Steel bar truss and welding method for positioning welding seam of steel bar truss

Abstract

The invention belongs to the technical field of underground engineering, and discloses a steel bar truss and a welding method of a positioning welding seam thereof.The steel bar truss comprises a main bar and web bars, the web bars are arranged to be of a zigzag structure, the multiple web bars are evenly distributed on the inner side and the outer side of the main bar at intervals, and the web bars and the main bar are connected through welding; the welding method for the steel bar truss positioning weld joint comprises the steps that a steel bar truss is horizontally placed on a welding platform, and two welding robots are located on the upper side and the lower side of the steel bar truss correspondingly; setting an original point of a coordinate system, scanning the steel bar truss by using scanning equipment, and traversing to obtain an original point set G; according to the original point set G, a sequence ZJZ and a sequence FJZ are determined to obtain starting point coordinates and terminal point coordinates corresponding to the top ends of inner web bars and outer web bars in the steel bar truss, and position information of the inner web bars and the outer web bars is determined; and determining starting point and terminal point coordinates of the inner welding seam and the outer welding seam for welding.

Description

Technical Field

[0001] The invention relates to the technical field of underground engineering, and in particular to a steel bar truss and a welding method for a positioning weld thereof. Background Art

[0002] In the application of steel cage engineering of underground continuous wall, the skeleton of underground continuous wall steel cage - steel truss not only connects other parts to form the whole steel cage, but also is the main force-bearing part of steel cage during lifting, which has a vital impact on the structural stability of the whole steel cage, and the steel truss is mainly installed by welding. At present, the welding operation of steel truss usually adopts the method of mechanical touch switch to identify the weld, and use it as the starting point of the weld, and then complete the weld identification and welding operation according to the weld length fixed by the servo motor. This mechanical positioning method is not only inefficient, but also has unstable welding quality. On the one hand, after the trigger signal is generated, the welding equipment needs to be shut down, and the operation is carried out after the servo motor fixes the length of the walking path, which greatly reduces the welding speed; on the other hand, due to the bending error between the touch point and the actual welding point, it will also cause the welding equipment to weld the weld. The actual length of the weld does not reach the set welding length, and it is easy to fail to connect all the welds, thereby reducing the stability of the steel truss. Currently, image recognition technology has been widely used in factories. However, since image recognition technology will be affected by the lighting, reflection, shadow, etc. on site, resulting in large welding errors, how to improve the welding efficiency of steel trusses and ensure the automated and precise positioning of welds and high-quality welding operations is a problem that people in this field need to solve. Summary of the invention

[0003] The object of the present invention is to provide a steel bar truss and a welding method for positioning welds thereof, so as to improve the welding efficiency of the steel bar truss, ensure the automatic and precise positioning of the welds and high-quality welding operations.

[0004] To achieve this object, the present invention adopts the following technical solutions:

[0005] Steel trusses, including:

[0006] The main reinforcement and the web reinforcement are arranged in a "Z"-shaped structure, and a plurality of the web reinforcements are evenly and spacedly distributed on the inner and outer sides of the main reinforcement, and the web reinforcement is connected to the main reinforcement by welding.

[0007] As an option, the main reinforcement includes upper main reinforcement and lower main reinforcement, the abdominal reinforcement includes inner abdominal reinforcement and outer abdominal reinforcement, and both the inner abdominal reinforcement and the outer abdominal reinforcement are located between the upper main reinforcement and the lower main reinforcement, the inner abdominal reinforcement is connected to the upper main reinforcement and the lower main reinforcement on the inner side, and the outer abdominal reinforcement is connected to the upper main reinforcement and the lower main reinforcement on the outer side, and the inner abdominal reinforcement and the outer abdominal reinforcement are spaced and staggered.

[0008] Optionally, inner welds are provided at the connection points between the two ends of the inner web reinforcement and the main reinforcement, outer welds are provided at the connection points between the two ends of the outer web reinforcement and the main reinforcement, and the inner welds and the outer welds are staggered and spaced along the length direction of the main reinforcement.

[0009] The welding method of the steel bar truss positioning weld is used for the welding and installation of the steel bar truss, which includes the following steps:

[0010] S1. Place the steel truss horizontally on a welding platform, and place two welding robots on the upper and lower sides of the steel truss respectively;

[0011] S2, setting the center of the upper main reinforcement of the main reinforcement in the steel truss as the origin of the coordinate system, and the x-axis is set along the length direction of the upper main reinforcement, the y-axis is set along the direction perpendicular to the upper main reinforcement, and the z-axis is set perpendicular to the x-axis and the y-axis;

[0012] S3, scanning the steel truss using a scanning device, and traversing to obtain an original point set G;

[0013] S4, determining the sequence ZJZ and the sequence FJZ according to the original point set G, so as to obtain the starting point and the end point coordinates corresponding to the top of the inner web reinforcement in the steel truss, and the starting point and the end point coordinates corresponding to the top of the outer web reinforcement in the steel truss, and then determining the position information of the inner web reinforcement and the outer web reinforcement;

[0014] S5, determining the starting point and end point coordinates of the inner weld between the inner web reinforcement and the upper main reinforcement, and the starting point and end point coordinates of the outer weld between the outer web reinforcement and the upper main reinforcement, and transmitting the coordinates to the welding robot on the upper side of the steel truss to locate the weld on the upper main reinforcement and perform welding;

[0015] S6. Set the center of the lower main reinforcement of the main reinforcement in the steel truss as the origin of the coordinate system, and set the x-axis along the length direction of the lower main reinforcement, the y-axis along the direction perpendicular to the lower main reinforcement, and the z-axis perpendicular to the x-axis and the y-axis. Repeat steps S3-S5 to locate the welds between the inner web reinforcement, the outer web reinforcement and the lower main reinforcement and perform welding through the welding robot on the lower side of the steel truss.

[0016] Optionally, step S4 further includes:

[0017] S4.1. Set the diameter of the main reinforcement to D, take x as the independent variable, y∈(-0.5D, 0.5D), and determine the sequence ZJZ(x, y, x) based on the principle of maximum z value;

[0018] S4.2, set the diameter of the abdominal muscle to d, take x as the independent variable, y∈(0.5D, 0.5D+5d), and determine the sequence FJZ(x, y, x) based on the principle of maximizing the z value;

[0019] S4.3. Along the length direction of the main reinforcement, the starting point and end point coordinates corresponding to the top of the inner web reinforcement in the steel truss are determined by combining the comparison results of the sequence ZJZ (x, y, x) and the sequence FJZ (x, y, x), as well as the starting point and end point coordinates corresponding to the top of the outer web reinforcement in the steel truss, so as to determine the position information of the inner and outer web reinforcements.

[0020] Optionally, step S4.3 further includes:

[0021] S4.3.1. Take x as the independent variable and compare the z value of the sequence ZJZ(x, y, x) with the z value of FJZ(x, y, x). When the z value of ZJZ(x, y, x) is greater than the z value of FJZ(x, y, x), record the x value at this time, which is the starting coordinate of the horizontal segment centerline of the top part of the inner tendon, recorded as NFSX; when the z value of ZJZ(x, y, x) is less than the z value of FJZ(x, y, x), record the x value at this time, which is the ending coordinate of the horizontal segment centerline of the top part of the inner tendon, recorded as NFEX; that is, when x belongs to (NFSX, NFEX), the point set in this area belongs to the inner tendon, so as to determine the position information of the inner tendon;

[0022] S4.3.2. Continue the above comparison along the length direction of the main reinforcement. When NFEX has appeared and the z value of ZJZ (x, y, x) is less than the z value of FJZ (x, y, x), record the x value at this time, which is the starting point coordinate of the horizontal section centerline of the top part of the external web reinforcement, recorded as WFSX; when the z value of ZJZ (x, y, x) is greater than the z value of FJZ (x, y, x), record the x value at this time, which is the ending point coordinate of the horizontal section centerline of the top part of the external web reinforcement, recorded as WFEX; that is, when x belongs to (WFSX, WFEX), the point set in this area belongs to the external web reinforcement, so as to determine the position information of the external web reinforcement.

[0023] Optionally, step S5 further includes:

[0024] S5.1. Take x as the independent variable, when x belongs to (NFSX, NFEX), the y value of FJZ (x, y, x) minus the y value of sequence ZJZ (x, y, x) is obtained by cy, the y value of FJZ (x, y, x) plus the y value of sequence ZJZ (x, y, x) and divided by 2 to obtain py, thus forming the sequence NZFCY (x, cy, py), and using this sequence to determine the starting and ending coordinates of the inner weld between the inner web reinforcement and the upper main reinforcement;

[0025] S5.2. Take x as the independent variable, when x is greater than NFEX and x∈(WFSX, WFEX), the y value of FJZ(x, y, x) minus the y value of sequence ZJZ(x, y, x) is obtained by obtaining cy, the y value of FJZ(x, y, x) is added to the y value of sequence ZJZ(x, y, x) and then divided by 2 to obtain py, thereby forming the sequence WZFCY(x, cy, py), and this sequence is used to determine the starting and ending coordinates of the external weld between the external web reinforcement and the upper main reinforcement;

[0026] S5.3. The coordinates of the inner weld and the outer weld are transmitted to the welding robot on the upper side of the steel truss to locate the weld on the upper main reinforcement and perform welding.

[0027] Optionally, step S5.1 further includes:

[0028] S5.1.1. Take x as the independent variable, and when x belongs to (NFSX, NFEX), the y value of FJZ(x, y, x) minus the y value of sequence ZJZ(x, y, x) is obtained by cy, and the y value of FJZ(x, y, x) plus the y value of sequence ZJZ(x, y, x) is divided by 2 to obtain py, thus forming the sequence NZFCY(x, cy, py);

[0029] S5.1.2, taking x as the independent variable, traverse the sequence NZFCY(x, cy, py) and calculate the rate of change dy of the cy value relative to the x value;

[0030] S5.1.3. When dy is less than 0, it means that it is gradually approaching the starting point of the inner weld. When dy is equal to 0 or close to 0, the x value at this time is recorded as NFHFSX, and the py value at this time is recorded as NFHFSY, that is, the starting point position coordinates of the inner weld are (NFHFSX, NFHFSY).

[0031] S5.1.4. Continue to traverse with the above algorithm. When the dy value is obviously greater than 0, record the x value at this time as NFHFEX, and the py value at this time as NFHFEY. The end position coordinates of the internal weld are (NFHFEX, NFHFEY), so as to determine the starting and ending coordinates of the internal weld between the internal web reinforcement and the upper main reinforcement.

[0032] Optionally, step S5.2 further includes:

[0033] S5.2.1. Take x as the independent variable, when x is greater than NFEX and x∈(WFSX, WFEX), the y value of FJZ(x, y, x) minus the y value of sequence ZJZ(x, y, x) is obtained by cy, the y value of FJZ(x, y, x) plus the y value of sequence ZJZ(x, y, x) and divided by 2 is obtained by py, thus forming the sequence WZFCY(x, cy, py);

[0034] S5.2.2, taking x as the independent variable, traverse the sequence WZFCY(x, cy, py) and calculate the rate of change dy of the cy value relative to the x value;

[0035] S5.2.3. When dy is less than 0, it means that it is gradually approaching the starting point of the outer weld. When dy is equal to 0 or close to 0, the x value at this time is recorded as WFHFSX, and the py value at this time is recorded as WFHFSY, that is, the starting position coordinates of the outer weld are (WFHFSX, WFHFSY);

[0036] S5.2.4. Continue to traverse with the above algorithm. When the dy value is obviously greater than 0, record the x value at this time as WFHFEX, and the py value at this time as WFHFEY, that is, the end position coordinates of the external weld are WFHFEX and WFHFEY, so as to determine the starting and ending coordinates of the external weld between the external web reinforcement and the upper main reinforcement.

[0037] Optionally, the z value zero point is 5 mm below the upper surface of the welding platform below the steel truss, and points outside this range are excluded, thereby forming a preprocessed original point set G, and the coordinates of each element include three components (x, y, x).

[0038] Beneficial effects of the present invention:

[0039] The steel truss in the present invention is mainly formed by connecting the main reinforcement and the web reinforcement, and the web reinforcement is arranged in a uniform structure and is spaced at intervals on both sides of the main reinforcement, and is fixed to the main reinforcement by welding, so as to ensure the overall mechanical strength of the steel truss. Furthermore, the welding method of the steel truss positioning weld in the present invention uses point cloud technology to obtain the original point set of the steel truss, and uses the sequence ZJZ and the sequence FJZ to obtain the corresponding starting and ending coordinates of the inner and outer web reinforcements, which can facilitate the welding robot to change the welding position and welding posture according to its position information. Furthermore, after determining the starting and ending coordinates of the inner and outer welds, the welds can be accurately welded under the action of the welding robot to achieve the purpose of automatic positioning. Compared with the mechanical and image recognition positioning methods in the prior art, the positioning efficiency is higher, the positioning time is shorter, and the accuracy of the actual weld is higher. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 is a structural schematic diagram of a steel bar truss according to an embodiment of the present invention;

[0041] Figure 2 is a schematic diagram of a steel bar truss according to an embodiment of the present invention when a welding operation is performed;

[0042] Figure 3 is a schematic diagram of weld positioning of a steel bar truss according to an embodiment of the present invention;

[0043] Figure 4 is a schematic diagram of a point cloud model of a steel truss according to an embodiment of the present invention (each point has x, y, z values);

[0044] Figure 5 It is a point diagram of a sequence ZJZ when the steel bar truss according to the embodiment of the present invention is used for weld positioning (each point has x, y, z values);

[0045] Figure 6 It is a point diagram of the sequence FJZ when the steel bar truss described in the embodiment of the present invention is positioned for the weld (each point has x, y, z values).

[0046] In the figure:

[0047] 10-main reinforcement; 11-upper main reinforcement; 12-lower main reinforcement; 20-abdominal reinforcement; 21-inner abdominal reinforcement; 22-outer abdominal reinforcement; 201-inner weld; 202-outer weld; 30-welding robot; 40-welding platform. DETAILED DESCRIPTION

[0048] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar parts or parts having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0049] In the description of 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 or a detachable 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.

[0050] In the description of the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include the first feature being in direct contact with the second feature, or may include the first feature being in contact with the second feature through another feature between them instead of being in direct contact. Moreover, a first feature being "above", "above" and "above" a second feature includes the first feature being 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 the first feature being directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0051] The technical solution of this embodiment is further explained below with reference to the accompanying drawings and through specific implementation methods.

[0052] like Figure 1-Figure 6 As shown, this embodiment provides a steel truss, including main reinforcement 10 and web reinforcement 20, and the web reinforcement 20 is arranged in a "Z"-shaped structure, and a plurality of web reinforcements 20 are evenly and spacedly distributed on the inner and outer sides of the main reinforcement 10, and the web reinforcement 20 is connected to the main reinforcement 10 by welding.

[0053] The welding method of the steel truss positioning weld is used for the welding and installation of the steel truss, including the following steps:

[0054] S1, placing the steel truss horizontally on the welding platform 40, and making two welding robots 30 located on the upper and lower sides of the steel truss respectively;

[0055] S2. The center of the upper main reinforcement 11 of the main reinforcement 10 in the steel bar truss is set as the origin of the coordinate system, and the x-axis is set along the length direction of the upper main reinforcement 11, the y-axis is set along the direction perpendicular to the upper main reinforcement 11, and the z-axis is set perpendicular to the x-axis and the y-axis;

[0056] S3, use a scanning device to scan the steel truss, and traverse to obtain the original point set G;

[0057] S4, determining the sequence ZJZ and the sequence FJZ according to the original point set G, so as to obtain the starting point and the end point coordinates corresponding to the top of the inner web reinforcement 21 in the steel truss, and the starting point and the end point coordinates corresponding to the top of the outer web reinforcement 22 in the steel truss, and then determining the position information of the inner web reinforcement 21 and the outer web reinforcement 22;

[0058] S5, determining the starting point and end point coordinates of the inner weld 201 between the inner web reinforcement 21 and the upper main reinforcement 11, and the starting point and end point coordinates of the outer weld 202 between the outer web reinforcement 22 and the upper main reinforcement 11, and transmitting the coordinates to the welding robot 30 on the upper side of the steel truss to locate the weld on the upper main reinforcement 11 and perform welding;

[0059] S6. Set the center of the lower main reinforcement 12 of the main reinforcement 10 in the steel truss as the origin of the coordinate system, and the x-axis is set along the length direction of the lower main reinforcement 12, the y-axis is set in a direction perpendicular to the lower main reinforcement 12, and the z-axis is set perpendicular to the x-axis and the y-axis. Repeat steps S3-S5 to position the welds between the inner web reinforcement 21, the outer web reinforcement 22 and the lower main reinforcement 12 and perform welding through the welding robot 30 on the lower side of the steel truss.

[0060] Specifically, the steel truss in this embodiment is mainly formed by connecting the main reinforcement 10 and the web reinforcement 20, and the web reinforcement 20 is set to a uniform structure and is spaced at the inner and outer sides of the main reinforcement 10, and is fixed to the main reinforcement 10 by welding, so as to ensure the overall mechanical strength of the steel truss. Further, the welding method of the steel truss positioning weld in this embodiment uses point cloud technology to obtain the original point set of the steel truss, and uses the sequence ZJZ and the sequence FJZ to obtain the corresponding starting and ending coordinates of the inner web reinforcement 21 and the outer web reinforcement 22, which can facilitate the welding robot 30 to change the welding position and welding posture according to its position information. Further, after determining the starting and ending coordinates of the inner weld 201 and the outer weld 202, the weld can be accurately welded under the action of the welding robot 30 to achieve the purpose of automatic positioning. Compared with the mechanical and image recognition positioning methods in the prior art, the positioning efficiency is higher, the positioning time is shorter, and the accuracy of the actual weld is higher.

[0061] The specific structure of the steel bar truss in this embodiment is described below.

[0062] like Figure 1 and Figure 2 As shown, in this embodiment, the steel truss includes a main reinforcement 10 and a web reinforcement 20, and in this embodiment, the web reinforcement 20 is arranged in a "Z"-shaped structure, and a plurality of web reinforcements 20 are arranged on both sides of the main reinforcement 10, and the inner web reinforcements 20 are evenly distributed and can be connected end to end to form an inner support group, and the outer web reinforcements 20 are evenly distributed and can be connected end to end to form an outer support group. The inner support group and the outer support group are arranged at intervals to form a two-layer web reinforcement 20, and both are fixed to the main reinforcement 10 by welding, so as to ensure the overall stability of the steel truss. By way of example, in this embodiment, the straight sections at the ends of each unit of the inner support group and the outer support group are connected to the main reinforcement 10 by welding, so that the steel truss can form a relatively stable planar structure.

[0063] Specifically, in this embodiment, the main reinforcement 10 includes an upper main reinforcement 11 and a lower main reinforcement 12, and the web reinforcement includes an inner web reinforcement 21 and an outer web reinforcement 22. An inner weld 201 is provided between the inner web reinforcement 21 and the upper main reinforcement 11 and the lower main reinforcement 12, and an outer weld 202 is provided between the outer web reinforcement 22 and the upper main reinforcement 11 and the lower main reinforcement 12. Optionally, the upper main reinforcement 11 and the lower main reinforcement 12 are arranged in parallel, and both the inner web reinforcement 21 and the outer web reinforcement 22 are located between the upper main reinforcement 11 and the lower main reinforcement 12, and are connected to the upper main reinforcement 11 and the lower main reinforcement 12 at the inner and outer sides, respectively, so as to ensure the overall stability of the steel truss. Specifically, each inner web reinforcement 21 is arranged as a "Z"-shaped structure, and a plurality of inner web reinforcements 21 can form an inner support group after being connected end to end, so as to ensure the stability between the upper main reinforcement 11 and the lower main reinforcement 12 at the inner side. Correspondingly, each outer web reinforcement 22 is also configured as a "Z"-shaped structure, and a plurality of outer web reinforcements 22 can be connected end to end to form an outer support group, thereby ensuring the stability between the upper main reinforcement 11 and the lower main reinforcement 12 on the outside.

[0064] Combination Figure 1 As shown, in this embodiment, the inner web reinforcement 21 and the outer web reinforcement 22 are arranged at intervals and staggered to improve the stability of the connection between the upper main reinforcement 11 and the lower main reinforcement 12, and ensure the mechanical strength of the overall structure. Exemplarily, both ends of the inner web reinforcement 21 are connected to the main reinforcement 10 with inner welds 201, and both ends of the outer web reinforcement 22 are connected to the main reinforcement 10 with outer welds 202, and the inner welds 201 and the outer welds 202 are arranged at intervals along the length direction of the main reinforcement 10, that is, along the length direction of the upper main reinforcement 11, or along the length direction of the lower main reinforcement 12, there is an outer weld 202 between every two inner welds 201, and similarly, there is an inner weld 201 between every two outer welds 202, so as to ensure the stable installation of the inner web reinforcement 21 and the outer web reinforcement 22 on both sides of the main reinforcement 10.

[0065] The welding method of the steel bar truss positioning weld in this embodiment is described in detail below.

[0066] like Figure 1-Figure 6 As shown, the welding method of the steel truss positioning weld is used for the welding installation of the steel truss, including the following steps:

[0067] S1, placing the steel truss horizontally on the welding platform 40, and making two welding robots 30 located on the upper and lower sides of the steel truss respectively;

[0068] S2. The center of the upper main reinforcement 11 of the main reinforcement 10 in the steel bar truss is set as the origin of the coordinate system, and the x-axis is set along the length direction of the upper main reinforcement 11, the y-axis is set along the direction perpendicular to the upper main reinforcement 11, and the z-axis is set perpendicular to the x-axis and the y-axis;

[0069] S3, use a scanning device to scan the steel truss, and traverse to obtain the original point set G;

[0070] S4, determining the sequence ZJZ and the sequence FJZ according to the original point set G, so as to obtain the starting point and the end point coordinates corresponding to the top of the inner web reinforcement 21 in the steel truss, and the starting point and the end point coordinates corresponding to the top of the outer web reinforcement 22 in the steel truss, and then determining the position information of the inner web reinforcement 21 and the outer web reinforcement 22;

[0071] S5, determining the starting point and end point coordinates of the inner weld 201 between the inner web reinforcement 21 and the upper main reinforcement 11, and the starting point and end point coordinates of the outer weld 202 between the outer web reinforcement 22 and the upper main reinforcement 11, and transmitting the coordinates to the welding robot 30 on the upper side of the steel truss to locate the weld on the upper main reinforcement 11 and perform welding;

[0072] S6. Set the center of the lower main reinforcement 12 of the main reinforcement 10 in the steel truss as the origin of the coordinate system, and the x-axis is set along the length direction of the lower main reinforcement 12, the y-axis is set in a direction perpendicular to the lower main reinforcement 12, and the z-axis is set perpendicular to the x-axis and the y-axis. Repeat steps S3-S5 to position the welds between the inner web reinforcement 21, the outer web reinforcement 22 and the lower main reinforcement 12 and perform welding through the welding robot 30 on the lower side of the steel truss.

[0073] like Figure 3 As shown, in this embodiment, due to the structural characteristics of the steel truss and the strong regularity of weld welding, the welding robot 30 is used to perform the welding operation of the weld, which can not only effectively improve the welding efficiency, but also enable the position of the weld to be accurately located. Further, in this embodiment, in order to ensure the stable welding of the steel truss, a welding platform 40 is provided, so that the steel truss can be placed flat on the welding platform 40, and then the welding robots 30 on the upper and lower sides are used to weld the inner and outer welds 202 on the upper and lower sides respectively. Exemplarily, in this embodiment, two welding robots 30 are provided, that is, welding can be performed on the upper and lower sides of the steel truss according to the subsequent weld position, so as to further improve the welding efficiency. Furthermore, the two welding robots 30 both move and weld along the length direction of the main reinforcement 10 to ensure that the welding operation is carried out stably.

[0074] Further, in this embodiment, the scanning device can be selected as needed, as long as it can obtain a point set of the object, and there is no restriction here. Specifically, in this embodiment, the scanning device is used to form a point set of the point signal reflected by the steel truss using three-dimensional point cloud technology, so that the operator can not only obtain the corresponding position information, but also obtain the brightness information of the reflection point. Since the brightness information is seriously affected by light and shadow, the position information after its reflection is mainly calculated in this embodiment. Specifically, in this embodiment, the position information of the inner web 21 and the outer web 22 is obtained respectively under the condition of determining the origin coordinates, so that the action preparation of the welding robot 30 for inner welding or outer welding can be adjusted, so that the welding gun can change its welding posture in time according to the different welding forms, thereby improving the working efficiency. Further, by obtaining the starting point coordinates and the end point coordinates of the weld, the position of the weld can be obtained by connecting the two points, so as to realize the positioning of the weld, and enable the welding robot 30 to weld accurately and improve the accuracy.

[0075] Exemplarily, the z value zero point is 5 mm downward from the upper surface of the welding platform 40 below the steel truss, and points outside this range are excluded to form a preprocessed original point set G, and the coordinates of each element include three components of x, y, and z, so that the z values ​​in the point set are all positive values, thereby avoiding errors or comparison errors in subsequent comparison calculations, making the target result more accurate.

[0076] Furthermore, step S4 further includes:

[0077] S4.1. Set the diameter of the main reinforcement 10 to D, take x as the independent variable, y∈-0.5D, 0.5D, and determine the sequence ZJZx, y, z based on the principle of maximum z value;

[0078] S4.2, set the diameter of the web rib 20 to d, take x as the independent variable, y∈0.5D, 0.5D+5d, and determine the sequence FJZx, y, z based on the principle of maximizing the z value;

[0079] S4.3. Along the length direction of the main reinforcement 10, the starting point and end point coordinates corresponding to the top of the inner web reinforcement 21 in the steel truss and the starting point and end point coordinates corresponding to the top of the outer web reinforcement 22 in the steel truss are determined by combining the comparison results of the sequence ZJZx, y, z and the sequence FJZx, y, z to determine the position information of the inner web reinforcement 21 and the outer web reinforcement 22.

[0080] Furthermore, step S4.3 also includes:

[0081] S4.3.1. Take x as the independent variable and compare the z value of the sequence ZJZx, y, z with the z value of FJZx, y, z. When the z value of ZJZx, y, z is greater than the z value of FJZx, y, z, record the x value at this time, which is the starting coordinate of the horizontal section center line of the top part of the inner abdominal muscle 21, recorded as NFSX; when the z value of ZJZx, y, z is less than the z value of FJZx, y, z, record the x value at this time, which is the end coordinate of the horizontal section center line of the top part of the inner abdominal muscle 21, recorded as NFEX; that is, when x belongs to NFSX or NFEX, the point set in this area belongs to the inner abdominal muscle 21, thereby determining the position information of the inner abdominal muscle 21;

[0082] S4.3.2. Continue the above comparison along the length direction of the main reinforcement 10. When NFEX has appeared and the z value of ZJZx, y, z is less than the z value of FJZx, y, z, record the x value at this time, which is the starting point coordinate of the horizontal section centerline of the top part of the external web reinforcement 22, recorded as WFSX; when the z value of ZJZx, y, z is greater than the z value of FJZx, y, z, record the x value at this time, which is the end point coordinate of the horizontal section centerline of the top part of the external web reinforcement 22, recorded as WFEX; that is, when x belongs to WFSX, WFEX, the point set in this area belongs to the external web reinforcement 22, so as to determine the position information of the external web reinforcement 22.

[0083] Combination Figure 4-Figure 6 As shown, by comparing the coordinate information, Figure 5 The continuous ZJZ sequence in Figure 6 The continuous FJZ sequence in the middle is divided, so that the equipment can accurately divide the positions of the tops of the inner web ribs 21 and the outer web ribs 22, so that the welding robot 30 can quickly identify the working area and adjust the welding posture in time according to the position information. For example, in step S4.2 of this embodiment, the range of y is 0.5D-0.5D+5d, so that its position can be divided in the inclined part of the web rib 20, thereby avoiding the problem of unclear data or poor recognition and positioning effect caused by direct division in the horizontal section. The setting of the maximum value of the range of y can also be set as needed, and there is no restriction here.

[0084] Furthermore, step S5 further includes:

[0085] S5.1. Take x as the independent variable, when x belongs to NFSX or NFEX, the y value of FJZx, y, z minus the y value of sequence ZJZx, y, z is obtained by obtaining cy, and the y value of FJZx, y, z plus the y value of sequence ZJZx, y, z is divided by 2 to obtain py, thereby forming the sequence NZFCYx, cy, py, and using this sequence to determine the starting point and end point coordinates of the inner weld 201 between the inner web reinforcement 21 and the upper main reinforcement 11;

[0086] S5.2, taking x as the independent variable, when x is greater than NFEX and x∈WFSX, WFEX, the y value of FJZx, y, z is subtracted from the y value of the sequence ZJZx, y, z to obtain cy, and the y value of FJZx, y, z is added to the y value of the sequence ZJZx, y, z and then divided by 2 to obtain py, thereby forming the sequence WZFCYx, cy, py, and using this sequence to determine the starting point and end point coordinates of the external weld 202 between the external web reinforcement 22 and the upper main reinforcement 11;

[0087] S5.3. The coordinates of the inner weld 201 and the outer weld 202 are transmitted to the welding robot 30 on the upper side of the steel bar truss to locate the weld on the upper main reinforcement 11 and perform welding.

[0088] Furthermore, step S5.1 further includes:

[0089] S5.1.1. When x is the independent variable and x belongs to NFSX or NFEX, the y value of FJZx, y, z minus the y value of the sequence ZJZx, y, z is cy, the y value of FJZx, y, z plus the y value of the sequence ZJZx, y, z is divided by 2 to get py, thus forming the sequence NZFCYx, cy, py;

[0090] S5.1.2, taking x as the independent variable, traverse the sequence NZFCYx, cy, py, and calculate the rate of change dy of the cy value relative to the x value;

[0091] S5.1.3, when dy is less than 0, it means that it is gradually approaching the starting point of the inner weld 201; when dy is equal to 0 or close to 0, the x value at this time is recorded as NFHFSX, and the py value at this time is recorded as NFHFSY, that is, the starting point position coordinates of the inner weld 201 are NFHFSX, NFHFSY;

[0092] S5.1.4. Continue to traverse with the above algorithm. When the dy value is obviously greater than 0, record the x value at this time as NFHFEX, and the py value at this time as NFHFEY, that is, the end position coordinates of the inner weld 201 are NFHFEX and NFHFEY, so as to determine the starting point and end point coordinates of the inner weld 201 between the inner web reinforcement 21 and the upper main reinforcement 11.

[0093] Furthermore, step S5.2 further includes:

[0094] S5.2.1. Take x as the independent variable, when x is greater than NFEX and x∈WFSX, WFEX, the y value of FJZx, y, z minus the y value of the sequence ZJZx, y, z is cy, the y value of FJZx, y, z plus the y value of the sequence ZJZx, y, z is divided by 2 to get py, thus forming the sequence WZFCYx, cy, py;

[0095] S5.2.2, taking x as the independent variable, traverse the sequence WZFCYx, cy, py and calculate the rate of change dy of the cy value relative to the x value;

[0096] S5.2.3, when dy is less than 0, it means that it is gradually approaching the starting point of the outer weld 202. When dy is equal to 0 or close to 0, the x value at this time is recorded as WFHFSX, and the py value at this time is recorded as WFHFSY, that is, the starting position coordinates of the outer weld 202 are WFHFSX, WFHFSY;

[0097] S5.2.4. Continue to traverse with the above algorithm. When the dy value is obviously greater than 0, record the x value at this time as WFHFEX, and the py value at this time as WFHFEY, that is, the end position coordinates of the outer weld 202 are WFHFEX and WFHFEY, so as to determine the starting point and end point coordinates of the outer weld 202 between the outer web reinforcement 22 and the upper main reinforcement 11.

[0098] This achieves accurate positioning of the inner weld 201 and the outer weld 202 on both sides of the inner and outer sides of the upper main reinforcement 11 in the steel truss, solves the problem of long positioning time in the prior art, and realizes automatic positioning of the steel truss welds at the construction site based on point cloud technology, thereby improving the welding efficiency and accuracy of the steel truss.

[0099] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. Steel bar truss, characterized in that: include: A main rib (10) and a web rib (20), wherein the web rib (20) is arranged in a "Z"-shaped structure, a plurality of web ribs (20) are evenly and spacedly distributed on both inner and outer sides of the main rib (10), and the web rib (20) is connected to the main rib (10) by welding.

2. The steel bar truss according to claim 1, characterized in that: The main reinforcement (10) comprises an upper main reinforcement (11) and a lower main reinforcement (12); the abdominal reinforcement comprises an inner abdominal reinforcement (21) and an outer abdominal reinforcement (22); and both the inner abdominal reinforcement (21) and the outer abdominal reinforcement (22) are located between the upper main reinforcement (11) and the lower main reinforcement (12); the inner abdominal reinforcement (21) is connected to the upper main reinforcement (11) and the lower main reinforcement (12) on the inner side; and the outer abdominal reinforcement (22) is connected to the upper main reinforcement (11) and the lower main reinforcement (12) on the outer side; and the inner abdominal reinforcement (21) and the outer abdominal reinforcement (22) are arranged in an alternating manner.

3. The steel bar truss according to claim 2, characterized in that: Internal welds (201) are provided at the connection points between the two ends of the inner web reinforcement (21) and the main reinforcement (10), and external welds (202) are provided at the connection points between the two ends of the outer web reinforcement (22) and the main reinforcement (10), and the internal welds (201) and the external welds (202) are arranged at staggered intervals along the length direction of the main reinforcement (10).

4. A welding method for a steel truss positioning weld, used for welding and installing a steel truss as claimed in any one of claims 1 to 3, characterized in that: The following steps are involved: S1, placing the steel bar truss horizontally on a welding platform (40), and positioning two welding robots (30) on the upper and lower sides of the steel bar truss respectively; S2, setting the center of the upper main reinforcement (11) of the main reinforcement (10) in the steel bar truss as the origin of the coordinate system, and the x-axis is set along the length direction of the upper main reinforcement (11), the y-axis is set along the direction perpendicular to the upper main reinforcement (11), and the z-axis is set perpendicular to the x-axis and the y-axis; S3, scanning the steel truss using a scanning device, and traversing to obtain an original point set G; S4, determining a sequence ZJZ and a sequence FJZ according to the original point set G, so as to obtain the starting point and end point coordinates corresponding to the top of the inner web reinforcement (21) in the steel truss, and the starting point and end point coordinates corresponding to the top of the outer web reinforcement (22) in the steel truss, and then determining the position information of the inner web reinforcement (21) and the outer web reinforcement (22); S5, determining the starting point and ending point coordinates of the inner weld (201) between the inner web reinforcement (21) and the upper main reinforcement (11), and the starting point and ending point coordinates of the outer weld (202) between the outer web reinforcement (22) and the upper main reinforcement (11), and transmitting the coordinates to the welding robot (30) on the upper side of the steel truss to locate the weld on the upper main reinforcement (11) and perform welding; S6. The center of the lower main reinforcement (12) of the main reinforcement (10) in the steel truss is set as the origin of the coordinate system, and the x-axis is set along the length direction of the lower main reinforcement (12), the y-axis is set in a direction perpendicular to the lower main reinforcement (12), and the z-axis is set perpendicular to the x-axis and the y-axis. Steps S3-S5 are repeated to locate the weld between the inner web reinforcement (21), the outer web reinforcement (22) and the lower main reinforcement (12) and perform welding by the welding robot (30) on the lower side of the steel truss.

5. The welding method of the steel bar truss positioning weld according to claim 4 is characterized in that: The step S4 further comprises: S4.

1. Set the diameter of the main reinforcement (10) to D, take x as the independent variable, y∈(-0.5D, 0.5D), and determine the sequence ZJZ(x, y, z) based on the principle of maximizing the z value; S4.2, setting the diameter of the web (20) to d, taking x as the independent variable, y∈(0.5D, 0.5D+5d), and determining the sequence FJZ(x, y, z) based on the principle of maximizing the z value; S4.

3. Along the length direction of the main reinforcement (10), the starting point and end point coordinates corresponding to the top of the inner web reinforcement (21) in the steel truss and the starting point and end point coordinates corresponding to the top of the outer web reinforcement (22) in the steel truss are determined in combination with the comparison results of the sequence ZJZ (x, y, z) and the sequence FJZ (x, y, z), so as to determine the position information of the inner web reinforcement (21) and the outer web reinforcement (22).

6. The welding method of the steel bar truss positioning weld according to claim 5, characterized in that: The step S4.3 also includes: S4.3.

1. Take x as the independent variable and compare the z value of the sequence ZJZ (x, y, z) with the z value of FJZ (x, y, z). When the z value of ZJZ (x, y, z) is greater than the z value of FJZ (x, y, z), record the x value at this time. This x value is the starting coordinate of the horizontal section center line of the top part of the inner abdominal muscle (21), which is recorded as NFSX. When the z value of ZJZ (x, y, z) is less than the z value of FJZ (x, y, z), record the x value at this time. This x value is the ending coordinate of the horizontal section center line of the top part of the inner abdominal muscle (21), which is recorded as NFEX. That is, when x belongs to (NFSX, NFEX), the point set in this area belongs to the inner abdominal muscle (21), thereby determining the position information of the inner abdominal muscle (21). S4.3.

2. Continue the above comparison along the length direction of the main reinforcement (10). When NFEX has appeared and the z value of ZJZ (x, y, z) is less than the z value of FJZ (x, y, z), record the x value at this time, which is the starting point coordinate of the horizontal section center line of the top part of the external web reinforcement (22), recorded as WFSX; when the z value of ZJZ (x, y, z) is greater than the z value of FJZ (x, y, z), record the x value at this time, which is the ending point coordinate of the horizontal section center line of the top part of the external web reinforcement (22), recorded as WFEX; that is, when x belongs to (WFSX, WFEX), the point set in this area belongs to the external web reinforcement (22), thereby determining the position information of the external web reinforcement (22).

7. The welding method of the steel bar truss positioning weld according to claim 4, characterized in that: The step S5 further comprises: S5.

1. With x as the independent variable, when x belongs to (NFSX, NFEX), the y value of FJZ (x, y, z) minus the y value of sequence ZJZ (x, y, z) is obtained by obtaining cy, and the y value of FJZ (x, y, z) plus the y value of sequence ZJZ (x, y, z) is divided by 2 to obtain py, thereby forming the sequence NZFCY (x, cy, py), and using this sequence to determine the starting point and end point coordinates of the inner weld (201) between the inner web reinforcement (21) and the upper main reinforcement (11); S5.2, taking x as the independent variable, when x is greater than NFEX and x∈(WFSX, WFEX), the y value of FJZ(x, y, z) minus the y value of sequence ZJZ(x, y, z) is obtained by obtaining cy, the y value of FJZ(x, y, z) is added to the y value of sequence ZJZ(x, y, z) and then divided by 2 to obtain py, thereby forming the sequence WZFCY(x, cy, py), and using this sequence to determine the starting point and end point coordinates of the external weld (202) between the external web reinforcement (22) and the upper main reinforcement (11); S5.3, transmitting the coordinates of the inner weld (201) and the outer weld (202) to the welding robot (30) on the upper side of the steel bar truss, so as to locate the weld on the upper main reinforcement (11) and perform welding.

8. The welding method of the steel bar truss positioning weld according to claim 7, characterized in that: The step S5.1 further comprises: S5.1.

1. Take x as the independent variable, and when x belongs to (NFSX, NFEX), the y value of FJZ(x, y, z) minus the y value of sequence ZJZ(x, y, z) is cy, and the y value of FJZ(x, y, z) plus the y value of sequence ZJZ(x, y, z) is divided by 2 to get py, thus forming the sequence NZFCY(x, cy, py); S5.1.2, taking x as the independent variable, traverse the sequence NZFCY(x, cy, py) and calculate the rate of change dy of the cy value relative to the x value; S5.1.3, when dy is less than 0, it means that it is gradually approaching the starting point of the inner weld (201); when dy is equal to 0 or close to 0, the x value at this time is recorded as NFHFSX, and the py value at this time is recorded as NFHFSY, that is, the starting point position coordinates of the inner weld (201) are (NFHFSX, NFHFSY); S5.1.

4. Continue to traverse using the above algorithm. When the dy value is significantly greater than 0, record the x value at this time as NFHFEX, and the py value at this time as NFHFEY. That is, the end position coordinates of the inner weld (201) are (NFHFEX, NFHFEY). This is used to determine the start and end coordinates of the inner weld (201) between the inner web reinforcement (21) and the upper main reinforcement (11).

9. The welding method of the steel bar truss positioning weld according to claim 7, characterized in that: The step S5.2 further includes: S5.2.

1. Take x as the independent variable, when x is greater than NFEX and x∈(WFSX, WFEX), the y value of FJZ(x, y, z) minus the y value of sequence ZJZ(x, y, z) is cy, the y value of FJZ(x, y, z) plus the y value of sequence ZJZ(x, y, z) and divided by 2 is py, thus forming the sequence WZFCY(x, cy, py); S5.2.2, taking x as the independent variable, traverse the sequence WZFCY(x, cy, py) and calculate the rate of change dy of the cy value relative to the x value; S5.2.3, when dy is less than 0, it means that it is gradually approaching the starting point of the outer weld (202). When dy is equal to 0 or close to 0, the x value at this time is recorded as WFHFSX, and the py value at this time is recorded as WFHFSY, that is, the starting point position coordinates of the outer weld (202) are (WFHFSX, WFHFSY); S5.2.

4. Continue to traverse using the above algorithm. When the dy value is significantly greater than 0, record the x value at this time as WFHFEX, and the py value at this time as WFHFEY. That is, the end position coordinates of the outer weld (202) are (WFHFEX, WFHFEY). This is used to determine the start and end coordinates of the outer weld (202) between the outer web reinforcement (22) and the upper main reinforcement (11).

10. The welding method of the steel bar truss positioning weld according to claim 4, characterized in that: The z value zero point is set at 5 mm below the upper surface of the welding platform (40) below the steel bar truss, and points outside this range are excluded, thereby forming a preprocessed original point set G, and the coordinates of each element include three components (x, y, z).

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