A production line and production process for automatic welding reinforcement plates of tunnel steel arch frames

Abstract

The present invention discloses a production line and production process for automatic welding reinforcement plates of tunnel steel arch frames, the production line comprising: a conveying mechanism, including a feed conveying line and a discharge conveying line; a clamping conveying mechanism, located between the feed conveying line and the discharge conveying line, including two positioners with adjustable spacing; a plate welding mechanism, erected above the clamping conveying mechanism, including a plate robot and a welding robot; a lifting and conveying mechanism, erected above the plate welding mechanism, for lifting and transporting I-beams; a material storage rack, located on one side of the plate welding mechanism, for storing reinforcement plates. The present invention operates accurately and has a high degree of automation, can realize the automated operation of welding reinforcement plates at the joints of steel arch frames, can realize continuous mounting and welding work, can realize continuous feeding of reinforcement plates, and thus can realize continuous production operations, has high work efficiency, can realize fully automated production operations, and realizes mass production of steel arch frames.

Description

Technical Field

[0001] The invention relates to a tunnel steel arch frame automatic welding reinforcement plate production line and a production process, belonging to the technical field of steel arch frame production. Background Art

[0002] Steel arch is a support measure that uses bent I-beams to reinforce underground projects. 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. During the production process of the steel arch, the entire I-beam needs to be cut to a size that meets the construction requirements, and after the cutting of the entire I-beam, there will inevitably be residual tailings. In order to avoid the waste of I-beam tailings, it is necessary to continue welding the I-beam tailings, that is, to continue welding the I-beam tailings with the new entire I-beam, and it is necessary to weld the reinforcement plate 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 products, and make them meet the construction requirements.

[0003] However, the existing steel arch frames are manually welded at the joints of reinforcement plates, which is labor-intensive and labor-intensive, and has high labor costs. It is impossible to achieve continuous installation and welding work, continuous feeding of reinforcement plates, and thus continuous production operations. The work efficiency is low, and automated production and mass production of steel arch frames are impossible. In addition, the manual welding of reinforcement plates has poor effects, and is prone to problems such as inaccurate reinforcement plate installation positions and poor reinforcement plate welding effects, thereby affecting the product quality of the steel arch frames.

[0004] In addition, in the entire production line of steel arches, it is not necessary to weld reinforcement plates to all I-beams. Only those with seams need to be welded, and those without seams do not need to be welded. However, all I-beams are transported by a whole conveyor line. Therefore, it is necessary to manually select and extract the seamless I-beams that do not need to be welded with reinforcement plates to avoid affecting the welding of reinforcement plates on I-beams with seams. This will greatly increase the labor time, increase the production cost of steel arches, and seriously affect the production efficiency of steel arches. Summary of the invention

[0005] In order to solve the above problems, the present invention provides a production line and production process for automatic welding of reinforcement plates for tunnel steel arch frames. The present invention has precise operation, high degree of automation, precise structure and high work efficiency. Through the structural layout between the plate welding mechanism, the lifting and transportation mechanism, the material storage rack and the clamping and transportation mechanism, they are closely matched to realize the automated operation of welding reinforcement plates at the joints of the steel arch frames, can realize continuous installation and welding work, can realize continuous feeding of reinforcement plates, and then can realize continuous production operations, with high work efficiency, can realize fully automated production operations, and realize mass production of steel arch frames.

[0006] The first object of the present invention is to provide a tunnel steel arch frame automatic welding reinforcement plate production line, comprising:

[0007] A conveying mechanism, including a feeding conveying line for feeding the I-beam and a discharging conveying line for discharging the I-beam;

[0008] A clamping and transporting mechanism, located between the feed conveying line and the discharge conveying line, comprises two positioners with adjustable spacing, and the positioners are used to clamp the I-beam;

[0009] A plate pasting and welding mechanism is mounted above the clamping and transporting mechanism, and includes a movable plate pasting robot for pasting the reinforcing plate and a movable welding robot for welding the reinforcing plate;

[0010] A lifting and transporting mechanism is erected above the plate-attaching and welding mechanism and is used to lift and transport the I-beam;

[0011] A material storage rack, located on one side of the plate welding mechanism, for storing the reinforcement plates;

[0012] Among them, the seamless I-beams are lifted up from the feed conveyor line by the lifting and transporting mechanism and transported to the discharge conveyor line; the I-beams with seams are welded with reinforcing plates by the plate welding mechanism and then transported to the discharge conveyor line, and the discharge is completed together with the seamless I-beams.

[0013] In one embodiment of the present invention, the plate pasting and welding mechanism includes a support frame, the clamping and transporting mechanism is located below the support frame, and the storage rack is located 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 to the plate pasting robot, and the second movable plate is fixedly connected to the welding robot; the plate pasting robot is used to attach the reinforcement plates stored in the storage rack to the weld of the I-beam clamped by the clamping and transporting mechanism, and the welding robot is used to weld the reinforcement plates attached by the plate pasting robot to the I-beam.

[0014] In one embodiment of the present invention, the lifting and transporting mechanism 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 sling for lifting I-beams, and the lifting mechanism is used to drive the sling to rise and fall; the lifting mechanism is fixedly connected to a first driving mechanism, the first 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; wherein the lifting mechanism is a multi-section electric cylinder.

[0015] In one embodiment of the present invention, the sling includes a first connecting frame installed at the output end of the lifting mechanism, the first connecting frame is fixedly connected to the second driving mechanism, the output end of the second driving mechanism is connected to the first connecting plate, the first connecting plate is fixedly connected to the limiting rod, and the second driving mechanism is used to drive the first connecting plate and the limiting rod to perform telescopic movement; the lower end of the first connecting frame is provided with an insertion port for inserting the I-beam, and the limiting rod can be extended into the insertion port and abut against the first connecting frame.

[0016] In one embodiment of the present invention, the clamping and transporting mechanism includes a chassis, the chassis is slidably connected to two second mobile platforms, the second mobile platform is slidably connected to a base, and the base is rotatably connected to a positioner; the chassis 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 meshed with the first rack and the second rack, the first rack is fixedly connected to one of the second mobile platforms through a second connecting frame, and the second rack is fixedly connected to the other second mobile platform through a second 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 base is fixedly connected to a sixth driving mechanism, the sixth driving mechanism is drivingly connected to a first gear, 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; the I-beam is clamped by a clamping portion having an opening.

[0017] In one embodiment of the present invention, the steel arch frame is made of an I-beam, and the I-beam is a curved structure; the reinforcing plate includes a first reinforcing plate and a second reinforcing plate, the first reinforcing plate is an arc-shaped plate and is compatible with the inner and outer arc surfaces of the I-beam, and the two first reinforcing plates are respectively mounted on the welds of the inner and outer arc surfaces of the I-beam; the second reinforcing plate is a hexagonal structure, and the two second reinforcing plates are respectively mounted on the welds on both sides of the I-beam web.

[0018] The second object of the present invention is to provide a tunnel steel arch frame automatic welding reinforcement plate production process, using the tunnel steel arch frame automatic welding reinforcement plate production line, comprising the following steps:

[0019] S1, I-beam feeding; the feeding conveyor line transports the I-beam to the clamping transport mechanism;

[0020] S2. Identify and select I-beams; the visual inspection system detects whether there are seams on the I-beams transported on the feed conveyor line; if the I-beams are detected to have no seams, the lifting and transporting mechanism lifts the I-beams without seams and transports them to the discharging conveyor line for product discharging; if the I-beams are detected to have seams, the feed conveyor line continues to transport the I-beams with seams to the clamping and transporting mechanism;

[0021] S3, grab the I-beam with seams; the clamping and transporting mechanism grabs the I-beam with seams on the feeding conveyor line, and the positioner is rotated to lift the I-beam with seams;

[0022] S4. Scan and locate the joint position of the I-beam. The visual positioning camera installed on the panel mounting robot scans the I-beam with joints and performs preliminary positioning of the joint position.

[0023] S5, adjusting the spacing of the positioners; according to the joint position located in S4, adjusting the spacing of the positioners and clamping the I-beams, so that the positioners avoid the joint position of the I-beams, ensuring that the joints are in a constructible position;

[0024] S6, reinforcing plate installation; the plate-attaching robot grabs the reinforcing plate stored in 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;

[0025] S7, reinforcing plate welding; the welding robot welds the reinforcing plates after being attached in step S6, and the welding robot welds the reinforcing plates each time the plate attaching robot attaches a reinforcing plate. After welding is completed, the plate attaching robot attaches the next reinforcing plate, and the 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;

[0026] S8, I-beam discharge; the clamping and transporting mechanism transports the I-beam after the plate welding operation to the discharge conveyor line, and completes the product discharge together with the seamless I-beam lifted and transported by the lifting and transporting mechanism in step S2.

[0027] In one embodiment of the present invention, the lifting and transporting mechanism in S2 lifts the seamless I-beam and transports it to the discharging conveyor line for product discharging, which specifically includes the following steps:

[0028] S21, the sling locks the seamless I-beam, and the lifting mechanism contracts to lift the I-beam, so that the height of the lifted I-beam is higher than the clamping and transporting mechanism;

[0029] S22, the moving frame drives the I-beam to move so that it passes over the clamping transport mechanism and moves to the rear of the truss;

[0030] S23, the lifting mechanism lowers the I-beam, opens the sling, and the seamless I-beam falls onto the discharging conveyor line for product discharging.

[0031] In one embodiment of the present invention, the clamping and transporting mechanism in S3 grabs the I-beam with seams on the feed conveyor line, and the positioner is rotated to lift the I-beam with seams, which specifically includes the following steps:

[0032] S31, the positioner moves to the feed conveyor line on the second moving platform, and the clamping part of the positioner clamps the I-beam on the feed conveyor line;

[0033] S32, the sixth driving mechanism drives the positioner to rotate, so that the positioner rotates 90 degrees, so that the opening of the clamping part lifts the I-beam upward.

[0034] In one embodiment of the present invention, the positioner in S5 adjusts the spacing, specifically comprising the following steps:

[0035] S51, the fifth driving mechanism drives the gear connected thereto to rotate, and the rotation of the gear drives the first rack and the second rack to move closer to or farther from each other, so that the two positioners move closer to or farther from each other, and the positioners avoid the joint position of the I-beam, ensuring that the joint is in a constructible position, and then clamping the I-beam;

[0036] The clamping and transporting mechanism in S8 transports the I-beam after the plate welding operation to the discharging conveying line, which specifically includes the following steps:

[0037] S81. The positioner moves to the discharge conveyor line on the second mobile platform. The sixth driving mechanism drives the positioner to rotate 90° so that the opening of the clamping part faces the discharge conveyor line. The clamping part is opened, and the I-beam falls onto the discharge conveyor line to realize the discharge work.

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

[0039] 1. The present invention has precise operation, high degree of automation, precise structure and high work efficiency. Through the structural layout of the plate welding mechanism, the lifting and transporting mechanism, the material storage rack and the clamping and transporting mechanism, they are closely matched, which can realize the automated operation of welding the reinforcing plates at the joints of the steel arch frame, can realize continuous installation and welding work, can realize continuous feeding of the reinforcing plates, and then can realize continuous production operation, with high work efficiency, can realize fully automated production operation, and realize mass production of steel arch frames.

[0040] 2. The lifting and transporting mechanism provided by the present invention can extract seamless I-beams that do not need to be installed with reinforcing plates from the feed conveying line, and has a compact structure, is safe and reliable, and operates stably. It can be used by simply being erected above the conveying mechanism and the plate welding mechanism, and occupies a small area, greatly saving the cost required for additional I-beam screening equipment, and avoiding the impact of 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 mechanism slide on the mobile frame, and the spacing between the two lifting mechanisms can be adjusted to accommodate I-beams of different sizes; telescopic rods are provided at the ends of the two lifting mechanisms, which can strengthen the connection strength between the two lifting mechanisms, making the lifting of I-beams more stable and reliable, and improving the stability of equipment operation; multi-section electric cylinders cooperate with telescopic rods to achieve multi-stage telescopic grasping, which can reduce the height, improve safety and equipment operation stability.

[0041] 3. The material storage rack provided in the present invention has a compact structure and occupies a small area. The reinforcement plates stored in the material storage rack can be continuously grabbed by the plate-pasting robot, so that the four reinforcement plates required for the installation of the I-beam butt welding can be fed. The feeding speed is fast and the work efficiency is high, and automated production is realized without the need for manual auxiliary feeding, which greatly reduces the operating cost of the steel arch frame production line and the production and processing cost of the steel arch frame, and can realize the installation of large quantities of reinforcement plates.

[0042] 4. The clamping and transporting 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 clamping and transporting mechanism moves on the second mobile platform through the base and the positioner, and can realize the forward and backward movement of the positioner, and drives the first gear to rotate through the sixth driving mechanism, 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 clamping and transporting 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.

[0043] 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. BRIEF DESCRIPTION OF THE DRAWINGS

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

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

[0046] Figure 3 A front view of an automatic welding reinforcement plate production line for a tunnel steel arch provided in an embodiment of the present invention.

[0047] Figure 4 A stereoscopic diagram from a first perspective of the automatic welding reinforcement plate production line for tunnel steel arch frames provided in an embodiment of the present invention without a lifting and transportation mechanism.

[0048] Figure 5 A stereoscopic diagram from a second perspective of the automatic welding reinforcement plate production line for tunnel steel arch frames provided in an embodiment of the present invention without the lifting and transportation mechanism.

[0049] Figure 6 A stereoscopic diagram from a first viewing angle of a plate bonding mechanism provided in an embodiment of the present invention.

[0050] Figure 7 A stereoscopic diagram from a second viewing angle of the plate bonding mechanism provided in an embodiment of the present invention.

[0051] Figure 8 A stereoscopic diagram from a first perspective of a lifting and transporting mechanism provided in an embodiment of the present invention.

[0052] Fig. 9 A stereoscopic diagram from a second viewing angle of the lifting and transporting mechanism provided in an embodiment of the present invention.

[0053] Fig.10 A three-dimensional diagram of a moving frame, a lifting mechanism and a sling of a lifting and transporting mechanism provided in an embodiment of the present invention.

[0054] Fig.11 A three-dimensional diagram of a lifting mechanism and a sling of a lifting and transporting mechanism provided in an embodiment of the present invention.

[0055] Fig.12 A three-dimensional diagram of a sling for a lifting and transporting mechanism provided in an embodiment of the present invention.

[0056] Fig.13 A three-dimensional diagram of an I-beam requiring a welded reinforcement plate provided in an embodiment of the present invention.

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

[0058] Fig.15 A three-dimensional diagram of a partial structure of a clamping and transporting mechanism provided in an embodiment of the present invention.

[0059] In the figure: 100, plate welding mechanism; 1, support frame; 11, first movable plate; 12, second movable plate; 13, plate robot; 14, welding robot; 200, lifting and transport mechanism; 2, truss; 21, movable frame; 22, first driving mechanism; 23, lifting mechanism; 24, lifting device; 25, telescopic rod; 26, first connecting frame; 261, insertion port; 27, second driving mechanism; 28, first connecting plate; 29, limit rod; 300, storage rack; 35, first A reinforcing plate; 36, a second reinforcing plate; 400, a clamping and transporting mechanism; 41, a chassis; 42, a second mobile platform; 43, a base; 44, a positioner; 441, a rack portion; 442, a clamping portion; 45, a fifth driving mechanism; 46, a first rack; 47, a second rack; 48, a second connecting frame; 49, a sixth driving mechanism; 491, a first gear; 500, a conveying mechanism; 51, a feed conveyor line; 52, a discharge conveyor line; 53, an adjusting base; 6, an I-beam. DETAILED DESCRIPTION

[0060] 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.

[0061] 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.

[0062] 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.

[0063] like Figure 1-5 As shown, the present invention provides an automatic welding reinforcement plate production line for a tunnel steel arch frame. In some embodiments, it includes a plate welding mechanism 100, a lifting and transporting mechanism 200, a storage rack 300, a clamping and transporting mechanism 400 and a conveying mechanism 500; the conveying mechanism 500 includes a feeding conveyor line 51 for feeding I-beams 6 and a discharging conveyor line 52 for discharging I-beams 6, the clamping and transporting mechanism 400 is located between the feeding conveyor line 51 and the discharging conveyor line 52, the plate welding mechanism 100 is erected above the clamping and transporting mechanism 400, the lifting and transporting mechanism 200 is erected above the plate welding mechanism 100, and the storage rack 300 is located on one side of the plate welding mechanism 100.

[0064] Optionally, an adjustment base 53 is provided below the feed conveyor line 51 and the discharge conveyor line 52, and the feed conveyor line 51 and the discharge conveyor line 52 are slidably connected to the adjustment base 53 and the spacing is adjustable. Thus, the spacing of the feed conveyor line 51 can be adjusted by the adjustment base 53 below the feed conveyor line 51 to adapt to the transportation of I-beams 6 of different sizes; the spacing of the discharge conveyor line 52 can be adjusted by the adjustment base 53 below the discharge conveyor line 52 to adapt to the transportation of I-beams 6 of different sizes.

[0065] like Figure 6 and 7 As shown, in some embodiments, the plate pasting and welding mechanism 100 includes a support frame 1, a clamping and transporting mechanism 400 is located below the support frame 1, and a storage rack 300 is located on one side below the support frame 1; the support frame 1 is slidingly connected with a first movable plate 11 and a second movable plate 12, the first movable plate 1 is fixedly connected with a plate pasting robot 13 for installing a reinforcing plate, and the second movable plate 12 is fixedly connected with a welding robot 14 for welding a reinforcing plate.

[0066] In this embodiment, the first movable plate 11 and the second movable plate 12 can be driven by a driving mechanism such as a motor to slide on a guide rail provided on the support frame 1. For example, a rack can be provided on the support frame 1, and the first movable plate 11 and the second movable plate 12 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 11 and the second movable plate 12 slide on the support frame 1.

[0067] When the plate pasting and welding mechanism 100 is in use, the plate pasting robot 13 installs the reinforcement plate stored in the storage rack 300 on the weld seam of the I-beam 6 clamped by the clamping and transporting mechanism 400, and the welding robot 14 welds the reinforcement plate installed by the plate pasting robot 13 to the I-beam 6 to complete the automatic pasting and welding of the reinforcement plate.

[0068] like Figure 8-12 As shown, in some embodiments, the lifting and transporting mechanism 200 includes a truss 2, a moving frame 21 is slidably connected to the truss 2, two lifting mechanisms 23 are slidably connected to the moving frame 21, the lifting mechanism 23 is connected to a sling 24 for lifting the I-beam 6, and the lifting mechanism 23 is used to drive the sling 24 to rise and fall; the lifting mechanism 23 is fixedly connected to a first driving mechanism 22, and the first driving mechanism 22 is used to drive the lifting mechanism 23 to move on the moving frame 21, and the ends of the two lifting mechanisms 23 are connected by a telescopic rod 25.

[0069] In this embodiment, the two lifting mechanisms 23 slide on the mobile frame 21, and the distance between the two lifting mechanisms 23 can be adjusted to accommodate I-beams 6 of different sizes. A telescopic rod 25 is provided at the ends of the two lifting mechanisms 23, which can strengthen the connection strength between the two lifting mechanisms 23, making the lifting of the I-beam 6 more stable and reliable, and improving the stability of equipment operation. For example, the sliding of the mobile frame 21 on the truss 2 and the sliding of the lifting mechanism 23 on the mobile frame 21 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.

[0070] Furthermore, the lifting mechanism 23 is a multi-section electric cylinder. The multi-section electric cylinder cooperates with the telescopic rod 25 to realize multi-stage telescopic grasping, which can reduce the height and improve the safety and stability of equipment operation.

[0071] Furthermore, the sling 24 includes a first connecting frame 26 installed at the output end of the lifting mechanism 23, the first connecting frame 26 is fixedly connected to the second driving mechanism 27, the output end of the second driving mechanism 27 is connected to the first connecting plate 28, the first connecting plate 28 is fixedly connected to the limiting rod 29, and the second driving mechanism 27 is used to drive the first connecting plate 28 and the limiting rod 29 to perform telescopic movement; the lower end of the first connecting frame 26 is provided with an insertion port 261 for inserting the I-beam 6, and the limiting rod 29 can extend into the insertion port 261 and abut against the first connecting frame 26.

[0072] In this embodiment, when the I-beam 6 needs to be hoisted, the second drive mechanism 27 drives the first connecting plate 28 and the limiting rod 29 to move outward, so that the limiting rod 29 withdraws from the insertion port 261, and then the I-beam 6 can enter the first connecting frame 26 from the insertion port 261. Then, the second drive mechanism 27 drives the first connecting plate 28 and the limiting rod 29 to move inward, so that the limiting rod 29 is inserted into the insertion port 261 and abuts against the first connecting frame 26. At this time, the limiting rod 29 plays the role of carrying the I-beam 6, so that the I-beam 6 is locked in the hoist 4, which can effectively prevent the I-beam 6 from falling during the hoisting process, thereby improving the safety of use. By way of example, the second drive mechanism 27 is an electric cylinder, a pneumatic cylinder, etc.

[0073] When the lifting and transporting mechanism 200 is in use, when the I-beam 6 is fed from the feeding conveying line 51, the I-beam with joints that need to be installed with reinforcement plates is normally transported to the clamping and transporting mechanism 400 for installation of reinforcement plates, and the seamless I-beam that does not need to be installed with reinforcement plates is lifted by the lifting and transporting mechanism 200. Specifically, the sling 24 locks the seamless I-beam 6, and the lifting mechanism 23 contracts to lift the I-beam 6, so that the height of the lifted I-beam 6 is higher than the clamping and transporting mechanism 400, and the moving frame 21 drives the I-beam 6 to move over the clamping and transporting mechanism 400 and move to the rear of the truss 2. At this time, the lifting mechanism 23 puts down the I-beam 6, opens the sling 24, and the seamless I-beam 6 falls onto the discharging conveying line 52. After the I-beam 6 with joints is installed with reinforcement plates, it is normally transported to the discharging conveying line 52 and is discharged together with the seamless I-beam 6. The distance between the two lifting mechanisms 23 can be adjusted, and the telescopic rod 25 can be adjusted accordingly to adapt to the hoisting of I-beams 6 of different sizes.

[0074] The lifting and transporting mechanism 200 provided in this embodiment of the present application is capable of extracting seamless I-beams that do not need to be installed with reinforcement plates from the feed conveyor line 51, and has a compact structure, is safe and reliable, and operates stably. It only needs to be set up above the conveying mechanism 500 and the plate welding mechanism 100 for use, occupies a small area, greatly saves the cost of setting up additional I-beam screening equipment, and avoids the influence of seamless I-beams that do not need to be installed with reinforcement plates on the reinforcement plate installation process.

[0075] like Fig.13 As shown, the steel arch frame is made of an I-beam 6, and the I-beam 6 is a curved structure; the reinforcing plate includes a first reinforcing plate 35 and a second reinforcing plate 36, the first reinforcing plate 35 is an arc-shaped plate and is compatible with the inner and outer arc surfaces of the I-beam 6, and the two first reinforcing plates 35 are respectively mounted on the welds of the inner and outer arc surfaces of the I-beam 6; the second reinforcing plate 36 is a hexagonal structure, and the two second reinforcing plates 36 are respectively mounted on the welds on both sides of the web of the I-beam 6.

[0076] like Fig.14 and 15 As shown, in some embodiments, the clamping transport mechanism 400 includes a base frame 41, the base frame 41 is slidably connected to two second mobile platforms 42, the second mobile platforms 42 are slidably connected to a base 43, and the base 43 is rotatably connected to a positioner 44; the base 41 is provided with a fifth driving mechanism 45 and a movable first rack 46 and a second rack 47, the fifth 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 second mobile platforms 42 through a second connecting frame 48, and the second rack 47 is fixedly connected to the other second mobile platform 42 through the second 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 fifth driving mechanism 45 is located between the first rack 46 and the second rack 47.

[0077] The clamping and transporting mechanism 400 provided in this embodiment of the present application drives the gear to rotate through the fifth driving mechanism 45, and the rotation of the gear drives the first rack 46 and the second rack 47 to move closer to or farther from each other, thereby making the two positioners 44 move closer to or farther from each other, thereby achieving the adjustment of the distance between the two positioners 44. Fig.14 The side of the middle I-beam 6 facing the base frame 41 is a front view. When the fifth driving mechanism 45 rotates clockwise, the first rack 46 and the second rack 47 move toward the outside of the base frame 41, and the two positioners 44 move away from each other and the distance between them increases; when the fifth driving mechanism 45 rotates counterclockwise, the first rack 46 and the second rack 47 move toward the center of the base frame 41, and the two positioners 44 move toward each other and the distance between them decreases. Exemplarily, the fifth driving mechanism 45 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 46 and the second rack 47 to move; the base 43 slides on the second mobile platform 42 through various methods such as meshing of gears and racks and motor driving gears to rotate in the prior art, and the specific structure will not be repeated.

[0078] 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 sixth driving mechanism 49, and the sixth driving mechanism 49 is drivingly connected to a first gear 491. The sixth 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 6; the I-beam 6 is clamped by the clamping portion 442 having an opening.

[0079] In this embodiment, since the first gear 491 is meshed with the rack portion 441 , the sixth 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 .

[0080] It should be noted that the internal structure of the positioner 44 provided in 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.

[0081] When the clamping and transporting mechanism 400 is in use, when the feed conveying line 51 receives materials, the base 43 and the positioner 44 move to the feed conveying line 51 on the second mobile platform 42, and the clamping part 442 of the positioner 44 clamps the I-beam 6 on the feed conveying line 51. The sixth 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 6 upward. The positioner 44 moves to the discharge conveying line 52 on the second mobile platform 42, and the sixth driving mechanism 49 drives the positioner 44 to rotate, so that the opening of the clamping part 442 faces the discharge conveying line 52, opens the clamping part 442, and drops the I-beam 6 onto the discharge conveying line 52 to realize the discharge operation.

[0082] The clamping and transporting mechanism 400 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 fifth 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 6 of different sizes. At the same time, if there is a weld in the middle of the I-beam 6 and plate welding is required, the spacing between the two positioners 44 is adjusted by the fifth driving mechanism 45 to avoid the weld position of the I-beam 6, so as to avoid affecting the robot's welding operation on the I-beam 6 due to the positioner 44 blocking the weld position of the I-beam 6.

[0083] Furthermore, the clamping and transporting mechanism 400 moves on the second mobile platform 42 through the base 43 and the positioner 44, and can realize the forward and backward movement of the positioner 44. The sixth driving mechanism 49 drives the first gear 491 to rotate, 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 I-beam can be fed in and out. Therefore, the clamping and transporting mechanism 400 can simultaneously meet the requirements of the positioner 44 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, and it can simultaneously meet the requirements of the clamping, transportation and welding of the I-beam 6.

[0084] The production line also includes a visual inspection system for detecting whether there is a seam on the I-beam 6. The visual inspection system can identify whether there is a seam on the I-beam 6, and then distinguish the I-beam 6 with a seam from the I-beam 6 without a seam, so that the reinforcing plate is welded to the I-beam 6 with a seam, and the I-beam without a seam is lifted by the lifting and transportation mechanism 200 and directly transported to the discharging conveyor line 52 for product discharging. In addition, the plate attaching robot 13 and the welding robot 14 are equipped with a visual positioning camera (not shown in the figure), which scans the I-beam 5 with a seam and locates the seam position through the visual positioning camera.

[0085] In addition, the present invention also provides a tunnel steel arch frame automatic welding reinforcement plate production process, using a tunnel steel arch frame automatic welding reinforcement plate production line, including the following steps:

[0086] S1, feeding of I-beam 6; the feeding conveyor line 51 transports the I-beam 6 to the clamping and transporting mechanism 400;

[0087] S2, identifying and screening the I-beams 6; the visual inspection system detects whether the I-beams 6 transported on the feeding conveyor line 51 have seams; if the I-beams 6 are detected to have no seams, the lifting and transporting mechanism 200 lifts the I-beams 6 without seams and transports them to the discharging conveyor line 52 for product discharging; if the I-beams 6 are detected to have seams, the feeding conveyor line 51 continues to transport the I-beams 6 with seams to the clamping and transporting mechanism 400;

[0088] S3, grabbing the I-beam 6 with seams; the clamping and transporting mechanism 400 grabs the I-beam 6 with seams on the feeding conveyor line 51, and the rotating positioner 44 lifts up the I-beam 6 with seams;

[0089] S4, scanning and positioning the joint position of the I-beam 6; the visual positioning camera installed in the panel mounting robot 13 scans the I-beam 6 with the joint and performs preliminary positioning of the joint position;

[0090] S5, the positioner 44 adjusts the spacing; according to the joint position located in S4, the spacing of the positioner 44 is adjusted and the I-beam 6 is clamped, so that the positioner 44 avoids the joint position of the I-beam 6 to ensure that the joint is in a constructible position;

[0091] S6, reinforcing plate installation; the plate attaching robot 13 grabs the reinforcing plate stored in the storage rack 300, 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 6;

[0092] S7, reinforcing plate welding; the welding robot 14 welds the reinforcing plates after being attached in step S6, and the welding robot 14 welds the reinforcing plates each time the plate attaching robot 13 attaches a reinforcing plate. After welding is completed, the plate attaching robot 13 attaches the next reinforcing plate, and the welding robot 14 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 6, and the two second reinforcing plates 36 are respectively welded to the welds on the two sides of the web of the I-beam 6;

[0093] S8, the I-beam 6 is discharged; the clamping and transporting mechanism 400 transports the I-beam 6 after the plate welding operation to the discharge conveyor line 52, and the seamless I-beam 6 lifted and transported by the lifting and transporting mechanism 200 in step S2 is discharged together.

[0094] Furthermore, in S2, the lifting and transporting mechanism 200 lifts the seamless I-beam 6 and transports it to the discharging conveying line 52 for product discharging, which specifically includes the following steps:

[0095] S21, the lifting device 24 locks the seamless I-beam 6, and the lifting mechanism 23 contracts to lift the I-beam 6, so that the height of the lifted I-beam 6 is higher than the clamping and transporting mechanism 400;

[0096] S22, the moving frame 21 drives the I-beam 6 to move past the clamping and transporting mechanism 400 and move to the rear of the truss 2;

[0097] S23, the lifting mechanism 23 puts down the I-beam 6, opens the hanger 24, and the seamless I-beam 6 falls onto the discharging conveyor line 52 for product discharging.

[0098] Furthermore, in S3, the clamping and transporting mechanism 400 grabs the I-beam 6 with the seam on the feeding conveying line 51, and the positioner 44 is rotated to lift the I-beam 6 with the seam, which specifically includes the following steps:

[0099] S31, the positioner 44 moves on the second moving platform 42 to the feed conveying line 51, and the clamping part 442 of the positioner 44 clamps the I-beam 6 on the feed conveying line 51;

[0100] S32, the sixth driving mechanism 49 drives the positioner 44 to rotate, so that the positioner 44 rotates 90 degrees, so that the opening of the clamping part 442 lifts the I-beam 6 upward.

[0101] Furthermore, in S5, the positioner 44 adjusts the spacing, which specifically includes the following steps:

[0102] S51, the fifth driving mechanism 45 drives the gear connected to it to rotate, and the gear rotation drives the first rack 46 and the second rack 47 to move closer to or away from each other, so that the two positioners 44 move closer to or away from each other, so that the positioner 44 avoids the joint position of the I-beam 6, ensuring that the I-beam 6 is clamped after the joint is in a constructible position.

[0103] Furthermore, in S8, the clamping and transporting mechanism 400 transports the I-beam 6 after the plate welding operation to the discharging conveying line 52, which specifically includes the following steps:

[0104] S81, the positioner 44 moves on the second mobile platform 42 to the discharge conveyor line 52, and the sixth 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 faces the discharge conveyor line 52, and the clamping part 442 is opened, and the I-beam 6 falls onto the discharge conveyor line 52 to realize the discharge work.

[0105] To sum up, the present invention has precise operation, high degree of automation, precise structure and high work efficiency. Through the structural layout between the plate welding mechanism, the lifting and transporting mechanism, the material storage rack and the clamping and transporting mechanism, they are closely matched to realize the automated operation of welding the reinforcing plates at the joints of the steel arch frame, can realize continuous installation and welding work, can realize continuous feeding of the reinforcing plates, and then can realize continuous production operations with high work efficiency, can realize fully automated production operations, and realize mass production of steel arch frames.

[0106] 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 automatic welding reinforcement plate production line, characterized in that: include: The conveying mechanism (500) comprises a feeding conveying line (51) for feeding the I-beam (6) and a discharging conveying line (52) for discharging the I-beam (6); A clamping and transporting mechanism (400) is located between the feeding conveying line (51) and the discharging conveying line (52), and comprises two positioners (44) with adjustable spacing, wherein the positioners (44) are used to clamp the I-beam (6); A plate attaching and welding mechanism (100) is mounted above the clamping and transporting mechanism (400), comprising a movable plate attaching robot (13) for attaching the reinforcing plate and a movable welding robot (14) for welding the reinforcing plate; A lifting and transporting mechanism (200) is erected above the plate-attaching and welding mechanism (100) and is used to lift and transport the I-beam (6); A material storage rack (300), located on one side of the plate-attaching and welding mechanism (100), and used for storing the reinforcing plates; The seamless I-beam (6) is lifted from the feed conveyor line (51) by the lifting and transporting mechanism (200) and transported to the discharge conveyor line (52); the I-beam (6) with a seam is welded with a reinforcing plate by the plate welding mechanism (100) and then transported to the discharge conveyor line (52), and is discharged together with the seamless I-beam (6).

2. The automatic welding reinforcement plate production line for tunnel steel arch frame according to claim 1 is characterized in that: The plate pasting welding mechanism (100) comprises a support frame (1), the clamping and transporting mechanism (400) is located below the support frame (1), and the material storage rack (300) is located on one side below the support frame (1); the support frame (1) is slidably connected with a first movable plate (11) and a second movable plate (12), the first movable plate (11) is fixedly connected to the plate pasting robot (13), and the second movable plate (12) is fixedly connected to the welding robot (14); the plate pasting robot (13) is used to attach the reinforcing plate stored in the material storage rack (300) to the weld of the I-beam (6) clamped by the clamping and transporting mechanism (400), and the welding robot (14) is used to weld the reinforcing plate attached by the plate pasting robot (13) to the I-beam (6).

3. The automatic welding reinforcement plate production line for tunnel steel arch frame according to claim 1 is characterized in that: The lifting and transporting mechanism (200) comprises a truss (2), a moving frame (21) is slidably connected to the truss (2), two lifting mechanisms (23) are slidably connected to the moving frame (21), the lifting mechanism (23) is connected to a sling (24) for lifting an I-beam (6), and the lifting mechanism (23) is used to drive the sling (24) to rise and fall; the lifting mechanism (23) is fixedly connected to a first driving mechanism (22), and the first driving mechanism (22) is used to drive the lifting mechanism (23) to move on the moving frame (21), and the ends of the two lifting mechanisms (23) are connected by a telescopic rod (25); wherein the lifting mechanism (23) is a multi-section electric cylinder.

4. The automatic welding reinforcement plate production line for tunnel steel arch frame according to claim 3 is characterized in that: The sling (24) includes a first connecting frame (26) installed on the output end of the lifting mechanism (23), the first connecting frame (26) is fixedly connected to the second driving mechanism (27), the output end of the second driving mechanism (27) is connected to the first connecting plate (28), the first connecting plate (28) is fixedly connected to the limiting rod (29), and the second driving mechanism (27) is used to drive the first connecting plate (28) and the limiting rod (29) to perform telescopic movement; the lower end of the first connecting frame (26) is provided with an insertion port (261) for inserting the I-beam (6), and the limiting rod (29) can extend into the insertion port (261) and abut against the first connecting frame (26).

5. The automatic welding reinforcement plate production line for tunnel steel arch frame according to claim 1 is characterized in that: The clamping transport mechanism (400) comprises a base frame (41), wherein the base frame (41) is slidably connected to two second mobile platforms (42), wherein the second mobile 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 fifth driving mechanism (45) and a movable first rack (46) and a second rack (47), wherein the fifth driving mechanism (45) is drivingly connected to a gear meshing with both the first rack (46) and the second rack (47), wherein the first rack (46) is fixedly connected to one of the second mobile platforms (42) via a second connecting frame (48), and wherein the second rack (47) is fixedly connected to the other second mobile platform (42) via a second connecting frame (48); The first rack (46) and the second rack (47) are arranged opposite to each other and are parallel to each other. The gear driven by the fifth driving mechanism (45) is located between the first rack (46) and the second rack (47). A rack portion (441) is arranged on the outer periphery of the positioner (44). The rack portion (441) has a plurality of teeth. The base (43) is fixedly connected with a sixth driving mechanism (49). The sixth driving mechanism (49) is driven and connected with a first gear (491). The sixth driving mechanism (49) is used to drive the first gear (491) to rotate. The first gear (491) is meshed with the rack portion (441). The positioner (44) has a clamping portion (442) for clamping the I-beam (6). The I-beam (6) is clamped by the clamping portion (442) having an opening.

6. The tunnel steel arch automatic welding reinforcement plate production line according to claim 1 is characterized in that: The steel arch frame is made of an I-beam (6), and the I-beam (6) is a curved structure; the reinforcing plate comprises a first reinforcing plate (35) and a second reinforcing plate (36), the first reinforcing plate (35) is an arc-shaped plate and is compatible with the inner arc surface and the outer arc surface of the I-beam (6), and the two first reinforcing plates (35) are respectively mounted on the welds of the inner arc surface and the outer arc surface of the I-beam (6); the second reinforcing plate (36) is a hexagonal structure, and the two second reinforcing plates (36) are respectively mounted on the welds of the two side surfaces of the web of the I-beam (6).

7. A tunnel steel arch frame automatic welding reinforcement plate production process, characterized in that: The automatic welding reinforcement plate production line for tunnel steel arch frame according to any one of claims 1 to 6 is used, comprising the following steps: S1, feeding of I-beam (6); the feeding conveyor line (51) transports the I-beam (6) to the clamping and transporting mechanism (400); S2, identifying and screening the I-beams (6); the visual inspection system detects whether the I-beams (6) transported on the feeding conveyor line (51) have seams; if the I-beams (6) are detected to have no seams, the lifting and transporting mechanism (200) lifts the I-beams (6) without seams and transports them to the discharging conveyor line (52) for product discharging; if the I-beams (6) are detected to have seams, the feeding conveyor line (51) continues to transport the I-beams (6) with seams to the clamping and transporting mechanism (400); S3, grabbing the I-beam (6) with a seam; the clamping and transporting mechanism (400) grabs the I-beam (6) with a seam on the feeding conveying line (51), and the positioner (44) is rotated to lift the I-beam (6) with a seam; S4, scanning and locating the joint position of the I-beam (6); the visual positioning camera installed on the panel mounting robot (13) scans the I-beam (6) with the joint and performs preliminary positioning of the joint position; S5, adjusting the spacing of the positioner (44); adjusting the spacing of the positioner (44) and clamping the I-beam (6) according to the joint position located in S4, so that the positioner (44) avoids the joint position of the I-beam (6) to ensure that the joint is in a constructible position; S6, reinforcing plate installation; the plate attaching robot (13) grabs the reinforcing plate stored in the storage rack (300), 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 (6); S7, reinforcing plate welding; the welding robot (14) welds the reinforcing plates that have been attached in step S6, and the welding robot (14) welds the reinforcing plates each time the plate attaching robot (13) attaches a reinforcing plate. After welding is completed, the plate attaching robot (13) attaches the next reinforcing plate, and the welding robot (14) continues to weld the next reinforcing plate until the two first reinforcing plates (35) are respectively welded to the weld seams of the inner arc surface and the outer arc surface of the I-beam (6), and the two second reinforcing plates (36) are respectively welded to the weld seams on the two sides of the web of the I-beam (6); S8, discharging of the I-beam (6); the clamping and transporting mechanism (400) transports the I-beam (6) after the plate welding operation to the discharging conveying line (52), and the product is discharged together with the seamless I-beam (6) lifted and transported by the lifting and transporting mechanism (200) in step S2.

8. The tunnel steel arch frame automatic welding reinforcement plate production process according to claim 7 is characterized in that: The lifting and transporting mechanism (200) in S2 lifts the seamless I-beam (6) and transports it to the discharging conveying line (52) for product discharging, which specifically includes the following steps: S21, the lifting device (24) locks the seamless I-beam (6), and the lifting mechanism (23) contracts to lift the I-beam (6), so that the height of the lifted I-beam (6) is higher than the clamping and transporting mechanism (400); S22, the moving frame (21) drives the I-beam (6) to move so that it passes over the clamping and transporting mechanism (400) and moves to the rear of the truss (2); S23, the lifting mechanism (23) lowers the I-beam (6), opens the sling (24), and the seamless I-beam (6) falls onto the discharging conveyor line (52) for product discharging.

9. The tunnel steel arch frame automatic welding reinforcement plate production process according to claim 8 is characterized in that: In S3, the clamping and transporting mechanism (400) grabs the I-beam (6) with a seam on the feeding conveying line (51), and the positioner (44) is rotated to lift the I-beam (6) with a seam, which specifically includes the following steps: S31, the positioner (44) moves on the second movable platform (42) to the feed conveyor line (51), and the clamping part (442) of the positioner (44) clamps the I-beam (6) on the feed conveyor line (51); S32, the sixth driving mechanism (49) drives the positioner (44) to rotate, causing the positioner (44) to rotate 90 degrees, so that the opening of the clamping part (442) lifts the I-beam (6) upward.

10. The tunnel steel arch frame automatic welding reinforcement plate production process according to claim 9 is characterized in that: The positioner (44) in S5 adjusts the spacing, which specifically includes the following steps: S51, the fifth driving mechanism (45) drives the gear connected thereto to rotate, and the rotation of the gear drives the first rack (46) and the second rack (47) to move closer to or farther from each other, thereby making the two positioners (44) move closer to or farther from each other, so that the positioners (44) avoid the joint position of the I-beam (6), and after ensuring that the joint is in a constructible position, the I-beam (6) is clamped; The clamping and transporting mechanism (400) in S8 transports the I-beam (6) after the plate welding operation to the discharging conveying line (52), which specifically includes the following steps: S81, the positioner (44) moves on the second mobile platform (42) to the discharge conveyor line (52), and the sixth drive mechanism (49) drives the positioner (44) to rotate, so that the positioner (44) rotates 90°, so that the opening of the clamping part (442) faces the discharge conveyor line (52), and the clamping part (442) is opened, and the I-beam (6) falls onto the discharge conveyor line (52) to realize the discharge operation.

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