A tunnel steel robot welding production line

Abstract

The present invention provides a tunnel steel robot welding production line, which relates to the field of steel welding, and comprises: a welding table; an adjusting component is fixedly arranged at the bottom of the welding table, and a conveying device is fixedly arranged between the adjusting component and a connecting seat; an auxiliary structure is fixedly arranged on one side of the conveying device, and a clamping component is fixedly arranged on the other side of the conveying device, and an I-beam is movably arranged on the inner side of the conveying device; a limiting structure is installed on the outer side of the support frame, and through the conveying device and the adjusting component as well as the clamping component and the limiting structure; the steel can be stopped at a specified position for welding; and the steel can be easily and conveniently turned over, which is beneficial to welding the gap below the steel, thereby enhancing the production efficiency of the welding production line and solving the problem that it is inconvenient to stop the steel at a specified position for welding; and it is inconvenient to turn the steel during welding.

Description

Technical Field

[0001] The invention relates to the technical field of steel section welding, and in particular to a tunnel steel section robot welding production line. Background Art

[0002] Tunnel steel mainly includes I-beams and steel gratings; I-beams are a type of long steel with an I-shaped cross-section, mainly used for tunnel construction; it can be constructed through processing methods such as compounding, shearing, curling, and welding; it is mainly suitable for tunnel support and structure construction.

[0003] When existing tunnel steel sections are welded by robots, due to their heavy weight, two groups of steel sections are usually transported by a conveying structure so that the two groups of steel sections to be welded can be butted together; and in the process of conveying the steel sections, it is not convenient to stop the steel sections at a designated position for welding; and when welding, it is not convenient to flip the existing steel sections, and thus it is not convenient to weld the gaps below; this may lead to low efficiency of the robot welding production line. Summary of the invention

[0004] In view of this, the present invention provides a tunnel steel robot welding production line, which has a conveying device and an adjustment component as well as a clamping component and a limiting structure; it can make the steel stop at a specified position for welding; and it can easily and conveniently flip the steel, which is conducive to welding the gap under the steel, thereby enhancing the production efficiency of the welding production line.

[0005] The present invention provides a tunnel steel robot welding production line, which specifically comprises: a welding table; four groups of support frames are fixedly arranged at the bottom of the welding table, and auxiliary grooves are opened inside the welding table; the auxiliary grooves completely penetrate the welding table, and two groups of auxiliary grooves are symmetrically arranged; a support seat is fixedly arranged on one side of the welding table, and a welding robot is fixedly arranged on the top of the support seat; a fixed seat is fixedly arranged on the top of the welding table, and a connecting seat is rotatably arranged inside the fixed seat, and four groups of the connecting seat and the fixed seat are arranged;

[0006] An adjusting component is fixedly arranged at the bottom of the welding table, and a conveying device is fixedly arranged between the adjusting component and the connecting seat; an auxiliary structure is fixedly arranged on one side of the conveying device, and a clamping component is fixedly arranged on the other side of the conveying device, and an I-beam is movably arranged on the inner side of the conveying device; a limiting structure is installed on the outer side of the support frame; the limiting structure includes: a vertical rod, a limiting block and a limiting plate; the vertical rod is slidably arranged inside the welding table, and a spring part is arranged between the top of the vertical rod and the inside of the welding table, and the vertical rod is arranged in a hexagonal structure; the limiting block is fixedly arranged at the top of the vertical rod, and one side of the top of the limiting block is arranged as a hypotenuse structure, and the limiting block and the vertical rod are symmetrically arranged in two groups; the limiting plate is fixedly arranged at the bottom end of the vertical rod.

[0007] In at least some embodiments, a fixing frame is fixedly provided on the top of the welding table, and a buffer column is slidably provided inside the fixing frame; a buffer spring member is provided between the bottom of the buffer column and the inside of the fixing frame, and two groups of buffer columns and fixing frames are provided.

[0008] In at least some embodiments, the adjustment assembly includes: an adjustment frame, an adjustment seat, a cylinder A and a connecting seat; the adjustment frame is fixedly arranged at the bottom of the welding table; the adjustment seat is rotatably arranged on the inner side of the bottom of the adjustment frame; the cylinder A is fixedly arranged on the top of the adjustment seat, and the telescopic end of the cylinder A is movably arranged on the inner side of the auxiliary groove; the connecting seat is rotatably arranged on the inner side of the telescopic end of the cylinder A.

[0009] In at least some embodiments, the conveying device includes: a conveying frame, a conveying roller, a load-bearing seat and a self-locking motor; the conveying frame is fixedly arranged between two groups of connecting seats and a group of connecting seats; the conveying rollers are rotatably arranged inside the conveying frame, and the conveying rollers are arranged in a linear arrangement, and an I-beam is movably arranged on the top of the conveying roller; the load-bearing seat is fixedly arranged on the outside of the conveying frame; the self-locking motor is fixedly arranged on the outside of the load-bearing seat, and the shaft end of the self-locking motor is fixedly connected to a group of conveying rollers.

[0010] In at least some embodiments, the conveying device also includes: a synchronous wheel A and a synchronous wheel B; the synchronous wheel A is fixedly arranged on the outside of the conveying roller, and a synchronous belt device is installed on the outside of the synchronous wheel A; the synchronous wheel B is fixedly arranged on the top of the conveying roller, and a synchronous belt device is installed on the outside of the synchronous wheel B.

[0011] In at least some embodiments, the auxiliary structure includes: an auxiliary frame and auxiliary rollers; the auxiliary frame is fixedly arranged on one side of the conveying frame; the auxiliary rollers are rotatably arranged inside the auxiliary frame, and the auxiliary rollers are arranged in a straight line.

[0012] In at least some embodiments, the clamping assembly includes: a cylinder B, a clamping frame, a clamping roller and a guide rod; the cylinder B is fixedly arranged on the outside of the conveying frame; the clamping frame is fixedly arranged on the outside of the telescopic end of the cylinder B, and the clamping frame and the auxiliary frame are symmetrically arranged; the clamping roller is rotatably arranged inside the clamping frame, and the clamping roller is arranged in a straight line, and an I-beam is clamped between the clamping roller and the auxiliary roller; the guide rod is fixedly arranged on the outside of the clamping frame, and the guide rod is slidably arranged inside the conveying frame.

[0013] In at least some embodiments, the limiting structure also includes: a cross frame, a fixed column, a pressure sensor and a control module; the cross frame is fixedly arranged between two groups of support frames; the fixed column is fixedly arranged at the top of the cross frame; the pressure sensor is fixedly arranged at the top of the fixed column; the control module is fixedly arranged at the top of the cross frame, and the control module and the pressure sensor are electrically connected, and the control module and the self-locking motor are electrically connected.

[0014] In at least some embodiments, the limiting structure further includes: a rubber column; the rubber column is fixedly disposed at the bottom of the limiting plate, and the rubber column is located directly above the pressure sensor, and the number of the rubber column and the pressure sensor are both set to two groups.

[0015] Beneficial Effects

[0016] 1. The present invention is provided with two groups of symmetrical limit blocks and their top bevel structures, so that when a group of I-beams are conveyed, one group of limit blocks can slide downward through the top bevel; so that the I-beams can be parked at the designated position through the right-angled sides of the other group of limit blocks; at the same time, the spring members and the vertical rods are used in conjunction with the limit blocks, so that the steel sections can be buffered and decelerated when they are about to reach the parking position; this is beneficial to preventing collisions between the two groups of steel sections; and thus the steel sections can be conveniently parked at the designated welding position, thereby enhancing the practicality of the welding production line.

[0017] 2. The present invention, by providing the cylinder B and the guide rod, can make the clamping frame drive the clamping roller to move horizontally; make the clamping roller and the auxiliary roller clamp the two sides of the I-beam according to the specific size of the I-beam; make the I-beam only transported horizontally; and utilize the cylinder A and the connecting seat and the connecting seat; when the telescopic end of the cylinder A is extended, the conveying frame can drive the I-beam to turn 90 degrees; it is beneficial for the welding robot to weld the gap under the steel section; enhance the convenience of the welding production line, and help to enhance production efficiency.

[0018] 3. The present invention can buffer the conveyor frame when it is flipped 90 degrees through the buffer column, the buffer spring member and the fixed frame; this helps to ensure the stability and accuracy of the flip; by using the rubber column, the pressure sensor and the control module, when the I-beam reaches the welding position, the rubber column can apply pressure to the pressure sensor; the self-locking motor automatically stops operating; and this helps to automatically fix the I-beam at the welding position. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solution of the embodiment of the present invention, the drawings of the embodiment are briefly introduced below.

[0020] The drawings described below are only related to some embodiments of the present invention, but are not intended to limit the present invention.

[0021] In the attached picture:

[0022] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0023] Figure 2 It is a schematic diagram of the upper surface structure of the welding table of the present invention.

[0024] Figure 3 It is a schematic diagram of a set of I-beam fixing structures of the present invention.

[0025] Figure 4 It is a structural schematic diagram of the vertical rod and the limiting block of the present invention.

[0026] Figure 5 It is a schematic diagram of the upper surface structure of the cross frame of the present invention.

[0027] Figure 6 It is a schematic structural diagram of the regulating component of the present invention.

[0028] Figure 7 It is a schematic diagram of the connection structure between the adjustment component and the conveying device of the present invention.

[0029] Figure 8 It is a schematic diagram of the internal structure of the conveying rack of the present invention.

[0030] Fig. 9 It is a structural schematic diagram of the auxiliary structure of the present invention.

[0031] Fig.10 It is a structural schematic diagram of the clamping assembly of the present invention.

[0032] Reference numerals list

[0033] 1. Welding table; 101. Support frame; 102. Auxiliary slot; 103. Support seat; 104. Welding robot; 105. Fixed seat; 106. Connecting seat; 107. Fixed frame; 108. Buffer column;

[0034] 2. Adjustment assembly; 201. Adjustment frame; 202. Adjustment seat; 203. Cylinder A; 204. Connecting seat;

[0035] 3. Conveying device; 301. Conveying frame; 302. Conveying roller; 303. Load bearing seat; 304. Self-locking motor; 305. Synchronous wheel A; 306. Synchronous wheel B;

[0036] 4. Auxiliary structure; 401. Auxiliary frame; 402. Auxiliary roller;

[0037] 5. Clamping assembly; 501. Cylinder B; 502. Clamping frame; 503. Clamping roller; 504. Guide rod;

[0038] 6. I-beam;

[0039] 7. Limiting structure; 701. Horizontal frame; 702. Fixed column; 703. Pressure sensor; 704. Control module; 705. Vertical rod; 706. Limiting block; 707. Limiting plate; 708. Rubber column. DETAILED DESCRIPTION

[0040] In order to make the purpose, scheme and advantages of the technical solution of the present invention clearer, the technical solution of the embodiment of the present invention will be clearly and completely described in conjunction with the drawings of the specific embodiments of the present invention. Unless otherwise specified, the terms used herein have the usual meanings in the art. The same reference numerals in the drawings represent the same components.

[0041] Example 1: Please refer to Figures 1 to 10 As shown:

[0042] The present invention provides a tunnel steel robot welding production line, comprising a welding table 1; four groups of support frames 101 are fixedly arranged at the bottom of the welding table 1, and an auxiliary groove 102 is opened inside the welding table 1; the auxiliary groove 102 completely penetrates the welding table 1, and two groups of the auxiliary grooves 102 are symmetrically arranged; a support seat 103 is fixedly arranged on one side of the welding table 1, and a welding robot 104 is fixedly arranged on the top of the support seat 103; a fixed seat 105 is fixedly arranged on the top of the welding table 1, and a connecting seat 106 is rotatably arranged inside the fixed seat 105, and four groups of the connecting seat 106 and the fixed seat 105 are arranged;

[0043] In the disclosed embodiment, an adjusting component 2 is fixedly provided at the bottom of the welding table 1, and a conveying device 3 is fixedly provided between the adjusting component 2 and the connecting seat 106; an auxiliary structure 4 is fixedly provided on one side of the conveying device 3, and a clamping component 5 is fixedly provided on the other side of the conveying device 3, and an I-beam 6 is movably provided on the inner side of the conveying device 3; a limiting structure 7 is installed on the outer side of the support frame 101; the limiting structure 7 includes: a vertical rod 705, a limiting block 706 and a limiting plate 707; the vertical rod 705 is slidably provided inside the welding table 1, and a spring member is provided between the top end of the vertical rod 705 and the inside of the welding table 1, and the vertical rod 705 is provided with a hexagonal structure; the limiting block 706 is fixedly provided at the top end of the vertical rod 705, and the top of the limiting block 706 One side is set as a bevel structure, and the limit blocks 706 and the vertical rod 705 are symmetrically arranged in two groups; the limit plate 707 is fixedly set at the bottom end of the vertical rod 705; a fixed frame 107 is fixedly set on the top of the welding table 1, and a buffer column 108 is slidably set inside the fixed frame 107; a buffer spring member is set between the bottom of the buffer column 108 and the inside of the fixed frame 107, and two groups of buffer columns 108 and the fixed frame 107 are set; its specific function is: by setting two groups of symmetrical limit blocks 706 and their top bevel structures, when conveying a group of I-beams 6, one group of limit blocks 706 can slide downward through the top bevel; so that its I-beam 6 can be docked at the specified position through the right-angle side of another group of limit blocks 706.

[0044] Example 2: Please refer to Figures 6 to 10As shown: Based on the first embodiment, the adjustment component 2 includes: an adjustment frame 201, an adjustment seat 202, a cylinder A203 and a connecting seat 204; the adjustment frame 201 is fixedly arranged at the bottom of the welding table 1; the adjustment seat 202 is rotatably arranged on the inner side of the bottom of the adjustment frame 201; the cylinder A203 is fixedly arranged on the top of the adjustment seat 202, and the telescopic end of the cylinder A203 is movably arranged on the inner side of the auxiliary groove 102; the connecting seat 204 is rotatably arranged on the inner side of the telescopic end of the cylinder A203; the conveying device 3 includes: a conveying frame 301, a conveying roller 302, a load-bearing seat 303, a self-locking motor 304, a synchronous wheel A305 and a synchronous wheel B306; the conveying frame 301 is fixedly arranged on two sets of The connecting seat 106 and a group of connecting seats 204 are connected; the conveying roller 302 is rotatably arranged inside the conveying frame 301, and the conveying roller 302 is arranged in a straight line, and an I-beam 6 is movably arranged on the top of the conveying roller 302; the load-bearing seat 303 is fixedly arranged on the outside of the conveying frame 301; the self-locking motor 304 is fixedly arranged on the outside of the load-bearing seat 303, and the shaft end of the self-locking motor 304 is fixedly connected to a group of conveying rollers 302; the synchronous wheel A305 is fixedly arranged on the outside of the conveying roller 302, and the outer side of the synchronous wheel A305 is equipped with a synchronous belt device; the synchronous wheel B306 is fixedly arranged on the top of the conveying roller 302, and the outer side of the synchronous wheel B306 is equipped with a synchronous belt device ; The auxiliary structure 4 includes: an auxiliary frame 401 and an auxiliary roller 402; the auxiliary frame 401 is fixedly arranged on one side of the conveying frame 301; the auxiliary roller 402 is rotatably arranged inside the auxiliary frame 401, and the auxiliary roller 402 is arranged in a straight line; the clamping assembly 5 includes: a cylinder B501, a clamping frame 502, a clamping roller 503 and a guide rod 504; the cylinder B501 is fixedly arranged on the outside of the conveying frame 301; the clamping frame 502 is fixedly arranged on the outside of the telescopic end of the cylinder B501, and the clamping frame 502 and the auxiliary frame 401 are arranged symmetrically; the clamping roller 503 is rotatably arranged inside the clamping frame 502, and the clamping roller 503 is arranged in a straight line, and the clamping The I-beam 6 is clamped between the holding roller 503 and the auxiliary roller 402; the guide rod 504 is fixedly arranged on the outside of the clamping frame 502, and the guide rod 504 is slidably arranged inside the conveying frame 301; its specific function is: by arranging the cylinder B501 and the guide rod 504, the clamping frame 502 can drive the clamping roller 503 to move horizontally; the clamping roller 503 and the auxiliary roller 402 clamp the two sides of the I-beam 6 according to the specific size of the I-beam 6; the I-beam 6 can only be conveyed horizontally; and by using the cylinder A203, the connecting seat 204 and the connecting seat 106; when the telescopic end of the cylinder A203 is extended, the conveying frame 301 can drive the I-beam 6 to turn 90°.

[0045] Example 3: Please refer to Figures 3 to 5As shown: On the basis of the first and second embodiments, the limiting structure 7 further includes: a cross frame 701, a fixed column 702, a pressure sensor 703, a control module 704 and a rubber column 708; the cross frame 701 is fixedly arranged between the two sets of support frames 101; the fixed column 702 is fixedly arranged on the top of the cross frame 701; the pressure sensor 703 is fixedly arranged on the top of the fixed column 702; the control module 704 is fixedly arranged on the top of the cross frame 701, and the control module 704 and the pressure sensor 703 are arranged to be electrically connected, and The control module 704 is electrically connected to the self-locking motor 304; the rubber column 708 is fixedly arranged at the bottom of the limit plate 707, and the rubber column 708 is located directly above the pressure sensor 703, and the number of the rubber column 708 and the pressure sensor 703 are both set to two groups; its specific function is: by using the rubber column 708, the pressure sensor 703 and the control module 704, when the I-beam 6 reaches the welding position, the rubber column 708 can apply pressure to the pressure sensor 703; so that the self-locking motor 304 automatically stops operating.

[0046] Specific usage and function of this embodiment: In the present invention, when in use, a group of I-beams 6 are placed inside a group of conveying frames 301, so that the I-beams 6 are located above the conveying rollers 302; the cylinder B501 cooperates with the guide rod 504 to drive the clamping frame 502 to move, so that the clamping rollers 503 and the auxiliary rollers 402 clamp the two sides of the I-beam 6 according to the specific size of the I-beam 6; the self-locking motor 304 is started, and the self-locking motor 304 drives a group of conveying rollers 302 to rotate, and its conveying rollers 302 drive the remaining conveying rollers 302 to rotate through the synchronous wheels A305 and B306 and the synchronous belt device, so that the linearly arranged conveying rollers 302 drive the I-beam 6 to move forward; when the I-beam 6 squeezes a group of limit blocks 706, the limit blocks 706 move downward using the top bevel structure; so that the limit blocks 706 use the vertical rods 705 and the spring member to decelerate the I-beam 6; at the same time, the vertical rods 705 drive the rubber column 708 to move downward; when the end of the I-beam 6 is in contact with another When a set of limit blocks 706 are fitted together, the I-beam 6 is blocked by the limit blocks 706 and cannot move forward; and the rubber column 708 squeezes the pressure sensor 703, so that the pressure value increases, and the pressure sensor 703 transmits the pressure signal to the control module 704, and the control module 704 controls the self-locking motor 304 to stop working; so that the I-beam 6 is fixed at the welding position; another set of I-beams 6 reaches the welding position in the same way; the ends of the two sets of I-beams 6 are butt-jointed; then the welding robot 104 is used to weld the gap between the two sets of I-beams 6; the cylinder A203 is started to extend the telescopic end of the cylinder A203, so that the conveying frame 301 is rotated through the connecting seat 106; and then the I-beam 6 is turned 90°; then the welding robot 104 is used to continue welding the unwelded gap; the buffer column 108 is used in conjunction with the buffer spring member to buffer the conveying frame 301, which is conducive to the turning of the conveying frame 301.

Claims

1. A tunnel steel robot welding production line, characterized in that: include: A welding table (1); four groups of support frames (101) are fixedly arranged at the bottom of the welding table (1), and an auxiliary groove (102) is opened inside the welding table (1); the auxiliary groove (102) completely penetrates the welding table (1), and two groups of the auxiliary grooves (102) are symmetrically arranged; a support seat (103) is fixedly arranged on one side of the welding table (1), and a welding robot (104) is fixedly arranged on the top of the support seat (103); a fixed seat (105) is fixedly arranged on the top of the welding table (1), and a connecting seat (106) is rotatably arranged inside the fixed seat (105), and four groups of the connecting seat (106) and the fixed seat (105) are arranged; The bottom of the welding table (1) is fixedly provided with an adjustment component (2), and a conveying device (3) is fixedly provided between the adjustment component (2) and the connecting seat (106); an auxiliary structure (4) is fixedly provided on one side of the conveying device (3), and a clamping component (5) is fixedly provided on the other side of the conveying device (3), and an I-beam (6) is movably provided inside the conveying device (3); a limiting structure (7) is installed outside the support frame (101); the limiting structure (7) comprises: a vertical rod (705), a limiting block (70 6) and a limiting plate (707); the vertical rod (705) is slidably arranged inside the welding platform (1), and a spring member is arranged between the top of the vertical rod (705) and the inside of the welding platform (1), and the vertical rod (705) is arranged in a hexagonal structure; the limiting block (706) is fixedly arranged at the top of the vertical rod (705), and one side of the top of the limiting block (706) is arranged as a bevel structure, and the limiting block (706) and the vertical rod (705) are symmetrically arranged in two groups; the limiting plate (707) is fixedly arranged at the bottom of the vertical rod (705).

2. A tunnel steel robot welding production line according to claim 1, characterized in that: A fixing frame (107) is fixedly arranged on the top of the welding table (1), and a buffer column (108) is slidably arranged inside the fixing frame (107); a buffer spring member is arranged between the bottom of the buffer column (108) and the inside of the fixing frame (107), and two groups of the buffer column (108) and the fixing frame (107) are provided.

3. The tunnel steel robot welding production line according to claim 1 is characterized by: The adjustment assembly (2) comprises: an adjustment frame (201), an adjustment seat (202), a cylinder A (203) and a connecting seat (204); the adjustment frame (201) is fixedly arranged at the bottom of the welding table (1); the adjustment seat (202) is rotatably arranged at the inner side of the bottom of the adjustment frame (201); the cylinder A (203) is fixedly arranged at the top of the adjustment seat (202), and the telescopic end of the cylinder A (203) is movably arranged at the inner side of the auxiliary groove (102); and the connecting seat (204) is rotatably arranged at the inner side of the telescopic end of the cylinder A (203).

4. A tunnel steel robot welding production line according to claim 3, characterized in that: The conveying device (3) comprises: a conveying frame (301), conveying rollers (302), a bearing seat (303) and a self-locking motor (304); the conveying frame (301) is fixedly arranged between two groups of connecting seats (106) and a group of connecting seats (204); the conveying rollers (302) are rotatably arranged inside the conveying frame (301), and the conveying rollers (302) are arranged in a linear arrangement, and an I-beam (6) is movably arranged on the top of the conveying rollers (302); the bearing seat (303) is fixedly arranged outside the conveying frame (301); the self-locking motor (304) is fixedly arranged outside the bearing seat (303), and the shaft end of the self-locking motor (304) is fixedly connected to a group of conveying rollers (302).

5. The tunnel steel robot welding production line according to claim 4 is characterized by: The conveying device (3) further comprises: a synchronous wheel A (305) and a synchronous wheel B (306); the synchronous wheel A (305) is fixedly arranged on the outside of the conveying roller (302), and a synchronous belt device is installed on the outside of the synchronous wheel A (305); the synchronous wheel B (306) is fixedly arranged on the top of the conveying roller (302), and a synchronous belt device is installed on the outside of the synchronous wheel B (306).

6. The tunnel steel robot welding production line according to claim 4 is characterized by: The auxiliary structure (4) comprises: an auxiliary frame (401) and auxiliary rollers (402); the auxiliary frame (401) is fixedly arranged on one side inside the conveying frame (301); the auxiliary rollers (402) are rotatably arranged inside the auxiliary frame (401), and the auxiliary rollers (402) are arranged in a linear arrangement.

7. A tunnel steel robot welding production line according to claim 6, characterized in that: The clamping assembly (5) comprises: a cylinder B (501), a clamping frame (502), a clamping roller (503) and a guide rod (504); the cylinder B (501) is fixedly arranged on the outside of the conveying frame (301); the clamping frame (502) is fixedly arranged on the outside of the telescopic end of the cylinder B (501), and the clamping frame (502) and the auxiliary frame (401) are symmetrically arranged; the clamping roller (503) is rotatably arranged inside the clamping frame (502), and the clamping roller (503) is arranged in a linear arrangement, and an I-beam (6) is clamped between the clamping roller (503) and the auxiliary roller (402); the guide rod (504) is fixedly arranged on the outside of the clamping frame (502), and the guide rod (504) is slidably arranged inside the conveying frame (301).

8. The tunnel steel robot welding production line according to claim 4 is characterized by: The position limiting structure (7) further comprises: a cross frame (701), a fixed column (702), a pressure sensor (703) and a control module (704); the cross frame (701) is fixedly arranged between the two groups of support frames (101); the fixed column (702) is fixedly arranged on the top of the cross frame (701); the pressure sensor (703) is fixedly arranged on the top of the fixed column (702); the control module (704) is fixedly arranged on the top of the cross frame (701), and the control module (704) and the pressure sensor (703) are electrically connected, and the control module (704) and the self-locking motor (304) are electrically connected.

9. A tunnel steel robot welding production line according to claim 8, characterized in that: The limiting structure (7) further comprises: a rubber column (708); the rubber column (708) is fixedly arranged at the bottom of the limiting plate (707), and the rubber column (708) is located directly above the pressure sensor (703), and the number of the rubber column (708) and the pressure sensor (703) are both set to two.

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