Welding methods for steel trusses and their locating welds

Abstract

This invention belongs to the field of underground engineering technology and discloses a welding method for a steel truss and its positioning welds. The steel truss includes main bars and web bars, and the web bars are configured in a "Z" shape. Several web bars are evenly and spaced on the inner and outer sides of the main bars. The web bars are connected to the main bars by welding. The welding method for the positioning welds of the steel truss includes: placing the steel truss horizontally on a welding platform, with two welding robots positioned on the upper and lower sides of the steel truss respectively; setting the origin of the coordinate system and scanning the steel truss using a scanning device to obtain an original point set G; determining the sequence ZJZ and sequence FJZ based on the original point set G to obtain the start and end coordinates of the tops of the inner and outer web bars in the steel truss, and determining the position information of the inner and outer web bars; and determining the start and end coordinates of the inner and outer welds for welding.

Description

Technical Field

[0001] This invention relates to the field of underground engineering technology, and in particular to a welding method for a steel truss and its positioning welds. Background Technology

[0002] In the application of steel cage engineering for diaphragm walls, the steel truss, the skeleton of the diaphragm wall steel cage, not only connects other components to form the whole steel cage, but is also the main load-bearing component during the hoisting process, having a crucial impact on the overall structural stability of the steel cage. The steel truss is mainly installed by welding. Currently, existing technologies typically use mechanical touch switches to identify weld seams and use this as the starting point. The weld seam is then identified and welded based on the fixed weld seam length determined by the servo motor's movement. This mechanical positioning method is not only inefficient, but also results in unstable weld quality. Firstly, after the trigger signal is generated, the welding equipment needs to stop, and the operation only resumes after the servo motor has fixed its travel path length, significantly reducing the welding speed. Secondly, due to bending errors between the touch point and the actual weld point, the actual weld seam length may not reach the set weld length, easily leading to incomplete weld connections and reducing the stability of the steel truss. Image recognition technology is now widely used in factories, but it is affected by factors such as lighting, reflection, and shadows, which can cause significant welding errors. Therefore, improving the welding efficiency of steel trusses and ensuring automated and precise positioning of welds and high-quality welding operations are problems that need to be solved by people in this field. Summary of the Invention

[0003] The purpose of this invention is to provide a welding method for steel trusses and their positioning welds, so as to improve the welding efficiency of steel trusses, ensure the automated and accurate positioning of welds, and achieve high-quality welding operations.

[0004] To achieve this objective, the present invention adopts the following technical solution:

[0005] Steel truss, including:

[0006] The main reinforcement and the web reinforcement are provided, and the web reinforcement is set in a "Z" shape. Several web reinforcements are evenly distributed and spaced on the inner and outer sides of the main reinforcement. The web reinforcements are connected to the main reinforcement by welding.

[0007] Optionally, the main reinforcement includes an upper main reinforcement and a lower main reinforcement, and the web reinforcement includes an inner web reinforcement and an outer web reinforcement. Both the inner web reinforcement and the outer web reinforcement are located between the upper main reinforcement and the lower main reinforcement. The inner web reinforcement is connected to the upper main reinforcement and the lower main reinforcement on the inner side, and the outer web reinforcement is connected to the upper main reinforcement and the lower main reinforcement on the outer side. The inner web reinforcement and the outer web reinforcement are spaced apart and staggered.

[0008] Optionally, both ends of the inner web reinforcement are provided with inner welds at the connection points with the main reinforcement, and both ends of the outer web reinforcement are provided with outer welds at the connection points with the main reinforcement. The inner welds and the outer welds are staggered along the length of the main reinforcement.

[0009] A welding method for locating welds on a steel truss, used for the welding and installation of the steel truss, comprising the following steps:

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

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

[0012] S3. Use a scanning device to scan the steel truss and traverse it to obtain the original point set G;

[0013] S4. Determine sequence ZJZ and sequence FJZ based on the original point set G to obtain the starting and ending coordinates of the top of the inner web reinforcement in the steel truss, as well as the starting and ending coordinates of the top of the outer web reinforcement in the steel truss, and then determine the position information of the inner web reinforcement and the outer web reinforcement.

[0014] S5. Determine the starting and ending coordinates of the inner weld between the inner web reinforcement and the upper main reinforcement, as well as the starting and ending coordinates of the outer weld between the outer web reinforcement and the upper main reinforcement, and transmit the coordinates to the welding robot on the upper side of the steel truss to locate and weld the weld on the upper main reinforcement.

[0015] S6. Set the center of the lower main bar of the main bar in the steel truss as the origin of the coordinate system, and set the x-axis along the length of the lower main bar, the y-axis along the direction perpendicular to the lower main bar, and the z-axis perpendicular to the x-axis and y-axis. Repeat steps S3-S5 to locate the weld between the inner web bar, the outer web bar and the lower main bar and weld them using a 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 bar to D, with x as the independent variable and y∈(-0.5D, 0.5D), and determine the sequence ZJZ(x, y, x) based on the principle of maximizing the z value;

[0018] S4.2. Set the diameter of the abdominal ligament 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 of the main reinforcement, combine the comparison results of sequence ZJZ(x, y, x) and sequence FJZ(x, y, x) to determine the starting and ending coordinates of the top of the inner web reinforcement in the steel truss, as well as the starting and ending coordinates of the top of the outer web reinforcement in the steel truss, so as to determine the position information of the inner web reinforcement and the outer web reinforcement.

[0020] Optionally, step S4.3 may further include:

[0021] S4.3.1. Using x as the independent variable, compare the z-value of 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. This x-value is the starting coordinate of the center line of the horizontal segment at the top of the internal fascia, denoted 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. This x-value is the ending coordinate of the center line of the horizontal segment at the top of the internal fascia, denoted as NFEX. That is, when x belongs to (NFSX, NFEX), the point set in this region belongs to the internal fascia, thereby determining the position information of the internal fascia.

[0022] S4.3.2. Continue the above comparison along the length 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. The x value is the starting coordinate of the center line of the horizontal segment at the top of the outer web reinforcement, denoted 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. The x value is the ending coordinate of the center line of the horizontal segment at the top of the outer web reinforcement, denoted as WFEX. That is, when x belongs to (WFSX, WFEX), the point set in this area belongs to the outer web reinforcement, thereby determining the position information of the outer web reinforcement.

[0023] Optionally, step S5 further includes:

[0024] S5.1. With x as the independent variable, when x belongs to (NFSX, NFEX), the y value of FJZ(x, y, x) minus the y value of the sequence ZJZ(x, y, x) is used to obtain cy. The y value of FJZ(x, y, x) is added to the y value of the sequence ZJZ(x, y, x) and then divided by 2 to obtain py. This forms the sequence NZFCY(x, cy, py). This sequence is used to determine the starting and ending coordinates of the inner weld between the inner web reinforcement and the upper main reinforcement.

[0025] S5.2. With 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 the sequence ZJZ(x, y, x) is used to obtain cy. The y value of FJZ(x, y, x) is added to the y value of the sequence ZJZ(x, y, x) and then divided by 2 to obtain py. This forms the sequence WZFCY(x, cy, py). This sequence is used to determine the starting and ending coordinates of the outer weld between the outer web reinforcement and the upper main reinforcement.

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

[0027] Optionally, step S5.1 may further include:

[0028] S5.1.1. With 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 used to obtain cy. 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. This forms the sequence NZFCY(x, cy, py).

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

[0030] S5.1.3 When dy is less than 0, it indicates that it is gradually approaching the starting point of the inner weld; when dy is equal to 0 or close to 0, record the x value as NFHFSX and the py value as NFHFSY, that is, the starting point coordinates of the inner weld are (NFHFSX, NFHFSY).

[0031] S5.1.4 Continue the above algorithm to traverse. When the dy value is significantly greater than 0, record the x value as NFHFEX and the py value as NFHFEY. The coordinates of the end point of the inner weld are (NFHFEX, NFHFEY). In this way, the starting point and ending point coordinates of the inner weld between the inner web reinforcement and the upper main reinforcement are determined.

[0032] Optionally, step S5.2 may further include:

[0033] S5.2.1. When x is the independent variable, x is greater than NFEX and x∈(WFSX, WFEX), the y value of FJZ(x, y, x) minus the y value of the sequence ZJZ(x, y, x) is used to obtain cy. The y value of FJZ(x, y, x) is added to the y value of the sequence ZJZ(x, y, x) and then divided by 2 to obtain py. This forms the sequence WZFCY(x, cy, py).

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

[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, record the x value as WFHFSX and the py value as WFHFSY. That is, the starting point coordinates of the outer weld are (WFHFSX, WFHFSY).

[0036] S5.2.4 Continue the above algorithm to traverse. When the dy value is significantly greater than 0, record the x value as WFHFEX and the py value as WFHFEY. That is, the coordinates of the end point of the outer weld are WFHFEX and WFHFEY. In this way, the starting point and ending point coordinates of the outer weld between the outer web reinforcement and the upper main reinforcement are determined.

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

[0038] The beneficial effects of this invention are:

[0039] In this invention, the steel truss is mainly constructed by connecting main bars and web bars. The web bars are arranged in a V-shape, evenly distributed on both the inner and outer sides of the main bars, and fixed to the main bars by welding, thereby ensuring the overall mechanical strength of the steel truss. Furthermore, the welding method for the positioning welds of the steel truss in this invention uses point cloud technology to acquire the original point set of the steel truss, and uses sequences ZJZ and FJZ to obtain the corresponding start and end coordinates of the inner and outer web bars. This allows the welding robot to adjust its welding position and posture accordingly based on the position information. Furthermore, after determining the start and end coordinates of the inner and outer welds, precise welding can be performed under the action of the welding robot, achieving automated positioning. Compared with existing mechanical and image recognition positioning methods, this method offers higher positioning efficiency, shorter positioning time, and higher accuracy of the actual weld. Attached Figure Description

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

[0041] Figure 2 This is a schematic diagram of the welding operation of the steel truss described in the embodiment of the present invention;

[0042] Figure 3 This is a schematic diagram of weld positioning for a steel truss as described in an embodiment of the present invention;

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

[0044] Figure 5 This is a point diagram of the ZJZ sequence (each point has x, y, z values) when the steel truss is used for weld positioning in an embodiment of the present invention.

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

[0046] In the picture:

[0047] 10-Main reinforcement; 11-Upper main reinforcement; 12-Lower main reinforcement; 20-Web reinforcement; 21-Inner web reinforcement; 22-Outer web reinforcement; 201-Inner weld; 202-Outer weld; 30-Welding robot; 40-Welding platform. Detailed Implementation

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

[0049] In the description of this invention, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection or a detachable connection; a mechanical connection or an electrical connection; a direct connection or an indirect connection through an intermediate medium; or the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0050] In the description of this invention, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0051] The technical solution of this embodiment will be further described below with reference to the accompanying drawings and specific implementation methods.

[0052] like Figures 1-6 As shown, this embodiment provides a steel truss, including main bars 10 and web bars 20, and the web bars 20 are configured as a "Z" shaped structure. Several web bars 20 are evenly and spaced on the inner and outer sides of the main bars 10, and the web bars 20 are connected to the main bars 10 by welding.

[0053] The welding method for locating welds in steel trusses, used for the welding and installation of steel trusses, includes the following steps:

[0054] S1. Place the steel truss horizontally on the welding platform 40, and position the two welding robots 30 on the upper and lower sides of the steel truss respectively.

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

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

[0057] S4. Determine sequence ZJZ and sequence FJZ based on the original point set G to obtain the starting and ending coordinates of the top of the inner web reinforcement 21 in the steel truss, and the starting and ending coordinates of the top of the outer web reinforcement 22 in the steel truss, and then determine the position information of the inner web reinforcement 21 and the outer web reinforcement 22.

[0058] S5. Determine the starting and ending coordinates of the inner weld 201 between the inner web reinforcement 21 and the upper main reinforcement 11, as well as the starting and ending coordinates of the outer weld 202 between the outer web reinforcement 22 and the upper main reinforcement 11, and transmit the coordinates to the welding robot 30 on the upper side of the steel truss to locate and weld the weld on the upper main reinforcement 11.

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

[0060] Specifically, in this embodiment, the steel truss is mainly constructed by connecting main bars 10 and web bars 20. The web bars 20 are arranged in a V-shape, evenly distributed on the inner and outer sides of the main bars 10, and fixed to the main bars 10 by welding, thereby ensuring the overall mechanical strength of the steel truss. Furthermore, in this embodiment, the welding method for the positioning welds of the steel truss uses point cloud technology to acquire the original point set of the steel truss, and uses sequences ZJZ and FJZ to obtain the corresponding start and end coordinates of the inner web bars 21 and outer web bars 22. This allows the welding robot 30 to adjust its welding position and posture according to its position information. Furthermore, after determining the start and end coordinates of the inner weld 201 and outer weld 202, precise welding of the welds can be performed under the action of the welding robot 30, achieving automated positioning. Compared with the mechanical and image recognition positioning methods in the prior art, this method has higher positioning efficiency, shorter positioning time, and higher actual weld accuracy.

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

[0062] like Figure 1 and Figure 2 As shown, in this embodiment, the steel truss includes main reinforcement 10 and web reinforcement 20. In this embodiment, the web reinforcement 20 is configured as a "Z" shape, with several web reinforcements 20 arranged on the inner and outer sides of the main reinforcement 10. The inner web reinforcements 20 are evenly distributed and can be connected end-to-end to form an inner support group, while the outer web reinforcements 20 are evenly distributed and can be connected end-to-end to form an outer support group. The inner and outer support groups are spaced apart, thus forming two layers of web reinforcement 20. Both are fixed to the main reinforcement 10 by welding, thereby ensuring the overall stability of the steel truss. For example, in this embodiment, the straight sections at the ends of each unit of the inner and outer support groups are connected to the main reinforcement 10 by welding, thereby enabling the steel truss to 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 on the inner and outer sides, respectively, thereby ensuring the overall stability of the steel truss. Specifically, each inner web reinforcement 21 is configured as a "Z"-shaped structure, and several inner web reinforcements 21 connected end-to-end can form an inner support group, thereby ensuring the stability between the upper main reinforcement 11 and the lower main reinforcement 12 on the inner side. Correspondingly, each external rib 22 is also set as a "Z" shaped structure, and several external ribs 22 can be connected end to end to form an outer support group, thereby ensuring the stability between the upper main rib 11 and the lower main rib 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 spaced apart and staggered to improve the stability of the connection between the upper main reinforcement 11 and the lower main reinforcement 12, and to ensure the mechanical strength of the overall structure. For example, both ends of the inner web reinforcement 21 are provided with inner welds 201 at their connection points with the main reinforcement 10, and both ends of the outer web reinforcement 22 are provided with outer welds 202 at their connection points with the main reinforcement 10. The inner welds 201 and outer welds 202 are staggered along the length of the main reinforcement 10, meaning that there is one outer weld 202 between every two inner welds 201 along the length of the upper main reinforcement 11 or the lower main reinforcement 12. Similarly, there is one inner weld 201 between every two outer welds 202, thereby ensuring 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 for the positioning weld of the steel truss in this embodiment will be described in detail below.

[0066] like Figures 1-6 As shown, the welding method for locating welds of steel trusses, used for the welding and installation of steel trusses, includes the following steps:

[0067] S1. Place the steel truss horizontally on the welding platform 40, and position the two welding robots 30 on the upper and lower sides of the steel truss respectively.

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

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

[0070] S4. Determine sequence ZJZ and sequence FJZ based on the original point set G to obtain the starting and ending coordinates of the top of the inner web reinforcement 21 in the steel truss, and the starting and ending coordinates of the top of the outer web reinforcement 22 in the steel truss, and then determine the position information of the inner web reinforcement 21 and the outer web reinforcement 22.

[0071] S5. Determine the starting and ending coordinates of the inner weld 201 between the inner web reinforcement 21 and the upper main reinforcement 11, as well as the starting and ending coordinates of the outer weld 202 between the outer web reinforcement 22 and the upper main reinforcement 11, and transmit the coordinates to the welding robot 30 on the upper side of the steel truss to locate and weld the weld on the upper main reinforcement 11.

[0072] S6. Set the center of the lower main bar 12 of the main bar 10 in the steel truss as the origin of the coordinate system, and set the x-axis along the length of the lower main bar 12, the y-axis along the direction perpendicular to the lower main bar 12, and the z-axis perpendicular to the x-axis and y-axis. Repeat steps S3-S5 to locate the weld between the inner web bar 21, the outer web bar 22 and the lower main bar 12 and weld them 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 the weld seam, a welding robot 30 is used for the weld seam welding operation. This not only effectively improves welding efficiency but also allows for precise positioning of the weld seam. Furthermore, to ensure stable welding of the steel truss, a welding platform 40 is provided in this embodiment, allowing the steel truss to be placed flat on the welding platform 40. Then, welding robots 30 on both the upper and lower sides are used to weld the inner and outer weld seams 202 on both sides respectively. For example, two welding robots 30 are provided in this embodiment, allowing welding to be performed on the upper and lower sides of the steel truss according to the subsequent weld seam position, thereby further improving welding efficiency. Furthermore, both welding robots 30 travel and weld along the length of the main reinforcement 10 to ensure stable welding operations.

[0074] Furthermore, in this embodiment, the scanning device can be selected as needed, as long as it can acquire point sets of the object; no limitation is imposed here. Specifically, in this embodiment, the scanning device utilizes 3D point cloud technology to enable the point signals reflected by the steel truss to form point sets, allowing operators to obtain not only the corresponding position information but also the brightness information of the reflected points. Since brightness information is significantly affected by illumination and shadows, this embodiment mainly focuses on calculating the position information after reflection. Specifically, in this embodiment, the position information of the inner web reinforcement 21 and the outer web reinforcement 22 is obtained separately after determining the origin coordinates. This allows the welding robot 30 to adjust its action preparation for inner or outer welding, enabling the welding torch to change its welding posture in a timely manner according to different welding methods, thereby improving work efficiency. Furthermore, by obtaining the starting and ending coordinates of the weld, the position of the weld can be obtained by connecting the two points, thus achieving weld positioning and enabling the welding robot 30 to perform welding accurately, improving accuracy.

[0075] For example, the zero point of the z-value is set 5mm below the upper surface of the welding platform 40 under the steel truss, and points outside this range are excluded. This forms the original set of points G for preprocessing, and the coordinates of each element include three components: x, y, and z. This makes the z-values ​​in the set of points all positive, thereby avoiding errors or comparison mistakes in subsequent comparison calculations and making the target result more accurate.

[0076] Furthermore, step S4 also includes:

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

[0078] S4.2. Set the diameter of the abdominal ligament 20 as 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 of the main reinforcement 10, combine the comparison results of sequence ZJZx,y,z and sequence FJZx,y,z to determine the starting and ending coordinates of the top of the inner web reinforcement 21 in the steel truss, and the starting and ending coordinates of the top of the outer web reinforcement 22 in the steel truss, so as 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. Using x as the independent variable, compare the z-values ​​of sequence ZJZx,y,z with the z-values ​​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. This x-value is the starting point coordinate of the center line of the horizontal segment at the top of the inner fascia 21, denoted 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. This x-value is the ending point coordinate of the center line of the horizontal segment at the top of the inner fascia 21, denoted as NFEX. That is, when x belongs to NFSX or NFEX, the point set in this region belongs to the inner fascia 21, thereby determining the position information of the inner fascia 21.

[0082] S4.3.2. Continue the above comparison along the length of the main reinforcement 10. When NFEX has appeared and the z values ​​of ZJZx,y,z are less than the z values ​​of FJZx,y,z, record the x value at this time. The x value is the starting coordinate of the center line of the horizontal segment at the top of the outer web reinforcement 22, denoted as WFSX. When the z values ​​of ZJZx,y,z are greater than the z values ​​of FJZx,y,z, record the x value at this time. The x value is the ending coordinate of the center line of the horizontal segment at the top of the outer web reinforcement 22, denoted as WFEX. That is, when x belongs to WFSX or WFEX, the point set in this area belongs to the outer web reinforcement 22, thereby determining the position information of the outer web reinforcement 22.

[0083] Combination Figures 4-6 As shown, by comparing coordinate information, it is possible to... Figure 5 Continuous ZJZ sequences and Figure 6 The continuous FJZ sequence is divided, allowing the device to accurately define the positions of the tops of the inner and outer web ribs 21 and 22. This enables the welding robot 30 to quickly identify the work area and adjust its welding posture in a timely manner based on the position information. For example, in step S4.2 of this embodiment, the range of y is set to 0.5D-0.5D+5d, allowing its position to be divided in the inclined portion of the web rib 20. This avoids the problems of unclear data or poor identification and positioning caused by directly dividing in the horizontal segment. The maximum value of the y range can also be set as needed and is not limited here.

[0084] Furthermore, step S5 also includes:

[0085] S5.1. With x as the independent variable, when x belongs to NFSX and NFEX, the y value of FJZx,y,z is subtracted from the y value of the sequence ZJZx,y,z to obtain cy. 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. This forms the sequence NZFCYx,cy,py. This sequence is used to determine the starting and ending coordinates of the inner weld 201 between the inner web reinforcement 21 and the upper main reinforcement 11.

[0086] S5.2. With 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. 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. This forms the sequence WZFCYx,cy,py. This sequence is used to determine the starting and ending coordinates of the outer weld 202 between the outer 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 truss to locate and weld the weld on the upper main reinforcement 11.

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

[0089] S5.1.1. With x as the independent variable, when x belongs to NFSX and NFEX, the y value of FJZx,y,z minus the y value of the sequence ZJZx,y,z is obtained as cy. The y value of FJZx,y,z plus the y value of the sequence ZJZx,y,z is divided by 2 to obtain py. This forms the sequence NZFCYx,cy,py.

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

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

[0092] S5.1.4 Continue the above algorithm to traverse. When the dy value is significantly greater than 0, record the x value as NFHFEX and the py value as NFHFEY. That is, the coordinates of the end point of the inner weld 201 are NFHFEX and NFHFEY. In this way, the starting point and ending point coordinates of the inner weld 201 between the inner web reinforcement 21 and the upper main reinforcement 11 are determined.

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

[0094] S5.2.1. With 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 obtained as cy. The y value of FJZx,y,z plus the y value of the sequence ZJZx,y,z is divided by 2 to obtain py. This forms the sequence WZFCYx,cy,py.

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

[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, record the x value as WFHFSX and the py value as WFHFSY. That is, the starting position coordinates of the outer weld 202 are WFHFSX and WFHFSY.

[0097] S5.2.4 Continue the above algorithm to traverse. When the dy value is significantly greater than 0, record the x value as WFHFEX and the py value as WFHFEY. That is, the coordinates of the end point of the outer weld 202 are WFHFEX and WFHFEY. In this way, the starting point and ending point coordinates of the outer weld 202 between the outer web reinforcement 22 and the upper main reinforcement 11 are determined.

[0098] This enables precise positioning of the inner weld 201 and outer weld 202 on both sides of the upper main reinforcement 11 in the steel truss, solving the problem of long positioning time in the existing technology. Based on point cloud technology, it realizes the automated positioning of the weld seams of the steel truss on the construction site, 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 implementation of the present invention. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A welding method for positioning welds in a steel truss, implemented using a steel truss, characterized in that, The steel truss includes: The main reinforcement (10) and the web reinforcement (20) are arranged in a "Z" shape. Several web reinforcements (20) are evenly and spaced on the inner and outer sides of the main reinforcement (10). The web reinforcements (20) and the main reinforcement (10) are connected by welding. The main reinforcement (10) includes an upper main reinforcement (11) and a lower main reinforcement (12). The abdominal reinforcement includes an inner abdominal reinforcement (21) and an outer abdominal reinforcement (22). 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. The outer abdominal reinforcement (22) is connected to the upper main reinforcement (11) and the lower main reinforcement (12) on the outer side. The inner abdominal reinforcement (21) and the outer abdominal reinforcement (22) are spaced apart and staggered. Both ends of the inner web reinforcement (21) are provided with inner welds (201) at the connection points with the main reinforcement (10), and both ends of the outer web reinforcement (22) are provided with outer welds (202) at the connection points with the main reinforcement (10). The inner welds (201) and the outer welds (202) are staggered along the length direction of the main reinforcement (10). The welding method for the positioning weld of the steel truss includes the following steps: S1. Place the steel truss horizontally on the welding platform (40) and position the two welding robots (30) on the upper and lower sides of the steel truss respectively. S2. Set the center of the upper main bar (11) of the main bar (10) in the steel truss as the origin of the coordinate system, and set the x-axis along the length direction of the upper main bar (11), the y-axis along the direction perpendicular to the upper main bar (11), and the z-axis perpendicular to the x-axis and y-axis. S3. Use a scanning device to scan the steel truss and traverse it to obtain the original point set G; S4. Determine sequence ZJZ and sequence FJZ based on the original point set G to obtain the starting point and ending point coordinates corresponding to the top of the inner web reinforcement (21) in the steel truss, and the starting point and ending point coordinates corresponding to the top of the outer web reinforcement (22) in the steel truss, and then determine the position information of the inner web reinforcement (21) and the outer web reinforcement (22). S5. Determine the starting and ending coordinates of the inner weld (201) between the inner web reinforcement (21) and the upper main reinforcement (11), and the starting and ending coordinates of the outer weld (202) between the outer web reinforcement (22) and the upper main reinforcement (11), and transmit the coordinates to the welding robot (30) on the upper side of the steel truss to locate and weld the weld on the upper main reinforcement (11); S6. Set the center of the lower main bar (12) of the main bar (10) in the steel truss as the origin of the coordinate system, and set the x-axis along the length direction of the lower main bar (12), the y-axis along the direction perpendicular to the lower main bar (12), and the z-axis perpendicular to the x-axis and y-axis. Repeat steps S3-S5 to locate the weld between the inner web bar (21), the outer web bar (22) and the lower main bar (12) and weld them through the welding robot (30) on the lower side of the steel truss. Step S4 further includes: 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 the largest z value. S4.

2. Set the diameter of the fascia (20) to d, take x as the independent variable, y∈(0.5D, 0.5D+5d), and determine the sequence FJZ(x, y, z) based on the principle of the largest z value. S4.

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

2. The welding method for the positioning weld of the steel truss according to claim 1, characterized in that, Step S4.3 further includes: S4.3.

1. Using x as the independent variable, compare the z value of 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 point coordinate of the center line of the horizontal segment of the top part of the inner abdominal ligament (21), denoted 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 point coordinate of the center line of the horizontal segment of the top part of the inner abdominal ligament (21), denoted as NFEX. That is, when x belongs to (NFSX, NFEX), the point set of this region belongs to the inner abdominal ligament (21), thereby determining the position information of the inner abdominal ligament (21). S4.3.2 Continue the above comparison along the length 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. The x value is the starting point coordinate of the center line of the horizontal segment at the top of the outer web reinforcement (22), denoted 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. The x value is the ending point coordinate of the center line of the horizontal segment at the top of the outer web reinforcement (22), denoted as WFEX. That is, when x belongs to (WFSX, WFEX), the point set in this area belongs to the outer web reinforcement (22), thereby determining the position information of the outer web reinforcement (22).

3. The welding method for the positioning weld of the steel truss according to claim 1, characterized in that, Step S5 further includes: 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 used to obtain cy. 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. This forms the sequence NZFCY(x, cy, py). This sequence is used to determine the starting and ending coordinates of the inner weld (201) between the inner web reinforcement (21) and the upper main reinforcement (11). S5.

2. When x is the independent variable, 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 used to obtain 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. This forms the sequence WZFCY(x,cy,py). This sequence is used to determine the starting and ending coordinates of the outer weld (202) between the outer web reinforcement (22) and the upper main reinforcement (11). 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 truss to locate and weld the weld on the upper main bar (11).

4. The welding method for the positioning weld of the steel truss according to claim 3, characterized in that, Step S5.1 further includes: S5.1.

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 used to obtain cy. 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. This forms the sequence NZFCY(x, cy, py). S5.1.

2. Using x as the independent variable, traverse the sequence NZFCY(x, cy, py) and calculate the rate of change dy of the value of cy relative to the value of x. S5.1.3 When dy is less than 0, it indicates that it is gradually approaching the starting point of the inner weld (201); when dy is equal to 0 or close to 0, record the x value as NFHFSX and the py value as NFHFSY, that is, the starting position coordinates of the inner weld (201) are (NFHFSX, NFHFSY). S5.1.4 Continue the above algorithm to traverse. When the dy value is significantly greater than 0, record the x value as NFHFEX and the py value as NFHFEY. That is, the coordinates of the end point of the inner weld (201) are (NFHFEX, NFHFEY). In this way, the starting point and ending point coordinates of the inner weld (201) between the inner web reinforcement (21) and the upper main reinforcement (11) are determined.

5. The welding method for the positioning weld of the steel truss according to claim 3, characterized in that, Step S5.2 further includes: S5.2.

1. With 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 the sequence ZJZ(x,y,z) is obtained as cy. The y value of FJZ(x,y,z) plus the y value of the sequence ZJZ(x,y,z) is divided by 2 to obtain py. This forms the sequence WZFCY(x,cy,py). S5.2.

2. Using x as the independent variable, traverse the sequence WZFCY(x, cy, py) and calculate the rate of change dy of the value of cy relative to the value of x. 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, record the x value as WFHFSX and the py value as WFHFSY. That is, the starting position coordinates of the outer weld (202) are (WFHFSX, WFHFSY). S5.2.4 Continue the above algorithm to traverse. When the dy value is significantly greater than 0, record the x value as WFHFEX and the py value as WFHFEY. That is, the coordinates of the end point of the outer weld (202) are (WFHFEX, WFHFEY). In this way, the starting point and ending point coordinates of the outer weld (202) between the outer web reinforcement (22) and the upper main reinforcement (11) are determined.

6. The welding method for the positioning weld of the steel truss according to claim 1, characterized in that, The zero point of z is taken as 5mm below the upper surface of the welding platform (40) under the steel truss, and points outside this range are excluded, thus forming the preprocessed original point set G, and the coordinates of each element include three components (x, y, z).

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