A kind of automatic follow-up welding equipment and processing method of ground-connected wall steel cage truss beam

Abstract

This invention discloses a follow-up automatic welding device and processing method for diaphragm wall steel cage truss beams. The frame-type track beam can move vertically to the automatic mesh welding device. The follow-up structural component moves axially along the frame-type track beam and resets. The follow-up structural component can be erected on the upper and lower longitudinal reinforcement bars of the longitudinal truss beam. It can also detect the position information of the longitudinal truss beam to clamp the longitudinal truss beam and move synchronously with it. During the synchronous movement, it moves on the longitudinal truss beam and welds the longitudinal truss beam through the welding gun assembly. The weld quality detection module can move synchronously with the follow-up structural component, so that when the welding gun assembly welds the longitudinal truss beam, the weld quality detection module can synchronously and in real time acquire the welding status of the longitudinal truss beam, thereby accurately controlling the welding quality of the longitudinal truss beam. This achieves synchronous welding of the longitudinal truss beam during the processing of the diaphragm wall steel cage, improving processing efficiency and reducing manual labor intensity.

Description

Technical Field

[0001] This invention relates to the field of building engineering, specifically to a welding and processing technology for longitudinal truss beams of diaphragm wall steel cages. Background Technology

[0002] At present, the processing and forming of diaphragm wall reinforcement cages still heavily relies on manual labor. When laying longitudinal reinforcement, multiple steel bars are usually spliced ​​together and laid out by multiple people working together, which results in low processing efficiency and high labor intensity.

[0003] Chinese patent application CN 117696791 A discloses an intelligent equipment for forming diaphragm wall steel cages. Through the multi-machine linkage of an automatic longitudinal bar picking device, an automatic longitudinal bar feeding device, a longitudinal bar laying platform, an automatic transverse bar feeding platform, an automatic transverse bar laying device, an automatic mesh welding device, an upper and lower mesh lifting bracket, and a mesh dragging device, the equipment ultimately realizes intelligent and manpower-reduced operation of steel bar preparation, processing, laying, and welding processes for diaphragm wall steel cages.

[0004] However, the above-mentioned scheme for forming the diaphragm wall reinforcement cage requires the longitudinal truss beams to be welded in advance for installation. Then, two truss gantry cranes are used to lift the longitudinal truss beams simultaneously, and then the longitudinal truss beams are connected to the reinforcement cage, which consumes more manpower and time. In addition, considering the overall rigidity of the longitudinal truss beams, the longitudinal truss beams are prone to large bending deformation during the lifting process, which increases the difficulty of the operation.

[0005] Therefore, how to effectively improve the processing and forming efficiency of longitudinal truss beams of diaphragm wall steel cages and reduce the labor intensity of workers has become an urgent problem to be solved in this field. Summary of the Invention

[0006] In view of the shortcomings of the prior art, the purpose of this invention is to provide a follow-up automatic welding equipment and processing method for diaphragm wall steel cage truss beams that can save labor and improve work efficiency.

[0007] To achieve the above objectives, the present invention provides a follow-up automatic welding device for diaphragm wall steel cage truss beams, used in conjunction with an automatic welding device for longitudinal truss beams and mesh panels. The automatic welding device for mesh panels is configured with adjustable height.

[0008] A frame-type track beam, connected to the automatic mesh welding equipment, is configured to move perpendicularly to the automatic mesh welding equipment.

[0009] A follower structure assembly, connected to the frame-type track beam, is axially movable and repositionable along the frame-type track beam. The follower structure assembly is height-adjustable to be mounted on the upper and lower longitudinal ribs of the longitudinal truss beam. It is also configured to detect the position information of the longitudinal truss beam, clamp it, and move synchronously with it. Furthermore, during synchronous movement, it can move on the longitudinal truss beam and weld it using a welding torch assembly.

[0010] A weld quality inspection module is mounted on the servo structure component and configured to move synchronously with the servo structure component to acquire the welding status of the longitudinal truss beam in real time.

[0011] The central control system is configured to control the movement state of the frame-type track beam, control the clamping and movement state of the follower structure component according to the position information of the longitudinal truss beam, and generate corresponding welding quality information according to the welding state of the longitudinal truss beam.

[0012] Furthermore, the automatic mesh welding equipment includes a first lifting support truss and a second lifting support truss disposed above the first lifting support truss. The first lifting support truss is equipped with a variable angle welding assembly, and the second lifting support truss is slidably connected to the frame-type track beam through an H-shaped steel beam.

[0013] Furthermore, the frame-type track beam includes a frame beam, C-shaped mounting plates disposed at both ends of the frame beam for cooperating with the H-shaped steel beam, and a sliding reset assembly disposed in the frame beam for cooperating with the follower structure assembly.

[0014] Furthermore, the sliding reset assembly includes a frame beam slide rail, a spreader frame plate slidably disposed on the frame beam slide rail, and a cylinder piston assembly connected to the spreader frame plate.

[0015] Furthermore, the follow-up structural component includes an A-type hinged truss structure, which is composed of a seated sliding truss structure, a suspended sliding truss structure, and an elastic adjustment mechanism that are hinged together. The seated sliding truss structure is connected to the spreader frame plate and cooperates with the upper longitudinal reinforcement of the longitudinal truss beam. The suspended sliding truss structure is elastically connected to the seated sliding truss through the elastic adjustment mechanism and is configured to rotate around the seated sliding truss so that the suspended sliding truss structure cooperates with the lower longitudinal reinforcement of the longitudinal truss beam.

[0016] Furthermore, the welding torch assembly is respectively mounted on the seated sliding truss structure and the suspended sliding truss structure, and the weld quality inspection module is respectively mounted on the seated sliding truss structure and the suspended sliding truss structure.

[0017] Furthermore, the follower structure component also includes a follower clamping finger module, which includes a follower slide rail elastically connected to the seated sliding truss structure and a pneumatic clamping finger slidably disposed at the bottom of the follower slide rail. The pneumatic clamping finger is used to cooperate with the upper longitudinal reinforcement of the longitudinal truss beam.

[0018] Furthermore, the suspended sliding truss structure is equipped with a proximity switch, which is configured to detect the movement position of the Z-rib in the longitudinal truss beam.

[0019] To achieve the above objectives, the present invention also provides a method for processing a diaphragm wall reinforcement cage truss beam, based on the aforementioned automatic welding equipment for the diaphragm wall reinforcement cage truss beam, the processing method comprising:

[0020] The frame-type track beam is connected to the automatic welding equipment for the mesh, and then the follow-up structural components and weld quality inspection module are installed.

[0021] Welding of the lower mesh panels is carried out.

[0022] The Z-bars of the longitudinal truss beams are initially spot-welded to the upper and lower longitudinal bars respectively.

[0023] Simultaneously move the lower mesh and longitudinal truss beams to perform the fixed-point placement and welding of the transverse reinforcement.

[0024] When the follower structural component detects that the Z-rib is moving close to it, the central control system controls the follower structural component to clamp the upper longitudinal rib, causing the follower structural component to move synchronously with the longitudinal truss beam. Then, the system controls the follower structural component to move axially on the longitudinal truss beam, and the welding gun assembly performs segmental welding between the Z-rib and the upper and lower longitudinal ribs during the movement. After welding is completed, the follower structural component moves and resets on the frame-type track beam.

[0025] Simultaneously, the weld quality inspection moves synchronously with the follow-up structural components and acquires the welding status of the Z-beams, upper longitudinal ribs, and lower longitudinal ribs in real time. The welding status is transmitted to the central control system, which processes the welding status and converts it into welding quality information in real time. Based on the welding quality information, the system generates alarms or controls the frame-type track beam and follow-up structural components to stop working.

[0026] Furthermore, if the welding torch assembly performs single-sided welding on the longitudinal truss beam, the follower structural component moves axially on the longitudinal truss beam by 5d; if the welding torch assembly performs double-sided welding on the longitudinal truss beam, the follower structural component moves axially on the longitudinal truss beam by 10d, where d is the diameter of the upper and lower longitudinal ribs.

[0027] The present invention provides an automatic welding device and processing method for diaphragm wall steel cage truss beams, which employs a frame-type track beam connected to an automatic mesh welding device, allowing it to move vertically to the automatic mesh welding device. It also employs a follower structure component connected to the frame-type track beam, allowing it to move axially along the frame-type track beam and reset. This ensures that when the longitudinal truss beam moves to the automatic mesh welding device, the frame-type track beam and the follower structure component move in coordination, corresponding to and coordinating with the longitudinal truss beam. Simultaneously, the follower structure component is height-adjustable, allowing it to be erected on the upper and lower longitudinal reinforcement bars of the longitudinal truss beam. It can also detect the position information of the longitudinal truss beam to clamp it, enabling the follower structure component to move synchronously with the longitudinal truss beam. During this synchronous movement, it moves on the longitudinal truss beam and welds it using a welding torch assembly, thereby improving processing efficiency.

[0028] Furthermore, the weld quality inspection module can move synchronously with the follow-up structural components, so that when the welding torch assembly welds the longitudinal truss beam, the weld quality inspection module can synchronously and in real time acquire the welding status of the longitudinal truss beam, thereby accurately controlling the welding quality of the longitudinal truss beam.

[0029] Therefore, the frame-type track beam, the follow-up structural components, and the weld quality inspection module work together to enable the simultaneous welding of the longitudinal truss beams during the processing of the diaphragm wall steel cage, eliminating the need to pre-weld the longitudinal truss beams, thereby improving processing efficiency and reducing manual labor intensity. Attached Figure Description

[0030] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0031] Figure 1 A schematic diagram of the cooperative structure between the automatic welding equipment for the diaphragm wall steel truss cage and the automatic welding equipment for the wire mesh provided by the present invention;

[0032] Figure 2 A schematic diagram of the overall structure of the automatic welding equipment for the diaphragm wall steel truss cage provided by the present invention;

[0033] Figure 3 This is a schematic diagram of the track-type frame beam in this invention;

[0034] Figure 4 and Figure 5 This is a schematic diagram of the follower structure component in this invention;

[0035] Figure 6 This is a schematic diagram of the welding torch assembly in this invention;

[0036] Figure label:

[0037] 100. Longitudinal truss beam; 110. Top reinforcement; 120. Z-reinforcement; 130. Bottom reinforcement;

[0038] 200. Automatic wire mesh welding equipment; 210. First lifting support truss; 211. First hydraulic outrigger; 212. First truss crossbeam; 213. First truss connecting beam; 214. Variable angle welding assembly; 220. Second lifting support truss; 221. Second hydraulic outrigger; 222. Second truss crossbeam; 223. Second truss connecting beam; 224. H-beam;

[0039] 300. Frame-type track beam; 310. Frame beam; 311. Frame longitudinal beam; 312. Frame transverse beam; 320. Sliding reset assembly; 321. Frame beam slide rail; 322. Spreader frame; 323. Frame slider; 324. Limiter; 325. Piston rod; 326. Cylinder body; 327. Push plate; 330. C-type mounting plate; 331. Web plate; 332. Lower flange; 333. Circular roller;

[0040] 400. Follow-up structural component; 401. Type A hinged truss structure; 410. Seat-mounted sliding truss structure; 411. Seat-mounted longitudinal beam; 412. Seat-mounted crossbeam; 413. Hook plate; 414. Seat-mounted grooved wheel; 415. Seat-mounted hinge support; 416. Seat-mounted lifting lug; 417. Seat-mounted ear plate; 420. Suspended sliding truss structure; 421. Suspended hinge support; 422. Suspended grooved wheel; 423. Suspended lifting lug; 424. Suspended ear plate; 430. Elastic adjustment mechanism; 431. Elastic lifting lug; 432. Turnbuckle; 433. Tension spring;

[0041] 402. Follow-up gripper module; 440. Follow-up slide rail; 441. Support plate; 442. Bolt; 443. Compression spring; 450. Pneumatic gripper; 4513. Follow-up slider; 460. Proximity switch;

[0042] 500. Welding torch assembly; 510. Telescopic cylinder; 511. Welding torch push plate; 520. Clamp-type furniture; 530. Welding torch;

[0043] 600. Welding quality inspection module. Detailed Implementation

[0044] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below with reference to specific illustrations.

[0045] See Figure 1 and Figure 2 The image shows an example of the automatic welding equipment for diaphragm wall reinforcement cages provided by the present invention.

[0046] As shown in the figure, the automatic welding equipment for the diaphragm wall reinforcement cage in this example is used in conjunction with the longitudinal truss beam 100 and the automatic welding equipment for the mesh 200. It mainly includes a frame-type track beam 300, a follow-up structural component 400, a welding torch assembly 500, a weld quality inspection module 600, and a central control system.

[0047] A frame-type track beam 300 is connected to an automatic mesh welding device 200 and is configured to move vertically to the automatic mesh welding device 200. A follower structure component 400 is connected to the frame-type track beam 300 and can move and reset along the axial direction of the frame-type track beam 300. The follower structure component 400 is configured to be height-adjustable to be erected on the upper longitudinal reinforcement 110 and lower longitudinal reinforcement 130 of the longitudinal truss beam 100. It is also configured to detect the position information of the longitudinal truss beam 100, clamp the longitudinal truss beam 100, move synchronously with the longitudinal truss beam 100, and move on the longitudinal truss beam 100 during synchronous movement to weld the longitudinal truss beam 100 through the welding gun assembly 500. At the same time, a weld quality detection module 600 is set on the follower structure component 400 and configured to move synchronously with the follower structure component 400 and acquire the welding status of the longitudinal truss beam 100 in real time.

[0048] Furthermore, the central control system is configured to control the movement of the frame-type track beam 300, control the clamping and movement of the follower structure component 400 based on the position information of the longitudinal truss beam 100, and generate corresponding welding quality information based on the welding status of the longitudinal truss beam 100.

[0049] Therefore, the frame-type track beam 300, the follow-up structure component 400, the welding gun assembly 500 and the weld quality inspection module 600 work together to achieve simultaneous welding of the longitudinal truss beam 100 during the processing of the diaphragm wall steel cage, without the need to pre-weld the longitudinal truss beam, thereby improving processing efficiency and reducing manual labor intensity.

[0050] Among them, combined Figure 2 and Figure 3 The frame-type track beam 300 mainly includes a frame beam 310, a sliding reset component 320, and a C-shaped mounting plate 330. The frame beam 310, the sliding reset component 320, and the C-shaped mounting plate 330 can cooperate with each other to connect the frame-type track beam 300 to the automatic mesh welding equipment 200, and can also set the follower structure component 400 on the frame-type track beam 300.

[0051] Specifically, the frame beam 310 is composed of two longitudinal frame beams 311 and two transverse frame beams 312 connected perpendicularly to each other. The outer sides of the two transverse frame beams 312 are respectively connected to the web plate 331 of the C-shaped mounting plate 330, so that the flange of the C-shaped mounting plate 330 can cooperate with the automatic mesh welding equipment 200, so that the frame track beam 300 can be connected to the automatic mesh welding equipment 200 and move perpendicular to the automatic mesh welding equipment 200.

[0052] Meanwhile, a pair of round rollers 333 are provided at both ends of the lower flange 332 of the C-shaped mounting plate 330. The round rollers 333 can rotate freely, so that the pair of round rollers 333 clamp the upper steel bars 110 on both sides of the longitudinal beam truss beam 100 and guide the movement of the longitudinal beam truss beam 100.

[0053] Furthermore, the sliding reset assembly 320 includes a frame beam slide rail 321, a spreader frame plate 322, and a cylinder piston assembly. The frame beam slide rail 321, the spreader frame plate 322, and the cylinder piston assembly can cooperate to slide and connect with the follower structure assembly 400, and drive the follower structure assembly 400 to move axially along the frame track beam 300 and reset.

[0054] The frame beam slide rail 321 is set on the two frame longitudinal beams 311, and is preferably composed of a ball bearing linear slide rail. The spreader frame plate 322 is used to connect and cooperate with the follower structure component 400, and is set on the frame beam slide rail 321 through the frame slider 323, so that the frame slider 323 can drive the spreader frame plate 322 to move axially on the frame beam slide rail 321, thereby driving the follower structure component 400 to move axially along the frame track beam 300.

[0055] Furthermore, limiters 324 are provided at both ends of the frame beam slide rail 321, so that the limiters 324 can cooperate with the frame slider 323 to restrict the movement of the spreader frame plate 322, thereby controlling the movement distance of the follower structure component 400 on the frame track beam 300, and ensuring that the follower structure component 400 can be stably placed on the frame track beam 300 after it moves.

[0056] To enable the follower structure assembly 400 to reset and move to its initial position on the frame track beam 300, the cylinder piston assembly includes a piston rod 325, a cylinder body 326, and a push plate 327. The piston rod 325 is connected to two frame crossbeams 312 at both ends, positioning it in the middle region of the frame beam slide rail 321. The cylinder body 326 is mounted on the piston rod 325, working in conjunction with it to form the cylinder's moving gas. Simultaneously, one end of the push plate 327 is connected to the cylinder body 326, and the other end is connected to the spreader frame plate 322. This allows the piston rod 325 to drive the cylinder body 326 to push the push plate 327, enabling the push plate 327 to synchronously move the spreader frame plate 322 back to its initial position.

[0057] As a preferred configuration, the piston rod 325 and the cylinder 326 cooperate to form a magnetically coupled rodless cylinder. The permanent magnet inside the piston rod 325 can move under the action of magnetic force, thereby driving the cylinder 326 to move synchronously, so as to drive the spreader frame plate 322 to move, thereby driving the follower structure component 400 to move and reset on the frame track beam 300.

[0058] Combination Figure 4 and Figure 5 In order to enable the follower structure component 400 to be stably connected and cooperate with the frame-type track beam 300, the follower structure component 400 mainly includes an A-type hinged truss structure 401. The A-type hinged truss structure 401 is composed of a seated sliding truss structure 410, a suspended sliding truss structure 420 and an elastic adjustment mechanism 430, which are hinged to each other. The seated sliding truss structure 410, the suspended sliding truss structure 420 and the elastic adjustment mechanism 430 can cooperate to connect the frame-type track beam 300 and cooperate with the longitudinal truss beam 100.

[0059] Specifically, the seated sliding truss structure 410 is composed of two seated longitudinal beams 411 and two seated transverse beams 412 connected perpendicularly to each other. Hook plates 413 are respectively provided above the two end areas of the two seated longitudinal beams 411, allowing the hook plates 413 to be erected and fixed to the spreader frame plate 322 of the frame-type track beam 300. Figure 2 As shown, the follower structure component 400 is stably connected to the frame track beam 300, and the axial movement of the spreader frame plate 322 on the frame beam slide rail 321 can drive the follower structure component 400 to move synchronously axially.

[0060] Furthermore, seated grooved wheels 414 are respectively provided at the bottom of the two end areas of the two seated longitudinal beams 411. The seated grooved wheels 414 are mounted on the upper longitudinal reinforcement 110 of the longitudinal truss beam 100, so that when the follower structure component 400 moves axially on the frame beam slide rail 321, the seated sliding truss structure 410 moves synchronously axially along the upper longitudinal reinforcement 110 of the longitudinal truss beam 100 through the seated grooved wheels 414, such as... Figure 2 As shown, this ensures that the follower structure component 400 fits tightly with the longitudinal truss beam 100, preventing any movement deviation on the longitudinal truss beam 100.

[0061] In order to enable the seated sliding truss structure 410 to be connected and cooperate with the suspended sliding truss structure 420, seated hinge supports 415 are also distributed at the bottom of the two seated longitudinal beams 411 of the seated sliding truss structure 410. The seated hinge supports 415 are located at the bottom of one end of the seated longitudinal beams 411 and are used to be hinged to cooperate with the suspended sliding truss structure 420.

[0062] Correspondingly, the suspended sliding truss structure 420 has a suspension hinge support 421 at one end and a suspension grooved wheel 422 at the other end. This allows the suspended sliding truss structure 420 to be hinged to the seated sliding truss structure 410 at the end via the suspension hinge support 421, enabling it to rotate around the seated sliding truss structure 410. This allows the suspension grooved wheel 422 to rest on the lower longitudinal reinforcement 130 of the longitudinal truss beam 100. Consequently, when the seated sliding truss structure 410 moves axially synchronously along the upper longitudinal reinforcement 110 of the longitudinal truss beam 100 via the seated grooved wheel 414, it can drive the suspended sliding truss structure 420 to move axially synchronously along the lower longitudinal reinforcement 130 of the longitudinal truss beam 100 via the suspension grooved wheel 422. Figure 2 As shown.

[0063] Combination Figure 2 and Figure 4 Thus, the follower structure component 400 engages with the upper longitudinal rib 110 and lower longitudinal rib 130 of the longitudinal truss beam 100 via the seated grooved wheel 414 and suspended grooved wheel 422 on the seated sliding truss structure 410 and suspended sliding truss structure 420, respectively. This allows the follower structure component 400 to move axially along the longitudinal truss beam 100 synchronously when it moves axially on the frame beam slide rail 321, thereby improving the matching accuracy between the follower structure component 400 and the longitudinal truss beam 100.

[0064] Furthermore, the bottom of the seated sliding truss structure 410 is also provided with a seated lifting lug 416, which is located at the bottom of the middle area of ​​the seated longitudinal beam 411. Correspondingly, the middle area of ​​the suspended sliding truss structure 420 is provided with a suspension lug 423. The seated lifting lug 416 and the suspension lug 423 are respectively used to hinge with the elastic adjustment mechanism 430, so that the elastic adjustment mechanism 430 can ensure the stability of the cooperation between the seated sliding truss structure 410 and the suspended sliding truss structure 420.

[0065] In conjunction with this, the elastic adjustment mechanism 430 includes an elastic lug 431, a turnbuckle 432, and a tension spring 433. The elastic lug 431 is respectively disposed at both ends of the turnbuckle 432. One end of the elastic lug 431 is hinged to the seat lug 416 at the bottom of the seated sliding truss structure 410, and the other end of the elastic lug 431 is connected to the tension spring 433, so that the tension spring 433 can be hinged to the suspension lug 423 of the suspended sliding truss structure 420, so that the seated sliding truss structure 410 and the suspended sliding truss structure 420 are elastically connected through the elastic adjustment mechanism 430, ensuring a stable connection between the seated sliding truss structure 410 and the suspended sliding truss structure 420.

[0066] As an example, the suspended sliding truss structure 420 rotates around the seated sliding truss structure 410 and faces the seated sliding truss structure 410 to adjust the height of the A-type hinged truss structure 401 so that when the suspension groove wheel 422 of the suspended sliding truss structure 420 is engaged with the lower longitudinal rib 130, the suspended sliding truss structure 420 exerts pressure on the tension spring 433 in the elastic adjustment mechanism 430, causing the tension spring 433 to compress and generate elastic force, thereby ensuring a stable connection between the suspended sliding truss structure 420 and the seated sliding truss structure 410 under the action of elastic force.

[0067] The seated sliding truss structure 410, the suspended sliding truss structure 420, and the elastic adjustment mechanism 430 formed therefrom can cooperate with each other to connect the A-type hinged truss structure 401 with the upper longitudinal rib 110 and the lower longitudinal rib 130 of the longitudinal truss beam 100, so that when the follower structure component 400 moves axially on the frame beam slide rail 321, it can move synchronously along the longitudinal truss beam 100 and move to the connection area of ​​the Z-rib 120 of the longitudinal truss beam 100 with the upper longitudinal rib 110 and the lower longitudinal rib 130, respectively, and weld the longitudinal truss beam 100.

[0068] In order to enable the follow-up structure component 400 to weld the longitudinal truss beam 100 synchronously during the movement, the bottom of the other end of the seated sliding truss structure 410 is also provided with a seated ear plate 417. Correspondingly, the other end area of ​​the suspended sliding truss structure 420 is provided with a suspension ear plate 424. The seated ear plate 417 and the suspension ear plate 424 are respectively used to connect and cooperate with the welding gun assembly 500.

[0069] Combination Figure 2 and Figure 4 Specifically, the welding torch assembly 500 is mounted at the ends of the seated sliding truss structure 410 and the suspended sliding truss structure 420 via the seated ear plate 417 and the suspension ear plate 424, respectively. This allows the seated sliding truss structure 410 and the suspended sliding truss structure 420 to move axially along the upper longitudinal rib 110 and the lower longitudinal rib 130 of the longitudinal truss beam 100, respectively. When the Z-rib 120 moves to the connection area between the Z-rib 120 and the upper longitudinal rib 110 and the lower longitudinal rib 130, the welding torch assembly 500 can simultaneously weld the connection area between the Z-rib 120 and the upper longitudinal rib 110 and the lower longitudinal rib 130 during the movement, thereby eliminating the need to weld the longitudinal truss beam 100 and improving the processing efficiency of the longitudinal truss beam 100.

[0070] Furthermore, combined Figure 6 and Figure 2The welding torch assembly 500 includes a telescopic cylinder 510, a clamping fixture 520, and a welding torch 530. The telescopic cylinder 510 is connected to the clamping fixture 520 via a welding torch push plate 511. The clamping fixture 520 is used to clamp the welding torch 530, so that the telescopic cylinder 510 can drive the welding torch push plate 511 to extend and retract, and drive the welding torch 530 to extend and retract synchronously via the clamping fixture 520, so as to accurately align the connection area of ​​the Z-rib 120 with the upper longitudinal rib 110 and the lower longitudinal rib 130, thereby improving the processing accuracy and welding quality of the longitudinal truss beam 100.

[0071] The longitudinal truss beam 100 moves synchronously with the steel cage during the processing of the diaphragm wall reinforcement cage. To improve processing efficiency, this equipment can move synchronously with the longitudinal truss beam 100 and simultaneously perform welding of the longitudinal truss beam 100 during the movement. The follower structure component 400 also includes a follower clamping finger module 402. The follower clamping finger module 402 mainly includes a follower slide rail 440, a pneumatic clamping finger 450, and a proximity switch 460. The proximity switch 460 is connected to the central control system, which can control the working state of the pneumatic clamping finger 450 according to the proximity switch 460 to fix the follower structure component 400 on the upper longitudinal reinforcement 110. It can move synchronously with the longitudinal truss beam 100. At the same time, the follower slide rail 440 and the pneumatic clamping finger 450 can cooperate to drive the A-type hinged truss structure 401 to move on the longitudinal truss beam 100 for welding.

[0072] Specifically, in combination Figure 4 and Figure 2 The proximity switch 460 is installed on the suspended sliding truss structure 420 of the A-type hinged truss structure 401, preferably in the middle region of the suspended sliding truss structure 420, so that the A-type hinged truss structure 401 moves axially on the longitudinal truss beam 100. When the Z-rib 120 approaches the A-type hinged truss structure 401, the proximity switch 460 can detect the Z-rib 120 and transmit a proximity signal to the central control system, so that the central control system issues a start command to the pneumatic clamp finger 450, so that the pneumatic clamp finger 450 works to clamp the longitudinal truss beam 100.

[0073] Furthermore, the follower slide rail 440 is composed of a lead screw slide rail and is set above the seated sliding truss structure 410. One end of the pneumatic clamp finger 450 is set at the bottom of the follower slide rail 440 through the follower slider 451, and the other end is clamped and engaged with the upper longitudinal rib 110, so that the pneumatic clamp finger 450 can move axially along the follower slide rail 440 through the follower slider 451.

[0074] Correspondingly, when the central control system issues a start command to the pneumatic clamping finger 450, so that when the pneumatic clamping finger 450 clamps the upper longitudinal rib 110, the follower slide rail 440 and the pneumatic clamping finger 450 can move synchronously with the longitudinal truss beam 100. At the same time, the follower slide rail 440 can move axially through the follower slider 451, and move relative to the pneumatic clamping finger 450 and the upper longitudinal rib 110.

[0075] In order to enable the follower slide rail 440 and pneumatic clamp finger 450 to drive the A-type hinged truss structure 401 to move synchronously with the longitudinal truss beam 100, support plates 441 are provided at both ends of the follower slide rail 440. The two ends of the support plates 441 are connected to the two seated longitudinal beams 411 of the seated sliding truss structure 410 by bolts 442, so that the follower slide rail 440 and the seated sliding truss structure 410 are stably connected.

[0076] Furthermore, a compression spring 443 is fitted on the bolt 442, so that the follower slide rail 440 and the seated sliding truss structure 410 are elastically connected through the bolt 442 and the compression spring 443. When the upper longitudinal rib 110 bends and causes the seated sliding truss structure 410 to be uneven, the compression spring 443 can stably adjust the flatness of the connection between the follower slide rail 440 and the seated sliding truss structure 410 under its own elastic force, thus ensuring the connection stability between the follower slide rail 440 and the seated sliding truss structure 410.

[0077] At the same time, when the follower slide rail 440 moves axially through the follower slider 451, the follower slide rail 440 can drive the seated sliding truss structure 410 to move axially and stably along the upper longitudinal rib 110, thereby enabling the A-type hinged truss structure 401 to move axially on the longitudinal truss beam 100 and to perform synchronous welding on the longitudinal truss beam 100.

[0078] The thus constructed follow-up gripper module 402, through the cooperation of pneumatic gripper 450 and proximity switch 460, drives the A-type hinged truss structure 401 to move synchronously with the longitudinal truss beam 100. At the same time, through the sliding cooperation of follow-up slide rail 440 and pneumatic gripper 450, it can also drive the A-type hinged truss structure 401 to move axially on the longitudinal truss beam 100, thereby realizing the welding of the longitudinal truss beam 100 simultaneously during the processing and movement of the steel cage, eliminating the need to weld the longitudinal truss beam 100 in advance and improving processing efficiency.

[0079] To ensure the welding quality of the longitudinal truss beam 100, the equipment also includes a welding quality inspection module 600. The welding quality inspection module 600 is respectively installed on the seated sliding truss structure 410 and the suspended sliding truss structure 420 of the follower structure component 400, and corresponds to the welding gun assembly 500 installed on the seated sliding truss structure 410 and the suspended sliding truss structure 420, so that the welding quality inspection module 600 moves synchronously with the follower structure component 400 and acquires the welding status of the longitudinal truss beam 100 in real time during the movement.

[0080] Specifically, the welding quality inspection module 600 is connected to the central control system and is configured to acquire images of the weld seam in the connection area between the Z-rib 120 and the upper longitudinal rib 110 and the lower longitudinal rib 130 through a vision sensor. The image information is transmitted to the central control system in real time, so that the central control system can use image processing algorithms to identify the weld seam length and width to evaluate whether the weld seam meets the design requirements, thereby generating welding quality information.

[0081] Furthermore, when the weld does not meet the design requirements, the central control system will generate an alarm based on the welding quality information. When three welds fail to meet the design requirements in a row, the central control system will control the frame-type track beam 300 and the follow-up structure component 400 to stop working, so that manual intervention can be carried out for equipment maintenance.

[0082] To illustrate the implementation scheme of this equipment, the connection and coordination scheme between the frame track beam 300 and the automatic mesh welding equipment 200 is described in detail below.

[0083] In this example, the automatic wire mesh welding equipment 200 includes a first lifting support truss 210 and a second lifting support truss 220 disposed above the first lifting support truss 210. The first lifting support truss 210 and the second lifting support truss 220 are configured to be height-adjustable, and the frame-type track beam 300 is slidably connected to the second lifting support truss 220 through a C-shaped mounting plate 330, so that the frame-type track beam 300 can be adjusted in height and moved, ensuring the accuracy of the fit between the equipment and the longitudinal truss beam 100.

[0084] Combination Figure 1 Specifically, the first lifting support truss 210 is composed of a first hydraulic outrigger 211, a first truss crossbeam 212 and a first truss connecting beam 213 connected together. The truss connecting beam 213 is provided with a variable angle welding assembly 214 for welding steel cage mesh.

[0085] Similarly, the second lifting support truss 220 is composed of a second hydraulic outrigger 221, a second truss beam 222, and a second truss connecting beam 223 connected together. The second hydraulic outrigger 221 is set on the first truss connecting beam 213 of the first lifting support truss 210. By raising and lowering the first hydraulic outrigger 211 and the second hydraulic outrigger 221 respectively, the height of the automatic mesh welding equipment 200 can be precisely adjusted, thereby adapting to the welding height of the equipment and the longitudinal truss beam 100.

[0086] Furthermore, the second truss connecting beam 223 of the second lifting support truss 220 is connected to both ends of the H-beam 224, and the flange of the C-type mounting plate 330 is slidably mounted on the H-beam 224, so that the frame-type track beam 300 of this welding equipment can be connected to the automatic mesh welding equipment 200 through the C-type mounting plate 330 and move on the H-beam 224 through the C-type mounting plate 330, thereby moving perpendicular to the second lifting support truss 220.

[0087] The automatic mesh welding equipment 200 thus formed can slide the frame track beam 300 to the second lifting support truss 220 through the C-shaped mounting plate 330, so that the frame track beam 300 can move vertically on the second lifting support truss 220 and can be precisely matched with the longitudinal truss beam 100.

[0088] This constitutes the automatic welding equipment for the diaphragm wall steel cage truss beam provided by the present invention.

[0089] This invention also provides a method for processing diaphragm wall reinforcement cage truss beams, based on the above-described automatic welding equipment for diaphragm wall reinforcement cage truss beams. This processing method includes:

[0090] First, connect this device to the automatic wire mesh welding equipment 200.

[0091] Combination Figure 1 and Figure 2 The second lifting support truss 220 is set on the first lifting support truss 210 to form the automatic mesh welding equipment 200 in this scheme. The frame track beam 300 is then installed on the H-shaped steel beam 224 of the second lifting support truss 220 through the C-shaped mounting plate 330 so that the frame track beam 300 can move perpendicularly to the automatic mesh welding equipment 200.

[0092] Next, the hook plate 413 of the follower structure component 400 is erected and fixed on the spreader frame plate 322 of the frame track beam 300, and a spreader plate is added to the spreader frame plate 322 to make the follower structure component 400 stably connected to the frame track beam 300. The follower structure component 400 can move axially on the frame track beam 300 through the cooperation of the spreader frame plate 322 and the frame beam slide rail 321. It can also be driven to reset through the cooperation of the piston rod 325, the cylinder 326 and the push plate 327.

[0093] Meanwhile, the welding torch assembly 500 and the weld quality inspection module 600 are respectively installed on the seated sliding truss structure 410 and the suspended sliding truss structure 420 of the follow-up structure component 400.

[0094] The next step is to weld the lower mesh panels.

[0095] The longitudinal ribs are automatically placed at fixed points on the longitudinal rib placement platform by the longitudinal rib automatic material inspection equipment and the longitudinal rib automatic feeding equipment in sequence; after the first longitudinal rib placement is completed, a transverse rib is welded to each end of the longitudinal rib to connect all the longitudinal ribs, and then at least three longitudinal ribs are extended by steel sleeves, and the other side of the extended longitudinal ribs is connected to the towing spreader of the mesh towing equipment.

[0096] Next, the longitudinal truss beam 100 is initially fixed.

[0097] The Z-bar 120 of the longitudinal truss beam 100 is spot-welded to the upper longitudinal bar 110 and the lower longitudinal bar 120 respectively.

[0098] Furthermore, the horizontal reinforcement bars are connected.

[0099] The lower mesh is moved synchronously and at a uniform speed with the longitudinal truss beam 100 by a mesh dragging device, and then the transverse reinforcement is laid out at fixed points, positioned and welded, and the intersection of the transverse and longitudinal reinforcements is welded by an automatic transverse reinforcement laying device.

[0100] Finally, the longitudinal truss beam 100 was fixed by segment welding.

[0101] The longitudinal truss beam 100 moves to the automatic mesh welding equipment 200. The automatic mesh welding equipment 200 adjusts its height via hydraulic outriggers so that the height of the follower structure component 400 matches that of the longitudinal truss beam 100. The seated grooved wheel 414 of the seated sliding truss structure 410 rests on the upper longitudinal reinforcement 110 of the longitudinal truss beam 100. At the same time, the suspended sliding truss structure 420 rotates around the seated sliding truss structure 410 so that the suspended grooved wheel 422 rests on the lower longitudinal reinforcement 130 of the longitudinal truss beam 100.

[0102] Next, the follower structure component 400 cooperates with the frame beam slide rail 321 through the spreader frame plate 322 and moves axially on the frame track beam 300.

[0103] During the movement, the follower structure component 400 engages with the upper longitudinal rib 110 and lower longitudinal rib 130 of the longitudinal truss beam 100 via the seated grooved wheel 414 and suspended grooved wheel 422 on the seated sliding truss structure 410 and suspended sliding truss structure 420, respectively. This allows the follower structure component 400 to move axially along the longitudinal truss beam 100 synchronously when it moves axially on the frame beam slide rail 321, thereby improving the accuracy of the engagement between the follower structure component 400 and the longitudinal truss beam 100.

[0104] As the follower structure component 400 and the longitudinal truss beam 100 gradually move closer, the proximity switch 460 in the follower structure component 400 detects the Z-rib 120 and transmits a proximity signal to the central control system, so that the central control system issues a start command to the pneumatic clamping finger 450, causing the pneumatic clamping finger 450 to work and clamp the upper longitudinal rib 110, and the follower structure component 400 and the longitudinal truss beam 100 move synchronously.

[0105] Meanwhile, the follower slide rail 440 in the follower structure component 400 moves axially through the follower slider 451, so as to drive the seated sliding truss structure 410 to move axially and stably along the upper longitudinal rib 110, thereby causing the A-type hinged truss structure 401 to move axially on the longitudinal truss beam 100, and the welding gun assembly 500 on the A-type hinged truss structure 401 to perform synchronous welding on the longitudinal truss beam 100.

[0106] Furthermore, if the welding torch assembly 500 performs single-sided welding on the longitudinal truss beam 100, the follower structure component 400 moves axially on the longitudinal truss beam 100 by 5d. If the welding torch assembly 500 performs double-sided welding on the longitudinal truss beam 100, the follower structure component 400 moves axially on the longitudinal truss beam 100 by 10d, where d is the diameter of the upper and lower longitudinal ribs.

[0107] The welding quality inspection module 600 moves synchronously with the follow-up structural component 400 and acquires the welding status of the longitudinal truss beam 100 in real time during the movement. The acquired image information is transmitted to the central control system in real time, so that the central control system can use image processing algorithms to identify the weld length and width to evaluate whether the weld meets the design requirements, thereby generating welding quality information.

[0108] The image information is transmitted to the central control system in real time, enabling the central control system to use image processing algorithms to identify the length and width of the weld, in order to assess whether the weld meets the design requirements, thereby generating welding quality information.

[0109] After welding is completed, the piston rod 325, cylinder 326 and push plate 327 work together to drive the follower structure component 400 to move and reset on the frame track beam 300.

[0110] The automatic welding equipment and processing method for diaphragm wall steel cage truss beams provided by the present invention, through the cooperation of frame track beam 300, follow-up structure component 400, welding gun assembly 500 and weld quality inspection module 600, can realize the simultaneous welding of longitudinal truss beam 100 during the processing of diaphragm wall steel cage, without the need to pre-weld the longitudinal truss beam, thereby improving processing efficiency and reducing manual labor intensity.

[0111] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of this invention is defined by the appended claims and their equivalents.

Claims

1. A follow-up automatic welding device for diaphragm wall steel cage truss beams, used in conjunction with an automatic welding device for longitudinal truss beams and mesh panels, wherein the automatic welding device for mesh panels is configured to be height adjustable, characterized in that, include A frame-type track beam, connected to the automatic mesh welding equipment, is configured to move perpendicularly to the automatic mesh welding equipment. A follower structure assembly, connected to the frame-type track beam, is axially movable and repositionable along the frame-type track beam. The follower structure assembly is height-adjustable to be mounted on the upper and lower longitudinal ribs of the longitudinal truss beam. It is also configured to detect the position information of the longitudinal truss beam, clamp it, and move synchronously with it. Furthermore, during synchronous movement, it can move on the longitudinal truss beam and weld it using a welding torch assembly. A weld quality inspection module is mounted on the servo structure component and configured to move synchronously with the servo structure component to acquire the welding status of the longitudinal truss beam in real time. The central control system is configured to control the movement of the frame-type track beam, control the clamping and movement of the follower structure components based on the position information of the longitudinal truss beam, and generate corresponding welding quality information based on the welding status of the longitudinal truss beam. The frame-type track beam includes a frame beam and a sliding reset assembly disposed in the frame beam for cooperating with the follower structure assembly. The sliding reset assembly includes a frame beam slide rail, a spreader frame plate slidably disposed on the frame beam slide rail, and a cylinder piston assembly connecting the spreader frame plate. The follow-up structural assembly includes an A-type hinged truss structure, which is composed of a seated sliding truss structure, a suspended sliding truss structure, and an elastic adjustment mechanism hinged together. The seated sliding truss structure is connected to the spreader frame plate and engages with the upper longitudinal reinforcement of the longitudinal truss beam. The suspended sliding truss structure is elastically connected to the seated sliding truss through the elastic adjustment mechanism and is configured to rotate around the seated sliding truss, so that the suspended sliding truss structure engages with the lower longitudinal reinforcement of the longitudinal truss beam. The welding torch assemblies are respectively mounted on the seated sliding truss structure and the suspended sliding truss structure, and the weld quality inspection modules are respectively mounted on the seated sliding truss structure and the suspended sliding truss structure. The follower structure assembly further includes a follower gripper module, which includes a follower slide rail elastically connected to the seated sliding truss structure and pneumatic grippers slidably disposed at the bottom of the follower slide rail. The suspended sliding truss structure is equipped with a proximity switch.

2. The automatic welding equipment for diaphragm wall steel cage truss beams according to claim 1, characterized in that, The automatic mesh welding equipment includes a first lifting support truss and a second lifting support truss disposed above the first lifting support truss. The first lifting support truss is equipped with a variable angle welding assembly, and the second lifting support truss is slidably connected to the frame-type track beam through an H-shaped steel beam.

3. The automatic welding equipment for diaphragm wall steel cage truss beams according to claim 2, characterized in that, The frame-type track beam also includes C-shaped mounting plates disposed at both ends of the frame beam for use with the H-shaped steel beam.

4. The automatic welding equipment for diaphragm wall steel cage truss beams according to claim 1, characterized in that, The pneumatic clamp is used to engage with the upper longitudinal reinforcement of the longitudinal truss beam.

5. The automatic welding equipment for diaphragm wall steel cage truss beams according to claim 1, characterized in that, The proximity switch is configured to detect the movement position of the Z-ribs in the longitudinal truss beam.

6. A method for fabricating a diaphragm wall reinforced cage truss beam, characterized in that, The automatic welding equipment for the diaphragm wall reinforcement cage truss beam according to any one of claims 1 to 5, the processing method includes: The frame-type track beam is connected to the automatic welding equipment for the mesh, and then the follow-up structural components and weld quality inspection module are installed. Welding of the lower mesh panels is carried out. The Z-bars of the longitudinal truss beams are initially spot-welded to the upper and lower longitudinal bars respectively. Simultaneously move the lower mesh and longitudinal truss beams to perform the fixed-point placement and welding of the transverse reinforcement. When the follower structural component detects that the Z-rib is moving close to it, the central control system controls the follower structural component to clamp the upper longitudinal rib, causing the follower structural component to move synchronously with the longitudinal truss beam. Then, the system controls the follower structural component to move axially on the longitudinal truss beam, and the welding gun assembly performs segmental welding between the Z-rib and the upper and lower longitudinal ribs during the movement. After welding is completed, the follower structural component moves and resets on the frame-type track beam. Simultaneously, the weld quality inspection module moves synchronously with the follow-up structural components and acquires the welding status of the Z-beams, upper longitudinal ribs, and lower longitudinal ribs in real time. The welding status is transmitted to the central control system, which processes the welding status and converts it into welding quality information in real time. Based on the welding quality information, the central control system generates alarms or controls the frame-type track beam and follow-up structural components to stop working.

7. The processing method of the diaphragm wall steel cage truss beam according to claim 6, characterized in that, If the welding torch assembly performs single-sided welding on the longitudinal truss beam, the follower structural component will move axially by 5d on the longitudinal truss beam. If the welding torch assembly performs double-sided welding on the longitudinal truss beam, the follower structural component will move axially by 10d on the longitudinal truss beam, where d is the diameter of the upper and lower longitudinal ribs.

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