying mechanism 100, a butt welding mechanism 200, an arch bending mechanism 300, a cutting mechanism 400, a drilling mechanism 500, a connecting plate welding mechanism 600, a reinforcing plate welding mechanism 700 and a displacement clamping mechanism 800; the conveying mechanism 100 includes a first conveying line 11 for feeding I-beams 9, a second conveying line 12, a third conveying line 13 and a fourth conveying line 14 for discharging I-beams 9; there are pairs of conveyors arranged in sequence between the first conveying line 11 and the second conveying line 12 The connection welding mechanism 200, the bending mechanism 300, the cutting mechanism 400 and the drilling mechanism 500, the third conveyor line 13 is connected between the second conveyor line 12 and the fourth conveyor line 14, and the second conveyor line 12 is close to the third conveyor line 13 on one side, between the second conveyor line 12 and the third conveyor line 13, and between the third conveyor line 13 and the fourth conveyor line 14. The displacement clamping mechanism 800 is arranged, the connecting plate welding mechanism 600 is arranged on both sides of the second conveyor line 12, and the reinforcement plate welding mechanism 700 is erected above the displacement clamping mechanism 800 between the third conveyor line 13 and the fourth conveyor line 14.

[0069] Optionally, an adjustment base 15 is disposed below the second conveyor line 12 , the third conveyor line 13 and the fourth conveyor line 14 , and the second conveyor line 12 , the third conveyor line 13 and the fourth conveyor line 14 are slidably connected to the adjustment base 15 and the spacing between them is adjustable. Thus, the spacing of the second conveyor line 12 can be adjusted by the adjusting base 15 under the second conveyor line 12 to suit the transportation of I-beams 9 of different sizes; the spacing of the third conveyor line 13 can be adjusted by the adjusting base 15 under the third conveyor line 13 to suit the transportation of I-beams 9 of different sizes; the spacing of the fourth conveyor line 14 can be adjusted by the adjusting base 15 under the fourth conveyor line 14 to suit the transportation of I-beams 9 of different sizes; a first support frame 16 for placing the I-beams 9 is provided on one side of the first conveyor line 11, and the first conveyor line 11 is used to transport the I-beams 9 on the first support frame 16 to the butt welding mechanism 200 and the arch bending mechanism 300; a second support frame 17 is provided at the feed point of the second conveyor line 12, and the second support frame 17 is used to support the I-beams 9 transported from the arch bending mechanism 300 to the second conveyor line 12, so as to prevent the I-beams 9 from falling during the transportation between the arch bending mechanism 300 and the second conveyor line 12.

[0070] like Figure 4-6 As shown, in some embodiments, the butt welding mechanism 200 includes a butt welding robot 21 for welding two sections of I-beams 9, a first base 25 arranged on one side of the butt welding robot 21, an upper pressure plate 22 and a side pressure plate 23 arranged on the first base 25 and movable, and a side pressure roller 24 arranged on the bending mechanism 300 and movable; the upper pressure plate 22 is used to press and fix the I-beam 9 on one side of the butt welding robot 21 in the vertical direction, and the side pressure plate 23 is located on one side of the upper pressure plate 22, and is used to press and fix the I-beam 9 on one side of the butt welding robot 21 in the horizontal direction; the side pressure roller 24 is used to press and fix the I-beam 9 on the other side of the butt welding robot 21 in the horizontal direction, and the pressing mechanism 37 of the bending mechanism 300 is used to press and fix the I-beam 9 on the other side of the butt welding robot 21 in the vertical direction.

[0071] In this embodiment, a section of I-beam 9 is positioned in the horizontal direction by moving the side pressure plate 23, and another section of I-beam 9 is positioned in the horizontal direction by moving the side pressure roller 24, so that the two sections of I-beam 9 can be aligned in the horizontal direction; a section of I-beam 9 is positioned in the vertical direction by moving the upper pressure plate 22, and another section of I-beam 9 is positioned in the vertical direction by the clamping mechanism 37 of the arch bending mechanism 300, so that the two sections of I-beam 9 can be aligned in the vertical direction. Thus, by aligning the two sections of I-beam 9 in the vertical and horizontal directions, the two sections of I-beam 9 can be completely aligned during welding, ensuring the product quality of the I-beam after welding. Exemplarily, the upper pressure plate 22, the side pressure plate 23 and the side pressure roller 24 can all be driven to move by a driving mechanism such as an electric cylinder or a cylinder.

[0072] In some embodiments, the arch bending mechanism 300 is located on one side of the butt welding mechanism 200, the I-beam 9 in the arch bending mechanism 300 is connected to the I-beam 9 fed by the first conveyor line 11, and the two sections of the I-beam 9 are welded at the butt joint by the butt welding robot 21; the arch bending mechanism 300 includes a fixed workbench 31 and a rotating workbench 32 rotatably connected to the fixed workbench 31 and located above it, and a feed cylinder 34, a plurality of first drive mechanisms 38 and a plurality of clamping mechanisms 37 are installed on the rotating workbench 32; the first drive mechanism 38 is connected to a rotating roller 33, and the first drive mechanism 38 is used to drive The rotating roller 33 rotates to drive the I-beam 9 to move; the clamping mechanism 37 includes a rotatable upper roller 371, a rotatable lower roller 372 and an adjusting handle 373 connected to the upper roller 371, the I-beam 9 is located between the upper roller 371 and the lower roller 372, and the adjusting handle 373 is used to drive the upper roller 371 to move toward the lower roller 372 to clamp the I-beam 9; the feed cylinder 34 is connected to a top roller seat 35, a rotatable top roller 36 is arranged in the top roller seat 35, and the feed cylinder 34 is used to drive the top roller seat 35 and the top roller 36 to push out to bend the I-beam 9; the side pressure roller 24 is installed on the fixed workbench 31.

[0073] For example, the fixed worktable 31 and the rotating worktable 32 can be connected by a rotating drive mechanism and the like, and the rotating worktable 32 can rotate on the fixed worktable 31; the first driving mechanism 38 can select a rotating motor with a large torque. In this embodiment, there are two first driving mechanisms 38 and two rotating rollers 33, and five pressing mechanisms 37.

[0074] When the arch bending mechanism 300 is in use, the I-beam 9 enters the arch bending mechanism 300 from the first conveyor line 11 through the lower rotating roller 372 of the clamping mechanism 37, passes through each clamping mechanism 37 and two rotating rollers 33 in sequence, and when the entry end of the I-beam 9 reaches the second rotating roller 33, the upper rotating roller 371 is pressed down onto the I-beam 9 by adjusting the handle 373 to clamp the I-beam 9. The feed oil cylinder 34 pushes the top roller seat 35 and the top roller 36 forward to top bend the I-beam 9. At the same time, the first driving mechanism 38 drives the rotating roller 33 to rotate to drive the I-beam 9 to move. While the I-beam 9 is being bent and formed, the rotating table 32 is rotated on the fixed table 31 under the action of the bending tension of the I-beam 9, so that the I-beam 9 at the entry end of the arch bending mechanism 300 does not move, and the arch bending mechanism 300 can be connected with the first conveyor line 11 for feeding the I-beam in the steel arch frame production line. The invention solves the problem that the traditional I-beam bending machine has only one workbench, and when the I-beam 9 is bent, both ends of the I-beam 9 will be displaced due to the bending of the I-beam 9, and cannot be connected with the fixed I-beam feeding conveyor line.

[0075] The arch bending mechanism 300 provided in the present application has a workbench with two layers, and a rotating workbench is rotatably connected above the fixed workbench. The rotating workbench used for arch bending can be rotated so that when the I-beam is bent, the part of the I-beam at the entry end does not move, and the arch bending mechanism 300 can be docked with the first conveyor line 11 to achieve automatic feeding, reduce manual operation, and have high work efficiency. It can achieve continuous feeding operation, so that the production of steel arches can achieve automated production line operation. In addition, since there is no displacement at the entry end, it can be aligned and welded with the I-beam of the first conveyor line 11, saving waste of tailings and reducing engineering construction costs.

[0076] like Figure 4-7 As shown, in some embodiments, the cutting mechanism 400 is installed on the side of the bending mechanism 300 away from the butt welding mechanism 200, including a lift 43, a second drive mechanism 42 connected to the lift 43, a saw blade 41 connected to the second drive mechanism 42, a chip cover 44, a shielding brush 45 and a third drive mechanism 47; the lift 43 is used to drive the second drive mechanism 42 and the saw blade 41 to perform lifting and lowering movements, and the drive mechanism 42 is used to drive the saw blade 41 to rotate to cut the I-beam 9; the two chip covers 44 are located on both sides of the I-beam 9 and are arranged outside the saw blade 41, and the two shielding brushes 45 are arranged on both sides below the saw blade 41, and the I-beam 9 is in contact with a plurality of brushes provided on the shielding brush 45 and can move in the shielding brush 45; the output ends of the two third drive mechanisms 47 are respectively connected to two fixed rollers 46, the two fixed rollers 46 are arranged opposite to each other and are located on both sides of the I-beam 9, and the third drive mechanism 47 is used to drive the fixed rollers 46 to move to clamp and fix the I-beam 9.

[0077] The cutting mechanism 400 provided in the present application can realize the automated cutting of the I-beam 9 to process it into a size that meets the construction requirements. When the I-beam 9 enters the cutting position, the two third drive mechanisms 47 respectively drive the two fixed rollers 46 to move, clamping and fixing the I-beam 9. The second drive mechanism 42 drives the saw blade 41 to rotate, and the elevator 43 drives the second drive mechanism 42 and the saw blade 41 to descend, so that the rotating saw blade 41 cuts the I-beam 9. During cutting, the chip cover 44 set on the left and right sides of the I-beam 9 and the shielding brushes 45 set on the front and rear sides of the saw blade 41 jointly play a shielding role, avoiding cutting splashes that affect the normal operation of other equipment and the cleanliness of the environment.

[0078] In some embodiments, the drilling mechanism 500 is disposed on a side of the cutting mechanism 400 away from the bending mechanism 300, and includes a drilling robot 51, a plasma cutting gun 52 connected to the end of the drilling robot 51, and a waste collection box 53 disposed under the I-beam 9. The drilling robot 51 drives the plasma cutting gun 52 to move to drill the I-beam 9, and the waste collection box 53 is used to receive the waste generated by drilling.

[0079] When the drilling mechanism 500 is in use, the I-beam 9 is transported to the drilling area of ​​the drilling mechanism 500, the drilling robot 51 adjusts the drilling height and drilling position of the plasma cutting gun 52, and the drilling robot 51 drives the plasma cutting gun 52 to move up and down to drill a plurality of equidistantly arranged holes on the moving I-beam 9. When the drilling operation of all holes is completed, the cutting mechanism 400 cuts off the I-beam 9, and the I-beam 9 that meets the construction size and completes the drilling operation is transported to the connecting plate welding mechanism 600 by the second conveyor line 12. The drilling mechanism 500 ensures that the plasma cutting gun 52 will not have position deviation with the I-beam 9 during drilling through the precise control of the drilling robot 51, and the drilling accuracy is ensured. The plasma cutting gun 52 is used for drilling, which reduces the roughness of the drilling surface, reduces the labor intensity of the workers, and improves the drilling efficiency. The waste and cutting slag from the drilling fall into the waste collection box 53 for collection, ensuring the cleanliness of the production environment.

[0080] like Figure 8-12 As shown, in some embodiments, the connecting plate welding mechanism 600 includes a connecting plate attaching robot 61, a first connecting plate welding robot 62 and a second connecting plate welding robot 63 arranged on both sides of the second conveyor line 12, the displacement clamping mechanism 800 is used to fix and transport the I-beam 9, the connecting plate attaching robot 61 is used to install the connecting plate 91 on both ends of the I-beam 9, the first connecting plate welding robot 62 is used to perform partial surface welding on the joint between the I-beam 9 and the connecting plate 91, and the second connecting plate welding robot 63 is used to perform the remaining surface welding on the joint between the I-beam 9 and the connecting plate 91.

[0081] Furthermore, the connecting plate welding mechanism 600 also includes a second connecting plate conveyor line 67 disposed on one side of the connecting plate attaching robot 61 and located below the second conveyor line 12. The second connecting plate conveyor line 67 is connected to the first connecting plate conveyor line 66. The first connecting plate conveyor line 66 is used to convey the connecting plate 91 to the second connecting plate conveyor line 67. The connecting plate attaching robot 61 grabs the connecting plate 91 from the second connecting plate conveyor line 67. The end of the first connecting plate conveyor line 66 can be placed with a processing device for the connecting plate 91. The long-distance first connecting plate conveyor line 66 realizes continuous loading of the connecting plate 91, ensuring continuous and automated attaching and welding of the connecting plate 91. The short-distance second connecting plate conveyor line 67 is arranged on one side of the connecting plate attaching robot 61, so that the connecting plate attaching robot 61 can grab the I-beam 9 transported thereon.

[0082] Furthermore, the first connecting plate welding robot 62 and the second connecting plate welding robot 63 are both equipped with a visual positioning camera 64, and the connecting plate attaching robot 61 is connected to a connecting plate grabbing fixture 65 for grabbing the connecting plate 91, and the connecting plate grabbing fixture 65 is equipped with a visual positioning camera 64. The visual positioning camera 64 can realize the precise fit between the two ends of the I-beam 9 and the connecting plate 91, and also enables the connecting plate welding robot to accurately weld according to the weld position, and the mounting and welding positions are very accurate.

[0083] It should be noted that the structure of the connecting plate grabbing fixture 65 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 65 will not be repeated here.

[0084] In this embodiment, the displacement clamping mechanism 800 can drive the I-beam 9 to rotate together through its own rotation, so as to change the position and transport the I-beam 9. The displacement clamping mechanism 800 grabs the I-beam 9 transported by the second conveyor line 12, the connecting plate attaching robot 61 grabs the connecting plate 91 transported on the second connecting plate conveyor line 67 and attaches it to the two ends of the I-beam 9, and the first connecting plate welding robot 62 performs the initial welding of part of the surface of the joint between the I-beam 9 and the connecting plate 91. After the welding is completed, the first connecting plate welding robot 62 is retracted, and after the displacement clamping mechanism 800 adjusts the welding direction, the second connecting plate welding robot 63 performs the welding of the remaining surface of the joint between the I-beam 9 and the connecting plate 91, and the I-beam 9 after the connecting plate 91 is attached is transported to the third conveyor line 13.

[0085] like Figure 13-17As shown, in some embodiments, the reinforcement plate welding mechanism 700 includes a reinforcement plate welding assembly 70 installed above the displacement clamping mechanism 800 between the third conveyor line 13 and the fourth conveyor line 14, and a lifting and transportation assembly 71 installed above the reinforcement plate welding assembly 70; the reinforcement plate welding assembly 70 includes a third support frame 701, a storage rack 706 arranged on one side below the third support frame 701 and used to place the reinforcement plate, a first movable plate 702 and a second movable plate 703 slidingly connected to the third support frame 701, a reinforcement plate pasting robot 704 fixedly connected to the first movable plate 702 and used to install the reinforcement plate, and a reinforcement plate welding robot 705 fixedly connected to the second movable plate 703 and used to weld the reinforcement plate.

[0086] In this embodiment, the first movable plate 702 and the second movable plate 703 can be driven by a driving mechanism such as a motor to slide on a guide rail provided on the third support frame 701. For example, a rack can be provided on the third support frame 701, and the first movable plate 702 and the second movable plate 703 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 702 and the second movable plate 703 slide on the third support frame 701.

[0087] When the reinforcement plate welding assembly 70 is in use, the reinforcement plate attaching robot 704 attaches the reinforcement plate in the storage rack 706 to the weld of the I-beam 9 clamped by the displacement clamping mechanism 800 between the third conveyor line 13 and the fourth conveyor line 14, and the reinforcement plate welding robot 705 welds the reinforcement plate attached by the reinforcement plate attaching robot 704 to the I-beam 9 to complete the automatic reinforcement plate welding operation.

[0088] Furthermore, the lifting and transporting assembly 71 includes a truss 711, to which a moving frame 712 is slidably connected, and to which two lifting mechanisms 714 are slidably connected. The lifting mechanism 714 is connected to a hoist 715 for hoisting the I-beam 9, and the lifting mechanism 714 is used to drive the hoist 715 to rise and fall; the lifting mechanism 714 is fixedly connected to a fourth driving mechanism 713, and the fourth driving mechanism 713 is used to drive the lifting mechanism 714 to move on the moving frame 712, and the ends of the two lifting mechanisms 714 are connected by a telescopic rod 716; the lifting mechanism 714 is a multi-section electric cylinder.

[0089] In this embodiment, two lifting mechanisms 714 slide on the mobile frame 712, and the spacing between the two lifting mechanisms 714 can be adjusted to accommodate I-beams 9 of different sizes. A telescopic rod 716 is provided at the end of the two lifting mechanisms 714, which can strengthen the connection strength between the two lifting mechanisms 714, making the lifting of the I-beam 9 more stable and reliable, and improving the stability of equipment operation. The lifting mechanism 714 adopts a multi-section electric cylinder, which can realize multi-stage telescopic grasping in conjunction with the telescopic rod 716, and can reduce the height, improve safety and equipment operation stability. Exemplarily, the sliding of the mobile frame 712 on the truss 711 and the sliding of the lifting mechanism 714 on the mobile frame 712 can be achieved by meshing the gears and racks in the prior art, and the motor drives the gears to rotate, and the specific structure will not be repeated.

[0090] In addition, the production line also includes a visual inspection system for detecting whether there is a seam on the I-beam 9. The visual inspection system can identify whether there is a seam on the I-beam 9, and then distinguish the I-beam 9 with a seam from the I-beam 9 without a seam, so that the I-beam 9 with a seam can be welded with a reinforcing plate, and the I-beam without a seam is lifted by the lifting and transporting assembly 71 and directly transported to the fourth conveyor line 14 for product discharge. In addition, the reinforcing plate attaching robot 704 and the reinforcing plate welding robot 705 are both equipped with a visual positioning camera 64, which scans the I-beam 9 with a seam and locates the seam position.

[0091] When the lifting and transporting assembly 71 is in use, when the I-beam 9 is transported from the third conveyor line 13 to the fourth conveyor line 14, the I-beam 9 with joints that needs to be installed with a reinforcement plate is normally transported to the displacement clamping mechanism 800 for installation of the reinforcement plate, and the seamless I-beam 9 that does not need to be installed with a reinforcement plate is lifted by the lifting and transporting assembly 71. Specifically, the sling 715 locks the seamless I-beam 9, and the lifting mechanism 714 contracts to lift the I-beam 9, so that the height of the lifted I-beam 9 is higher than the displacement clamping mechanism 800, and the moving frame 712 drives the I-beam 9 to move over the displacement clamping mechanism 800 and move to the rear of the truss 711. At this time, the lifting mechanism 714 puts down the I-beam 9, opens the sling 715, and the seamless I-beam 9 falls onto the fourth conveyor line 14. After the I-beam 9 with joints is installed with a reinforcement plate, it is normally transported to the fourth conveyor line 14 and is discharged together with the seamless I-beam 9. The distance between the two lifting mechanisms 714 can be adjusted, and the telescopic rod 716 can be adjusted accordingly to adapt to the hoisting of I-beams 9 of different sizes.

[0092] The lifting and transporting assembly 71 provided in this embodiment of the present application is capable of extracting the seamless I-beams 9 that do not need to be installed with reinforcement plates from the third conveyor line 13, and has a compact structure, is safe and reliable, and operates stably. It only needs to be set up above the displacement clamping mechanism 800 and the reinforcement plate welding assembly 70 for use, occupies a small area, greatly saves the cost of setting up additional I-beam screening equipment, and avoids the influence of the seamless I-beams 9 that do not need to be installed with reinforcement plates on the reinforcement plate installation process.

[0093] like Fig.18 and 19 As shown, in some embodiments, the displacement clamping mechanism 800 includes a base frame 81, which is slidably connected to two mobile platforms 82, and the mobile platform 82 is slidably connected to a second base 83, and the second base 83 is rotatably connected to a positioner 84; the base frame 81 is provided with a fifth driving mechanism 85 and a movable first rack 86 and a second rack 87, and the fifth driving mechanism 85 is drivingly connected to a gear meshing with both the first rack 86 and the second rack 87, the first rack 86 is fixedly connected to one of the mobile platforms 82 through a connecting frame 88, and the second rack 87 is fixedly connected to the other mobile platform 82 through the connecting frame 88; the first rack 86 and the second rack 87 are arranged opposite to each other and are parallel to each other, and the gear driven by the fifth driving mechanism 85 is located between the first rack 86 and the second rack 87.

[0094] The displacement clamping mechanism 800 provided in this embodiment of the present application drives the gear to rotate through the fifth driving mechanism 85, and the rotation of the gear drives the first rack 86 and the second rack 87 to move closer to or farther from each other, thereby making the two positioners 84 move closer to or farther from each other, thereby achieving the adjustment of the distance between the two positioners 84. Fig.18 The side of the middle I-beam 9 facing the base frame 81 is a front view. When the fifth driving mechanism 85 rotates clockwise, the first rack 86 and the second rack 87 move toward the outside direction of the base frame 81, and the two positioners 84 move away from each other and the distance between them becomes larger; when the fifth driving mechanism 85 rotates counterclockwise, the first rack 86 and the second rack 87 move toward the center direction of the base frame 81, and the two positioners 84 move toward each other and the distance between them becomes smaller. Exemplarily, the fifth driving mechanism 85 can be a motor and a reducer meshed with the motor. The motor drives the reducer to rotate, and the reducer drives the gear to rotate, thereby driving the first rack 86 and the second rack 87 to move. Among them, the sliding of the second base 83 on the mobile platform 82 can be achieved by a variety of methods in the prior art, such as meshing of gears and racks, and motor driving gear rotation. For example, a rack can be set on the mobile platform 82, and the second base 83 is fixedly connected to a motor. The motor drives a gear that meshes with the rack on the mobile platform 82. The motor drives the gear to rotate, so that the second base 83 and the positioner 84 slide on the mobile platform 82.

[0095] Furthermore, a rack portion 841 is provided on the outer periphery of the positioner 84, and the rack portion 841 has a plurality of teeth. The second base 83 is fixedly connected to the sixth driving mechanism 89, and the sixth driving mechanism 89 is drivingly connected to the first gear 891. The sixth driving mechanism 89 is used to drive the first gear 891 to rotate, and the first gear 891 is meshed with the rack portion 841; the positioner 84 has a clamping portion 842 for clamping the I-beam 9, and the I-beam 9 is clamped by the clamping portion 842 having an opening.

[0096] In this embodiment, since the first gear 891 is meshed with the rack portion 841 , the sixth driving mechanism 89 drives the first gear 891 to rotate, so that the rack portion 841 meshed with the first gear 891 rotates, thereby realizing the rotational movement of the positioner 84 .

[0097] The displacement clamping mechanism 800 provided in this embodiment of the present application drives the first rack 86 and the second rack 87 to move closer to or farther from each other through the fifth driving mechanism 85, thereby making the two positioners 84 move closer to or farther from each other, thereby realizing the adjustment of the spacing between the two positioners 84, so as to be suitable for the clamping of I-beams 9 of different sizes. At the same time, the spacing between the two positioners 84 is adjusted by the fifth driving mechanism 85 to avoid the weld position of the I-beam 9, so as to avoid the positioner 84 blocking the weld position of the I-beam 9 and affecting the welding operation of the robot on the reinforcing plate of the I-beam 9. In addition, the displacement clamping mechanism 800 moves on the mobile platform 82 through the second base 83 and the positioner 84, so as to realize the forward and backward movement of the positioner 84, and drives the first gear 891 to rotate through the sixth driving mechanism 89, so as to rotate the rack part 841 meshing with the first gear 891, thereby realizing the rotation movement of the positioner 84, so as to realize the feeding and discharging of the I-beam 9. Therefore, the displacement clamping mechanism 800 can simultaneously satisfy the rotational motion and forward and backward movement of the positioner 84, and the spacing is adjustable. It is stable in operation, safe and reliable, and has firm clamping, and can simultaneously satisfy the clamping, transportation and welding tasks of the I-beam 9.

[0098] It should be noted that the internal structure of the positioner 84 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 84 is not repeated here.

[0099] like Fig. 20As shown, the steel arch frame is made of an I-beam 9, and the I-beam 9 is a curved structure; two connecting plates 91 are respectively welded to the two end surfaces of the I-beam 9; the reinforcing plate includes a first reinforcing plate 92 and a second reinforcing plate 93, the first reinforcing plate 92 is an arc-shaped plate and is compatible with the inner arc surface and the outer arc surface of the I-beam 9, and the two first reinforcing plates 92 are respectively welded to the welds of the inner arc surface and the outer arc surface of the I-beam 9; the second reinforcing plate 93 is a hexagonal structure, and the two second reinforcing plates 93 are respectively welded to the welds on the two sides of the web of the I-beam 9.

[0100] In addition, the present invention also provides a fully finished tunnel steel arch frame automatic production process, using a fully finished tunnel steel arch frame automatic production line, including the following steps:

[0101] S1, feeding the I-beam 9, the first conveyor line 11 transports the I-beam 9 on the first support frame 16 to the butt welding mechanism 200 and the arch bending mechanism 300;

[0102] S2, butt welding, after the front and rear sections of the I-beam 9 are aligned and pressed and fixed by the upper pressing plate 22, the side pressing plate 23, the side pressing roller 24 of the butt welding mechanism 200 and the pressing mechanism 37 of the arch bending mechanism 300, welding is performed by the butt welding robot 21;

[0103] S3, arch bending, the I-beam 9 passes through the lower rotating roller 372 of the clamping mechanism 37 from the first conveyor line 11 and enters the arch bending mechanism 300, and passes through each clamping mechanism 37 and two rotating rollers 33 in sequence. When the entry end of the I-beam 9 reaches the second rotating roller 33, the upper rotating roller 371 is pressed down onto the I-beam 9 by adjusting the handle 373 to clamp the I-beam 9, and the feed cylinder 34 pushes the top roller seat 35 and the top roller 36 forward to bend the I-beam 9. At the same time, the first driving mechanism 38 drives the rotating roller 33 to rotate to drive the I-beam 9 to move. While the I-beam 9 is being bent, the rotating table 32 is rotated on the fixed table 31 under the action of the bending tension of the I-beam 9;

[0104] S4, following drilling, the I-beam 9 is transported to the drilling area of ​​the drilling mechanism 500, the drilling robot 51 adjusts the drilling height and drilling position of the plasma cutting gun 52, and the drilling robot 51 drives the plasma cutting gun 52 to move up and down to drill multiple holes in the moving I-beam 9;

[0105] S5, fixed-length cutting. When the drilling operation of all holes is completed, the third driving mechanism 47 of the cutting mechanism 400 drives the fixed roller 46 to move to clamp and fix the I-beam 9, the second driving mechanism 42 drives the saw blade 41 to rotate, and the elevator 43 drives the second driving mechanism 42 and the saw blade 41 to descend, so that the rotating saw blade 41 cuts the I-beam 9, and the cut I-beam 9 is transported to the connecting plate welding mechanism 600 by the second conveyor line 12;

[0106] S6, welding the connecting plate 91, the displacement clamping mechanism 800 grabs the I-beam 9 transported by the second conveyor line 12, the connecting plate attaching robot 61 grabs the connecting plate 91 transported on the second connecting plate conveyor line 67 and attaches it to the two ends of the I-beam 9, and the first connecting plate welding robot 62 performs the initial welding of part of the surface of the joint between the I-beam 9 and the connecting plate 91. After the welding is completed, the first connecting plate welding robot 62 is retracted, and the displacement clamping mechanism 800 adjusts the welding direction. The second connecting plate welding robot 63 welds the remaining surfaces of the joint between the I-beam 9 and the connecting plate 91, and the I-beam 9 after the connecting plate 91 is welded is transported to the third conveyor line 13;

[0107] S7, identifying and screening the I-beams 9, the visual inspection system inspects whether the I-beams 9 transported on the third conveyor line 13 have seams; if the I-beams 9 are detected to have no seams, the lifting and transporting assembly 71 lifts the I-beams 9 without seams and transports them to the fourth conveyor line 14 for product unloading; if the I-beams 9 are detected to have seams, the third conveyor line 13 continues to transport the I-beams 9 with seams to the reinforcing plate welding assembly 70;

[0108] S8, grab the I-beam 9 with the seam, the displacement clamping mechanism 800 under the reinforcement plate welding assembly 70 grabs the I-beam 9 with the seam on the third conveyor line 13, and rotates the positioner 84 to lift up the I-beam 9 with the seam;

[0109] S9, scanning and positioning the joint position of the I-beam 9, the visual positioning camera 64 installed on the reinforced plate attaching robot 704 scans the I-beam 9 with the joint and performs preliminary positioning of the joint position;

[0110] S10, adjusting the spacing of the positioner 84, according to the joint position located in S9, adjusting the spacing of the positioner 84 and clamping the I-beam 9, so that the positioner 84 avoids the joint position of the I-beam 9, ensuring that the joint is in a constructible position;

[0111] S11, reinforcing plate installation, the reinforcing plate attaching robot 704 grabs the reinforcing plate in the storage rack 706, 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 9;

[0112] S12, reinforcing plate welding, the reinforcing plate welding robot 705 welds the reinforcing plates after being attached in step S11, and the reinforcing plate attaching robot 704 attaches each reinforcing plate, and the reinforcing plate welding robot 705 welds the reinforcing plate. After welding is completed, the reinforcing plate attaching robot 704 attaches the next reinforcing plate, and the reinforcing plate welding robot 705 continues to weld the next reinforcing plate until the two first reinforcing plates 92 are respectively welded to the welds of the inner arc surface and the outer arc surface of the I-beam 9, and the two second reinforcing plates 93 are respectively welded to the welds on the two sides of the web of the I-beam 9;

[0113] S13, the I-beam 9 is discharged. The displacement clamping mechanism 800 under the reinforcing plate welding assembly 70 transports the I-beam 9 after the plate welding operation to the fourth conveyor line 14, and the seamless I-beam 9 lifted and transported by the lifting and transport assembly 71 in step S7 is discharged together.

[0114] 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 fully finished tunnel steel arch automatic production line, characterized in that: include: A conveying mechanism (100) comprises a first conveying line (11) for feeding I-beams (9), a second conveying line (12), a third conveying line (13) and a fourth conveying line (14) for discharging the I-beams (9), wherein the third conveying line (13) is connected between the second conveying line (12) and the fourth conveying line (14); A butt welding mechanism (200) is arranged at the discharge port of the first conveyor line (11), comprising a butt welding robot (21) for welding two sections of I-beams (9); A bending mechanism (300) is arranged on a side of the butt welding mechanism (200) away from the first conveyor line (11), and is used to bend the I-beam (9); the I-beam (9) in the bending mechanism (300) is connected to the I-beam (9) fed by the first conveyor line (11), and the two sections of the I-beam (9) are welded at the joint by the butt welding robot (21); A cutting mechanism (400) is arranged on a side of the bending mechanism (300) away from the butt welding mechanism (200) and is used for cutting the I-beam (9); A drilling mechanism (500) is disposed between the cutting mechanism (400) and the second conveying line (12) and is used for drilling holes in the I-beam (9); A connecting plate welding mechanism (600) comprises a connecting plate attaching robot (61) arranged on both sides of the second conveyor line (12) for attaching the connecting plate (91) to both ends of the I-beam (9), a first connecting plate welding robot (62) for welding a portion of the butt joint between the connecting plate (91) and the I-beam (9), and a second connecting plate welding robot (63) for welding the remaining surfaces of the butt joint between the connecting plate (91) and the I-beam (9); The reinforcing plate welding mechanism (700) comprises a reinforcing plate welding assembly (70) mounted above the third conveying line (13) and / or the fourth conveying line (14) and a lifting and transporting assembly (71) mounted above the reinforcing plate welding assembly (70), wherein the lifting and transporting assembly (71) is used to lift the seamless I-beam (9) from the third conveying line (13) and transport it over the reinforcing plate welding assembly (70) to the fourth conveying line (14); the reinforcing plate welding assembly (70) comprises a reinforcing plate attaching robot (704) for attaching reinforcing plates and being movable, and a reinforcing plate welding robot (705) for welding reinforcing plates and being movable, and the I-beam (9) with a seam is transported to the fourth conveying line (14) after being welded with the reinforcing plate by the reinforcing plate welding assembly (70), and is discharged together with the seamless I-beam (9); The reinforcing plate welding assembly (70) comprises a third support frame (701), a material storage rack (706) arranged on one side below the third support frame (701) and used to place reinforcing plates, and a first movable plate (702) and a second movable plate (703) slidably connected to the third support frame (701), wherein the first movable plate (702) is fixedly connected to a reinforcing plate pasting robot (704), and the second movable plate (703) is fixedly connected to a reinforcing plate welding robot (705); The lifting and transporting assembly (71) comprises a truss (711), a movable frame (712) is slidably connected to the truss (711), two lifting mechanisms (714) are slidably connected to the movable frame (712), the lifting mechanism (714) is connected to a sling (715) for hoisting an I-beam (9), and the lifting mechanism (714) is used to drive the sling (715) to rise and fall; the lifting mechanism (714) is fixedly connected to a fourth driving mechanism (713), and the fourth driving mechanism (713) is used to drive the lifting mechanism (714) to move on the movable frame (712), and the ends of the two lifting mechanisms (714) are connected by a telescopic rod (716); the lifting mechanism (714) is a multi-section electric cylinder.

2. The fully finished tunnel steel arch automatic production line according to claim 1 is characterized in that: The butt welding mechanism (200) further comprises a first base (25) arranged on one side of the butt welding robot (21), an upper pressure plate (22) and a side pressure plate (23) arranged on the first base (25) and movable, and a side pressure roller (24) arranged on the bending mechanism (300) and movable; the upper pressure plate (22) is used to press and fix the I-beam (9) on one side of the butt welding robot (21) in the vertical direction, and the side pressure plate (23) is located on the upper pressure plate (22). One side of the pressure plate (22) is used to press and fix the I-beam (9) on one side of the butt welding robot (21) in the horizontal direction; the side pressure roller (24) is used to press and fix the I-beam (9) on the other side of the butt welding robot (21) in the horizontal direction, and the arch mechanism (300) is provided with a pressing mechanism (37), and the pressing mechanism (37) is used to press and fix the I-beam (9) on the other side of the butt welding robot (21) in the vertical direction.

3. The fully finished tunnel steel arch automatic production line according to claim 2 is characterized in that: The arch bending mechanism (300) comprises a fixed worktable (31) and a rotating worktable (32) rotatably connected to the fixed worktable (31) and located above the fixed worktable (31); a feed cylinder (34), a plurality of first drive mechanisms (38) and a plurality of clamping mechanisms (37) are installed on the rotating worktable (32); the first drive mechanism (38) is connected to a rotating roller (33), and the first drive mechanism (38) is used to drive the rotating roller (33) to rotate so as to drive the I-beam (9) to move; the clamping mechanism (37) comprises a rotatable upper rotating roller (371), a rotatable lower rotating roller (372) and a rotating roller (371) connected to the upper rotating roller (371). An adjusting handle (373) is connected to the roller (371), the I-beam (9) is located between the upper roller (371) and the lower roller (372), and the adjusting handle (373) is used to drive the upper roller (371) to move toward the lower roller (372) to press the I-beam (9); the feed cylinder (34) is connected to a top roller seat (35), a rotatable top roller (36) is arranged in the top roller seat (35), and the feed cylinder (34) is used to drive the top roller seat (35) and the top roller (36) to push out to bend the I-beam (9); the side pressure roller (24) is installed on the fixed workbench (31).

4. The fully finished tunnel steel arch automatic production line according to claim 3 is characterized in that: The cutting mechanism (400) comprises an elevator (43), a second driving mechanism (42) connected to the elevator (43), a saw blade (41) connected to the second driving mechanism (42), a chip cover (44), a shielding brush (45) and a third driving mechanism (47); the elevator (43) is used to drive the second driving mechanism (42) and the saw blade (41) to perform lifting and lowering movements, and the driving mechanism (42) is used to drive the saw blade (41) to rotate so as to cut the I-beam (9); the two chip covers (44) are located on both sides of the I-beam (9). The shield is arranged on the side outside the saw blade (41), the two shielding brushes (45) are arranged on both sides below the saw blade (41), the I-beam (9) is in contact with a plurality of brushes arranged on the shielding brush (45) and can move in the shielding brush (45); the output ends of the two third driving mechanisms (47) are respectively connected to two fixed rollers (46), the two fixed rollers (46) are arranged opposite to each other and are located on both sides of the I-beam (9), and the third driving mechanism (47) is used to drive the fixed rollers (46) to move so as to clamp and fix the I-beam (9).

5. The fully finished tunnel steel arch automatic production line according to claim 4 is characterized in that: The drilling mechanism (500) is arranged on a side of the cutting mechanism (400) away from the bending mechanism (300), and comprises a drilling robot (51), a plasma cutting gun (52) connected to the end of the drilling robot (51), and a waste collection box (53) arranged below the I-beam (9); the drilling robot (51) drives the plasma cutting gun (52) to move so as to drill the I-beam (9); and the waste collection box (53) is used to receive waste generated by drilling.

6. The fully finished tunnel steel arch automatic production line according to claim 5 is characterized in that: The connecting plate welding mechanism (600) also includes a second connecting plate conveyor line (67) arranged on one side of the connecting plate pasting robot (61) and located below the second conveyor line (12), the second connecting plate conveyor line (67) is connected to the first connecting plate conveyor line (66), the first connecting plate conveyor line (66) is used to convey the connecting plate (91) to the second connecting plate conveyor line (67), the connecting plate pasting robot (61) grabs the connecting plate (91) from the second connecting plate conveyor line (67); the first connecting plate welding robot (62) and the second connecting plate welding robot (63) are both equipped with a visual positioning camera (64), the connecting plate pasting robot (61) is connected to a connecting plate grabbing fixture (65) for grabbing the connecting plate (91), and the connecting plate grabbing fixture (65) is equipped with a visual positioning camera (64).

7. The fully finished tunnel steel arch automatic production line according to claim 6 is characterized in that: A displacement clamping mechanism (800) for fixing the I-beam (9) is provided between the second conveyor line (12) and the third conveyor line (13), and between the third conveyor line (13) and the fourth conveyor line (14). The displacement clamping mechanism (800) comprises a base frame (81), wherein the base frame (81) is slidably connected to two movable platforms (82), wherein the movable platforms (82) are slidably connected to a second base (83), and wherein the second base (83) is rotatably connected to a positioner (84); the base frame (81) is provided with a fifth driving mechanism (85) and a movable first rack (86) and a second rack (87), wherein the fifth driving mechanism (85) is drivingly connected to a gear meshing with both the first rack (86) and the second rack (87), wherein the first rack (86) is fixedly connected to one of the movable platforms (82) via a connecting frame (88), and the second rack (83) is rotatably connected to a positioner (84); (87) is fixedly connected to another mobile platform (82) through a connecting frame (88); the first rack (86) and the second rack (87) are arranged opposite to each other and are parallel to each other, and the gear driven by the fifth driving mechanism (85) is located between the first rack (86) and the second rack (87); a rack portion (841) is arranged on the outer periphery of the positioner (84), and the rack portion (841) has a plurality of teeth; the second base (83) is fixedly connected to a sixth driving mechanism (89), and the sixth driving mechanism (89) is drivenly connected to a first gear (891), and the sixth driving mechanism (89) is used to drive the first gear (891) to rotate, and the first gear (891) is meshed with the rack portion (841); the positioner (84) has a clamping portion (842) for clamping the I-beam (9), and the I-beam (9) is clamped by the clamping portion (842) having an opening.

8. A fully finished tunnel steel arch automatic production process, characterized in that: The automatic production line for tunnel steel arch frame using the fully finished product described in claim 7 comprises the following steps: S1, feeding the I-beam (9), the first conveyor line (11) transports the I-beam (9) on the first support frame (16) to the butt welding mechanism (200) and the arch bending mechanism (300); S2, butt welding, after aligning and pressing the front and rear sections of the I-beam (9) by means of the upper pressing plate (22), the side pressing plate (23), the side pressing roller (24) of the butt welding mechanism (200) and the pressing mechanism (37) of the bending mechanism (300), welding is performed by means of the butt welding robot (21); S3, arch bending and forming, the I-beam (9) passes through the lower rotating roller (372) of the clamping mechanism (37) from the first conveyor line (11) and enters the arch bending mechanism (300), and passes through each clamping mechanism (37) and two rotating rollers (33) in sequence. When the entry end of the I-beam (9) reaches the second rotating roller (33), the upper rotating roller (371) is pressed down onto the I-beam (9) by adjusting the handle (373) to clamp the I-beam (9), and the feed cylinder (34) pushes the top roller seat (35) and the top roller (36) forward to bend the I-beam (9). At the same time, the first driving mechanism (38) drives the rotating roller (33) to rotate to drive the I-beam (9) to move. While the I-beam (9) is being bent and formed, the rotating table (32) is rotated on the fixed table (31) under the action of the bending tension of the I-beam (9); S4, following the drilling, the I-beam (9) is transported to the drilling area of ​​the drilling mechanism (500), the drilling robot (51) adjusts the drilling height and drilling position of the plasma cutting gun (52), and the drilling robot (51) drives the plasma cutting gun (52) to move up and down to drill a plurality of holes in the moving I-beam (9); S5, cutting to length. When the drilling operation of all holes is completed, the third driving mechanism (47) of the cutting mechanism (400) drives the fixed roller (46) to move to clamp and fix the I-beam (9), the second driving mechanism (42) drives the saw blade (41) to rotate, and the elevator (43) drives the second driving mechanism (42) and the saw blade (41) to descend, so that the rotating saw blade (41) cuts the I-beam (9). The cut I-beam (9) is transported to the connecting plate welding mechanism (600) by the second conveyor line (12); S6, welding the connecting plate (91), the displacement clamping mechanism (800) grabs the I-beam (9) transported by the second conveyor line (12), the connecting plate attaching robot (61) grabs the connecting plate (91) transported on the second connecting plate conveyor line (67) and attaches it to the two ends of the I-beam (9), and the first connecting plate welding robot (62) performs initial welding on a part of the joint between the I-beam (9) and the connecting plate (91). After the welding is completed, the first connecting plate welding robot (62) is retracted, and the displacement clamping mechanism (800) adjusts the welding direction. Then, the second connecting plate welding robot (63) performs welding on the remaining surfaces of the joint between the I-beam (9) and the connecting plate (91), and the I-beam (9) after the connecting plate (91) is welded is transported to the third conveyor line (13); S7, identifying and screening the I-beams (9), the visual inspection system inspecting whether the I-beams (9) transported on the third conveyor line (13) have seams; if the I-beams (9) are found to have no seams, the lifting and transporting assembly (71) lifts the I-beams (9) without seams and transports them to the fourth conveyor line (14) for product unloading; if the I-beams (9) are found to have seams, the third conveyor line (13) continues to transport the I-beams (9) with seams to the reinforcing plate welding assembly (70); S8, grabbing the I-beam (9) with the seam, the displacement clamping mechanism (800) below the reinforcing plate welding assembly (70) grabs the I-beam (9) with the seam on the third conveyor line (13), and the positioner (84) is rotated to lift the I-beam (9) with the seam; S9, scanning and locating the joint position of the I-beam (9), the visual positioning camera (64) installed on the reinforced plate attaching robot (704) scans the I-beam (9) with the joint and performs preliminary positioning of the joint position; S10, adjusting the spacing of the positioner (84), adjusting the spacing of the positioner (84) and clamping the I-beam (9) according to the joint position located in S9, so that the positioner (84) avoids the joint position of the I-beam (9) to ensure that the joint is in a constructible position; S11, reinforcing plate installation, the reinforcing plate attaching robot (704) grabs the reinforcing plate in the storage rack (706), 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 (9); S12, reinforcing plate welding, the reinforcing plate welding robot (705) welds the reinforcing plates that have been attached in step S11, and the reinforcing plate attaching robot (704) attaches each reinforcing plate, and the reinforcing plate welding robot (705) welds the reinforcing plate. After welding is completed, the reinforcing plate attaching robot (704) attaches the next reinforcing plate, and the reinforcing plate welding robot (705) continues to weld the next reinforcing plate until the two first reinforcing plates (92) are respectively welded to the welds of the inner arc surface and the outer arc surface of the I-beam (9), and the two second reinforcing plates (93) are respectively welded to the welds on the two sides of the web of the I-beam (9); S13, the I-beam (9) is discharged. The displacement clamping mechanism (800) below the reinforcing plate welding assembly (70) transports the I-beam (9) after the plate welding operation to the fourth conveyor line (14), and the product is discharged together with the seamless I-beam (9) lifted and transported by the lifting and transport assembly (71) in step S7.

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