Tunnel steel arch automatic distributing type pasting welding reinforcing plate production line and production process

Abstract

The invention discloses an automatic distribution type production line and a production process for pasting and welding reinforcing plates for tunnel steel arches. The production line comprises an automatic distribution mechanism, a displacement clamping mechanism and a pasting plate welding mechanism, and the automatic distribution mechanism is used for conveying joist steel with joints to a second conveying mechanism and conveying joist steel without joints to a first conveying mechanism; the flitch welding mechanism is used for welding reinforcing plates to the joist steel with the joints in a flitch mode; wherein the seamless I-shaped steel is discharged through the first conveying mechanism, and the seamless I-shaped steel is discharged through the third conveying mechanism after the reinforcing plate is pasted and welded. According to the invention, the joist steel can be automatically distributed, the joist steel with joints and the joist steel without joints are conveyed in two process routes, the process rhythm of the two process routes is clear and does not influence each other, the production rhythm can be better controlled, continuous mounting and welding operation of reinforcing plates can be realized, and the production efficiency is improved. Automatic and continuous production of the steel arch is achieved, and the production efficiency of the steel arch production line is greatly improved.

Description

Technical Field

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

[0002] Steel arch is a support measure that uses bent I-beams to reinforce underground projects. It can form a composite support arch system with anchor rods, shotcrete and steel mesh. It is widely used in tunnels, subways, hydropower stations, underground caverns and other projects. At present, steel arch production lines have been gradually used to realize the automated production of steel arches. During the production process of steel arches, the entire I-beam needs to be cut to a size that meets the construction requirements, and it is inevitable that there will be residual tailings after the entire I-beam is cut. In order to avoid the waste of I-beam tailings, it is necessary to continue welding the I-beam tailings, that is, to continue welding the I-beam tailings with the new entire I-beam, and it is necessary to weld the reinforcing plates at the joints to strengthen the connection strength between the two sections of I-beams at the joints, improve the quality of steel arch products, and make them meet the construction requirements.

[0003] However, the welding of reinforcement plates at the joints of I-beams is currently mainly done manually, which is not only labor-intensive but also labor-intensive. More importantly, manual operation cannot achieve continuous installation and welding of reinforcement plates, resulting in low production efficiency and the inability to achieve automated production and mass production of steel arches. In addition, the effect of manual welding of reinforcement plates is often unsatisfactory, and problems such as inaccurate installation position of reinforcement plates and poor welding quality are prone to occur, thus affecting the product quality of steel arches.

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

[0005] In order to solve the above problems, some technical solutions attempt to set up lifting trusses on the steel arch production line, and use the lifting trusses to screen and lift the seamless I-beams, while the I-beams with seams remain on the steel arch production line and normally enter the next process of welding reinforcement plates for reinforcement plate welding. However, this solution has many shortcomings: First, the process of identifying and screening and lifting seamless I-beams is complicated and time-consuming, which is easy to affect the production rhythm of subsequent welding operations of I-beams with seams, resulting in unclear process rhythm of the steel arch production line, unable to better control the production rhythm, and will reduce the production efficiency of the steel arch production line. Secondly, the use of lifting trusses has safety hazards. Once a failure occurs, it may cause the I-beam to fall and cause a safety accident. In addition, the cost of this solution is high, maintenance is inconvenient, and the equipment is not versatile, making it difficult to adapt to the needs of different production lines. Summary of the invention

[0006] In order to solve the above problems, the present invention provides a tunnel steel arch frame automatic material division type welding reinforcement plate production line and production process, the present invention can automatically divide the jointed I-beams and seamless I-beams delivered by the steel arch frame production line discharge conveyor line, and divide the jointed I-beams and seamless I-beams into two process routes for transportation; the seamless I-beams are directly discharged as finished products through one process route, and the jointed I-beams are discharged as finished products after welding reinforcement plates through another process route. The process rhythms of the two process routes are clear and do not affect each other, which can effectively prevent one process route from affecting the production rhythm of the other process route, and can effectively prevent the seamless I-beams from affecting the production rhythm of the jointed I-beam welding reinforcement plate operation, can better control the production rhythm, realize the automation and continuous production of steel arch frames, greatly improve the production efficiency of the steel arch frame production line, and further improve the automation level of the steel arch frame production line.

[0007] The first object of the present invention is to provide a tunnel steel arch frame automatic material separation type welding reinforcement plate production line, comprising:

[0008] A first conveying mechanism and a second conveying mechanism, wherein the first conveying mechanism and the second conveying mechanism are respectively used to receive seamless I-beams and jointed I-beams produced by the steel arch production line;

[0009] An automatic material distribution mechanism, connected to the first conveying mechanism and the second conveying mechanism, includes a movable feeding trolley, wherein the feeding trolley is configured to be able to convey the I-beams with seams to the second conveying mechanism and convey the I-beams without seams to the first conveying mechanism by moving;

[0010] A displacement clamping mechanism, connected to the second conveying mechanism, the displacement clamping mechanism includes a positioner, and the positioner is used to receive the I-beam with a seam in the second conveying mechanism and clamp it;

[0011] A plate welding mechanism is mounted above the displacement clamping mechanism and is used to weld a reinforcing plate to an I-beam with a seam in the displacement clamping mechanism. The plate welding mechanism includes a movable plate welding robot for attaching and attaching the reinforcing plate and a movable welding robot for welding the reinforcing plate.

[0012] A third conveying mechanism is connected to the displacement clamping mechanism and is used to receive the I-beam with seams after the reinforcement plate is welded in the displacement clamping mechanism;

[0013] The seamless I-beams are discharged through the first conveying mechanism, and the I-beams with seams after being welded with reinforcing plates are discharged through the third conveying mechanism.

[0014] In one embodiment of the present invention, it also includes a feeding mechanism arranged between the second conveying mechanism and the third conveying mechanism, the feeding mechanism is located on the displacement clamping mechanism, and the feeding mechanism includes two movable feeding carts, one of which is located between the second conveying mechanism and the displacement clamping mechanism, and is used to transport the I-beams with seams in the second conveying mechanism to the displacement clamping mechanism; the other feeding cart is located between the displacement clamping mechanism and the third conveying mechanism, and is used to transport the I-beams with seams after the reinforcement plate is welded from the displacement clamping mechanism to the third conveying mechanism.

[0015] In one embodiment of the present invention, the automatic material dividing mechanism also includes a bottom frame, a first guide rail and a first rack arranged on the bottom frame, and a first movable seat slidably connected to the first guide rail, the first movable seat is fixedly connected to a first driving mechanism, the first driving mechanism is drivingly connected to a gear, the gear of the first driving mechanism is meshed with the first rack, the first driving mechanism drives the gear connected thereto to rotate, and drives the first movable seat to move along the first guide rail; a second rack and a second guide rail are arranged on the first movable seat, the feeding trolley is slidably connected to the second guide rail, the feeding trolley is fixedly connected to a second driving mechanism through a first connecting plate, the second driving mechanism is drivingly connected to a gear, the gear of the second driving mechanism is meshed with the second rack, the second driving mechanism drives the gear connected thereto to rotate, and drives the feeding trolley to move along the second guide rail.

[0016] In one embodiment of the present invention, the feeding trolley includes a trolley base, a trolley column fixedly connected to the trolley base, and a trolley fixing plate fixedly connected to a plurality of trolley columns, the trolley base is fixedly connected to a first trolley driving mechanism through a trolley connecting plate, an output end of the first trolley driving mechanism passes through the trolley fixing plate and is connected to a trolley top lifting plate, the trolley top lifting plate is located above the trolley fixing plate and is fixedly connected to a second trolley driving mechanism, the second trolley driving mechanism is movably penetrated in the trolley fixing plate, an output end of the second trolley driving mechanism is connected to a trolley supporting plate, the trolley supporting plate is located above the trolley top lifting plate, and a plurality of guide columns are arranged between the trolley supporting plate and the trolley top lifting plate, and between the trolley top lifting plate and the trolley fixing plate; wedge blocks are fixedly installed on both sides of the top of the trolley supporting plate, and limit blocks are fixedly installed on both sides of each of the wedge blocks, the shape of the wedge blocks is adapted to the arc surface of the I-beam, and the limit blocks are higher than the top of the wedge blocks.

[0017] In one embodiment of the present invention, the third conveying mechanism has the same structure as the first conveying mechanism, both of which include a first conveying frame, a first transmission chain installed at both ends of the first conveying frame, and a third driving mechanism fixedly installed on the first conveying frame. The third driving mechanism is drivingly connected to the first transmission chain, and the third driving mechanism is used to drive the first transmission chain to rotate, so as to drive the I-beam on the first transmission chain to move.

[0018] In one embodiment of the present invention, the second conveying mechanism includes a second conveying frame, a second transmission chain installed at both ends of the second conveying frame, a fourth driving mechanism fixedly installed on the second conveying frame, and a third guide rail installed on the inner side of the second conveying frame, and a feeding trolley is slidably connected to the third guide rail; the fourth driving mechanism is drivingly connected to the second transmission chain, and the fourth driving mechanism is used to drive the second transmission chain to rotate, so as to drive the I-beam on the second transmission chain to move.

[0019] In one embodiment of the present invention, the plate pasting and welding mechanism also includes a support frame mounted on the displacement clamping mechanism, a storage rack arranged on one side below the support frame, and a first movable plate and a second movable plate slidably connected to the support frame, the first movable plate is fixedly connected to the plate pasting robot, the second movable plate is fixedly connected to the welding robot, the storage rack is used to store reinforcing plates, the plate pasting robot is used to attach the reinforcing plates stored in the storage rack to the welds of the I-beams clamped and fixed by the displacement clamping mechanism, and the welding robot is used to weld the reinforcing plates attached by the plate pasting robot to the I-beams; the plate pasting robot and the welding robot are also equipped with a visual positioning camera, and the visual positioning camera is used to scan the I-beams with seams and locate the seam positions.

[0020] In one embodiment of the present invention, the feeding mechanism also includes a feeding rack, and the two feeding carts are slidably connected to the feeding rack, the two feeding carts are arranged opposite to each other and are respectively connected to a fifth driving mechanism, the two fifth driving mechanisms are respectively fixedly installed at both ends of the feeding rack, the two fifth driving mechanisms are arranged opposite to each other, and the fifth driving mechanism is used to drive the feeding cart to move on the feeding rack.

[0021] In one embodiment of the present invention, the position changing clamping mechanism also includes a base frame, the base frame is slidably connected to two mobile platforms, each of the mobile platforms is slidably connected to a mounting base, the positioner is rotatably connected to the mounting base, the mounting base is fixedly installed with a sixth driving mechanism, the sixth driving mechanism is drivingly connected to a gear, a third rack is provided on the periphery of the positioner, the gear of the sixth driving mechanism is meshed with the third rack, the sixth driving mechanism is used to drive the gear connected thereto to rotate, so as to drive the third rack and the positioner to rotate on the mounting base; the positioner has a clamping mouth for clamping the I-beam, a movable clamping plate is provided in the clamping mouth, the positioner is installed with a seventh driving mechanism, the output end of the seventh driving mechanism is connected to the clamping plate, the seventh driving mechanism is used to drive the clamping plate to move in the clamping mouth, so as to clamp the I-beam and fix it in the clamping mouth.

[0022] The second object of the present invention is to provide a tunnel steel arch frame automatic material division type welding reinforcement plate production process, using the tunnel steel arch frame automatic material division type welding reinforcement plate production line, comprising the following steps:

[0023] S1. I-beam discharging of the steel arch frame production line; the I-beams with joints and the I-beams without joints produced by the steel arch frame production line are transported to the end of the steel arch frame production line through the steel arch frame production line discharging conveyor line, and the detection system of the steel arch frame production line sends a signal to the automatic material distribution mechanism;

[0024] S2, automatic material dispensing mechanism dispensing materials; after receiving the signal, the automatic material dispensing mechanism moves its feeding trolley to the receiving position of the discharging conveyor line of the steel arch frame production line and lifts the I-beam. The feeding trolley determines whether the I-beam at the receiving position is a seamless I-beam or a jointed I-beam according to the detection system;

[0025] If it is a seamless I-beam, the feeding trolley drives the seamless I-beam to the first conveying mechanism, and transfers the seamless I-beam to the first transmission chain of the first conveying mechanism. The third driving mechanism of the first conveying mechanism drives the first transmission chain to rotate and uniformly convey the seamless I-beam to the discharging end at an equal distance, so as to realize the discharging of the finished steel arch frame of the seamless I-beam without welding the reinforcing plate;

[0026] If it is an I-beam with a seam, the feeding trolley drives the I-beam with a seam to move to the second conveying mechanism, and transfers the I-beam with a seam to the second transmission chain of the second conveying mechanism, and the fourth driving mechanism of the second conveying mechanism drives the second transmission chain to rotate and evenly transport the I-beam with a seam to the discharge end, so as to achieve evenly distributed I-beams with seams; when the plate welding mechanism needs to feed, and the I-beam with a seam to be welded to the reinforcement plate on the second conveying mechanism has not yet reached the discharge end, the feeding trolley in the second conveying mechanism starts to work and moves to the bottom of the first I-beam to be welded to the reinforcement plate, and the feeding trolley lifts the I-beam and transports it to the discharge end of the second conveying mechanism;

[0027] S3, welding reinforcement plate; specifically including:

[0028] S31, feeding I-beams; one of the feeding trolleys of the feeding mechanism transports the I-beams with seams to be welded with the reinforcing plate on the discharge end of the second conveying mechanism to the clamping opening of the positioner of the position changing clamping mechanism, and the positioner is rotated to lift up the I-beams with seams;

[0029] S32, scanning and positioning the joint position of the I-beam; the visual positioning camera installed on the panel mounting robot scans the I-beam with joints and preliminarily locates the joint position;

[0030] S33, adjusting the spacing of the positioners; according to the joint position located in S32, adjusting the spacing of the two positioners and causing the seventh driving mechanism to drive the clamping plate to move in the clamping opening, clamping the I-beam in the clamping opening, and making the positioner avoid the joint position of the I-beam to ensure that the joint is in a constructible position;

[0031] S34, reinforcing plate installation; the plate-attaching robot grabs the reinforcing plate stored in the material storage rack, walks to the joint position for precise visual positioning, adjusts the angle of the reinforcing plate according to the angle of the positioning position, and attaches the reinforcing plate to the I-beam;

[0032] S35, welding of reinforcement plates; the welding robot welds the reinforcement plates after being attached in step S34. Each time the plate attaching robot attaches a reinforcement plate, the welding robot welds the reinforcement plate. After welding is completed, the plate attaching robot attaches the next reinforcement plate, and the welding robot continues to weld the next reinforcement plate until the two first reinforcement plates are respectively attached and welded to the welds of the inner arc surface and the outer arc surface of the I-beam, and the two second reinforcement plates are respectively attached and welded to the welds on the two sides of the web of the I-beam;

[0033] S4, discharging the I-beam after the welding reinforcement plate; another feeding trolley of the feeding mechanism moves to the clamping mouth position of the positioner of the position shifting clamping mechanism, and the clamping mouth releases the I-beam after the welding reinforcement plate. The feeding trolley lifts the I-beam after the welding reinforcement plate and transports it to the first transmission chain of the third conveying mechanism. The third driving mechanism of the third conveying mechanism drives the first transmission chain to rotate and transports the I-beam after the welding reinforcement plate to the discharging end at an equidistant and uniform manner, thereby realizing the discharging of the finished steel arch frame of the I-beam with seams after the welding reinforcement plate.

[0034] The beneficial effects of the present invention are as follows:

[0035] The invention provides a tunnel steel arch frame automatic material-dividing type welding reinforcement plate production line and production process. Through the structural layout between the automatic material-dividing mechanism, the first conveying mechanism, the second conveying mechanism, the plate welding mechanism, the feeding mechanism, the third conveying mechanism and the displacement clamping mechanism, the automatic material-dividing mechanism, the first conveying mechanism, the second conveying mechanism, the plate welding mechanism, the feeding mechanism, the third conveying mechanism and the displacement clamping mechanism are closely matched, and the jointed I-beams and the seamless I-beams delivered from the discharge conveying line of the steel arch frame production line can be automatically divided, and the jointed I-beams and the seamless I-beams are divided into two process routes for conveyance. The seamless I-beams are directly discharged as finished products through one process route, and the jointed I-beams are discharged as finished products after welding the reinforcement plates through another process route. The process rhythms of the two process routes are clear and do not affect each other, which can effectively prevent one process route from affecting the production rhythm of the other process route, and can effectively prevent seamless I-beams from affecting the production rhythm of welded reinforcement plates of I-beams with seams. It can better control the production rhythm, realize the automation and continuous production of steel arch frames, greatly improve the production efficiency of the steel arch frame production line, and further improve the automation level of the steel arch frame production line.

[0036] The present invention has a high degree of automation, high work efficiency, low cost, and convenient maintenance. It can realize the continuous installation and welding of reinforcement plates, and can realize the automated production and mass production of steel arch frames. In addition, the present invention automatically divides I-beams with seams and I-beams without seams into two process routes for transportation, which is stable in operation, accurate and reliable, and highly safe. It avoids the safety accident of I-beams falling due to a large increase in the number of I-beams, and the equipment has strong versatility and can adapt to the needs of different production lines. Secondly, the present invention can realize the automated operation of welding reinforcement plates at the seams of steel arch frames, can realize continuous installation and welding work, can realize continuous feeding of reinforcement plates, and then can realize continuous production operations. It has high work efficiency and can realize fully automated production operations, which greatly reduces the operating cost of the steel arch production line, reduces the production and processing costs of steel arch frames, and can realize the installation and installation of reinforcement plates in large quantities. In addition, the plate-pasting robot and welding robot provided in the present invention can perform accurate visual positioning of the joint position of the I-beam, adjust the angle of the reinforcing plate according to the angle of the positioning position, and accurately fit the reinforcing plate on the I-beam. The installation position is accurate, the welding effect is good, and the welding quality is high, thereby ensuring the product quality of the steel arch frame. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 A stereoscopic diagram of the automatic material-dividing and welding reinforcement plate production line for the tunnel steel arch provided by the present invention.

[0038] Figure 2 A three-dimensional diagram of the automatic material-dividing and welding reinforcement plate production line for the tunnel steel arch provided by the present invention when in operation.

[0039] Figure 3 A three-dimensional diagram of a partial structure of the automatic material dispensing mechanism provided by the present invention.

[0040] Figure 4 A three-dimensional diagram of the feeding trolley provided by the present invention.

[0041] Figure 5 A three-dimensional diagram of the first conveying mechanism provided by the present invention.

[0042] Figure 6 A three-dimensional diagram of the second conveying mechanism provided by the present invention.

[0043] Figure 7 A three-dimensional diagram of the partial structure of the automatic material-dividing and welding reinforcement plate production line for the tunnel steel arch provided by the present invention.

[0044] Figure 8 This is a three-dimensional diagram of the plate welding mechanism, feeding mechanism and displacement clamping mechanism provided by the present invention.

[0045] Fig. 9 A three-dimensional diagram of the plate welding mechanism and the displacement clamping mechanism provided by the present invention.

[0046] Fig.10 A three-dimensional diagram of the feeding mechanism and the displacement clamping mechanism provided by the present invention.

[0047] Fig.11 A three-dimensional diagram of an I-beam with a seam that requires a welded reinforcement plate provided by the present invention.

[0048] Fig.12 A three-dimensional diagram of the feeding mechanism provided by the present invention.

[0049] Fig.13 A three-dimensional diagram of the displacement clamping mechanism provided by the present invention.

[0050] Fig.14 A three-dimensional diagram of a partial structure of the displacement clamping mechanism provided by the present invention.

[0051] Fig.15 The present invention provides a flow chart of the production process of the automatic material-dividing and welding reinforcement plates for the tunnel steel arch frame.

[0052] In the figure: 100, automatic material distribution mechanism; 11, bottom frame; 12, first guide rail; 13, first moving seat; 14, first rack; 15, first driving mechanism; 16, second driving mechanism; 17, first connecting plate; 18, second rack; 19, second guide rail; 200, first conveying mechanism; 21, first conveying frame; 22, first transmission chain; 23, third driving mechanism; 300, second conveying mechanism; 31, second conveying frame; 32, second transmission chain; 33, fourth driving mechanism; 34, third guide rail; 400, plate pasting and welding mechanism; 41, support frame; 42, first moving plate; 43, second moving plate; 44, plate pasting robot; 45, welding robot; 46, material storage rack; 47, first reinforcing plate; 48, second reinforcing plate; 500, feeding mechanism; 50, feeding trolley; 501, first trolley driving mechanism; 502, second trolley driving mechanism; 503, trolley fixing plate; 504, trolley lifting plate; 505, trolley supporting plate; 506, guide column; 507, wedge block; 508, limit block; 509, trolley column; 5010, trolley connecting plate; 5011, trolley base; 51, feeding rack; 52, fifth driving mechanism; 600, third conveying mechanism; 700, position change clamping mechanism; 71, base frame; 72, moving platform; 73, mounting base; 74, sixth driving mechanism; 75, seventh driving mechanism; 76, third rack; 77, positioner; 78, clamping mouth; 79, clamping plate; 800, steel arch production line discharge conveyor line; 9, I-beam. DETAILED DESCRIPTION

[0053] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0054] In the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected", and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0055] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0056] like Figure 1 , Figure 2 , Figure 7 , Figure 8 , Fig. 9 and Fig.10As shown, the present invention provides a tunnel steel arch automatic material-dividing type welding reinforcement plate production line, in some embodiments, including an automatic material-dividing mechanism 100, a first conveying mechanism 200, a second conveying mechanism 300, a plate welding mechanism 400, a feeding mechanism 500, a third conveying mechanism 600 and a displacement clamping mechanism 700; the first conveying mechanism 200 and the second conveying mechanism 300 are arranged on one side of the automatic material-dividing mechanism 100 and are respectively connected to the automatic material-dividing mechanism 100, and the second conveying mechanism 300 is away from the automatic material-dividing mechanism 1 A third conveying mechanism 600 is arranged on one side of the second conveying mechanism 300, and a plate welding mechanism 400, a feeding mechanism 500 and a displacement clamping mechanism 700 are arranged between the second conveying mechanism 300 and the third conveying mechanism 600. The feeding mechanism 500 is located on the displacement clamping mechanism 700, and the plate welding mechanism 400 is mounted on the feeding mechanism 500 and the displacement clamping mechanism 700; the automatic material dividing mechanism 100 is away from the first conveying mechanism 200 and / or the second conveying mechanism 300. The side of the automatic material dividing mechanism 100 is opposite to the discharge conveying line 800 of the steel arch frame production line. The I-beams 9 with joints and the I-beams 9 without joints produced by the steel arch production line are transported to the automatic material separation mechanism 100 through the steel arch production line discharge conveyor line 800; the automatic material separation mechanism 100 is used to separate the I-beams 9 transported from the steel arch production line discharge conveyor line 800, and transport the I-beams 9 with joints to the second conveying mechanism 300, and transport the I-beams 9 without joints to the first conveying mechanism 200, and the I-beams 9 without joints are discharged through the first conveying mechanism 200; the feeding mechanism 500 is used to The I-beam 9 with seams in the second conveying mechanism 300 is transported to the displacement clamping mechanism 700, and the displacement clamping mechanism 700 is used to clamp and fix the I-beam 9 with seams. The plate welding mechanism 400 is used to weld a reinforcement plate to the I-beam 9 with seams fixed by the displacement clamping mechanism 700. The feeding mechanism 500 is also used to transport the I-beam 9 with seams after welding the reinforcement plate from the displacement clamping mechanism 700 to the third conveying mechanism 600. After welding the reinforcement plate to the I-beam 9 with seams, the I-beam 9 is discharged through the third conveying mechanism 600.

[0057] like Figure 1 , Figure 2 , Figure 3 and Figure 4As shown, in some embodiments, the automatic material dispensing mechanism 100 includes a bottom frame 11, a first guide rail 12 and a first rack 14 arranged on the bottom frame 11, a first movable seat 13 slidably connected to the first guide rail 12, and a feeding trolley 50 movably connected to the first movable seat 13; the first movable seat 13 is fixedly connected to a first driving mechanism 15, the first driving mechanism 15 is driven and connected with a gear, the gear of the first driving mechanism 15 is meshed with the first rack 14, the first driving mechanism 15 drives the gear connected thereto to rotate, and drives the first movable seat 13 to move along the first guide rail 12; the first movable seat 13 is provided with a second rack 18 and a second guide rail 19, the feeding trolley 50 is slidably connected to the second guide rail 19, the feeding trolley 50 is fixedly connected to a second driving mechanism 16 through a first connecting plate 17, the second driving mechanism 16 is driven and connected with a gear, the gear of the second driving mechanism 16 is meshed with the second rack 18, the second driving mechanism 16 drives the gear connected thereto to rotate, and drives the feeding trolley 50 to move along the second guide rail 19.

[0058] In this embodiment, the first guide rail 12 can be set to the X-axis direction, the second guide rail 19 can be set to the Y-axis direction, and the first guide rail 12 is perpendicular to the second guide rail 19. The first driving mechanism 15 drives the first movable seat 13 and the feeding trolley 50 thereon to move along the X-axis direction, and the second driving mechanism 16 drives the feeding trolley 50 to move along the Y-axis direction, so that the feeding trolley 50 can be moved along the X-axis and Y-axis directions. The feeding trolley 50 moves along the Y-axis direction, and can realize the transportation of the I-beam 9 between the discharge conveyor line 800 of the steel arch production line and the first conveyor mechanism 200 or the second conveyor mechanism 300; the feeding trolley 50 moves along the X-axis direction, and can realize the reciprocating motion of the feeding trolley 50 between the first conveyor mechanism 200 and the second conveyor mechanism 300, so as to realize the automatic material separation of the I-beam 9 conveyed from the discharge conveyor line 800 of the steel arch production line, and the I-beam 9 with seams is conveyed to the second conveyor mechanism 300 through the feeding trolley 50, and the I-beam 9 without seams is conveyed to the first conveyor mechanism 200 through the feeding trolley 50. Therefore, the automatic material separation mechanism 100 realizes the automatic material separation of the I-beam 9, and has a high degree of automation and high work efficiency, thereby improving the production efficiency of the steel arch.

[0059] Optionally, the first driving mechanism 15 and the second driving mechanism 16 may be rotary motors.

[0060] In addition, the production line also includes a detection system for detecting whether there are seams on the I-beams 9. The detection system can identify whether there are seams on the I-beams 9, and then distinguish the I-beams 9 with seams from the I-beams 9 without seams, thereby realizing automatic sorting of the I-beams 9.

[0061] In some embodiments, the feeding trolley 50 includes a trolley base 5011, a trolley column 509 fixedly connected to the trolley base 5011, and a trolley fixing plate 503 fixedly connected to a plurality of trolley columns 509. The trolley base 5011 is fixedly connected to a first trolley driving mechanism 501 through a trolley connecting plate 5010. The output end of the first trolley driving mechanism 501 passes through the trolley fixing plate 503 and is connected to a trolley lifting plate 504. The trolley lifting plate 504 is located above the trolley fixing plate 503 and is fixedly connected to a second trolley driving mechanism 502. The second trolley driving mechanism 502 is movably The output end of the second trolley driving mechanism 502 is connected to a trolley support plate 505 which is passed through the trolley fixing plate 503. The trolley support plate 505 is located above the trolley top lifting plate 504. A plurality of guide columns 506 are provided between the trolley support plate 505 and the trolley top lifting plate 504, and between the trolley top lifting plate 504 and the trolley fixing plate 503. Wedge blocks 507 are fixedly installed on both sides of the top of the trolley support plate 505, and limit blocks 508 are fixedly installed on both sides of each of the wedge blocks 507. The shape of the wedge blocks 507 is adapted to the arc surface of the I-beam 9, and the limit blocks 508 are higher than the top of the wedge blocks 507.

[0062] In this embodiment, the trolley base 5011 of the feeding trolley 50 of the automatic material dividing mechanism 100 is slidably connected to the second guide rail 19, the two first trolley driving mechanisms 501 are respectively fixedly mounted on the two trolley bases 5011, and the second trolley driving mechanism 502 is located in the middle position of the two first trolley driving mechanisms 501.

[0063] The feeding trolley 50 provided in this embodiment of the present application is provided with a double-layer lifting structure, that is, the first-layer lifting structure that drives the lifting plate 504 of the trolley through the first trolley driving mechanism 501 can realize the lifting of the second trolley driving mechanism 502 fixedly connected to the trolley lifting plate 504 and the trolley support plate 505 connected to the output end of the second trolley driving mechanism 502; the second-layer lifting structure that drives the lifting of the trolley support plate 505 through the second trolley driving mechanism 502 can realize the further lifting movement of the trolley support plate 505 in the Z-axis direction. Therefore, the double-layer lifting structure of the feeding trolley 50 can increase the lifting height of the trolley support plate 505, improve the stability of the trolley support plate 505 during the lifting process, and enable the trolley support plate 505 to achieve a longer stroke and more stable lifting operation in the Z-axis direction, so that the trolley support plate 505 can lift the I-beam 9 in the Z-axis direction, thereby realizing the transportation of the I-beam 9 between the discharge conveyor line 800 of the steel arch production line and the first conveying mechanism 200 or the second conveying mechanism 300.

[0064] Among them, several guide columns 506 are arranged between the trolley pallet 505 and the trolley lifting plate 504, and between the trolley lifting plate 504 and the trolley fixed plate 503, which further increase the stability of the trolley pallet 505 during the lifting process, and can ensure the horizontality of the trolley lifting plate 504 and the trolley pallet 505 during the lifting process, so that the trolley pallet 505 can horizontally lift the I-beam 9, ensuring the horizontality of the I-beam 9 when being lifted, and avoiding the I-beam 9 from tilting and falling when being lifted.

[0065] In addition, the feeding trolley 50 is provided with wedge blocks 507 on both sides of the top of the trolley support plate 505, and with stop blocks 508 on both sides of the wedge blocks 507. The shape of the wedge blocks 507 matches the arc surface of the I-beam 9. The wedge blocks 507 are in contact with the I-beam 9 and the shapes of the two are matched, which is conducive to the lifting operation of the I-beam 9. The stop blocks 508 are higher than the top of the wedge blocks 507. The stop blocks 508 limit the I-beam 9, preventing the I-beam 9 from falling off the trolley support plate 505, and further increasing the stability of the trolley support plate 505 in the process of lifting the I-beam 9. Optionally, the first trolley driving mechanism 501 and the second trolley driving mechanism 502 can be cylinders.

[0066] like Figure 1 and Figure 5 As shown, in some embodiments, the first conveying mechanism 200 includes a first conveying frame 21, a first transmission chain 22 installed at both ends of the first conveying frame 21, and a third driving mechanism 23 fixedly installed on the first conveying frame 21, the third driving mechanism 23 is drivingly connected to the first transmission chain 22, and the third driving mechanism 23 is used to drive the first transmission chain 22 to rotate, thereby driving the I-beam 9 on the first transmission chain 22 to move, thereby realizing the transportation of the I-beam 9.

[0067] The structure of the third conveying mechanism 600 is the same as that of the first conveying mechanism 200 , which will not be described in detail.

[0068] like Figure 1 and Figure 6 As shown, in some embodiments, the second conveying mechanism 300 includes a second conveying frame 31, a second transmission chain 32 installed at both ends of the second conveying frame 31, a fourth driving mechanism 33 fixedly installed on the second conveying frame 31, and a third guide rail 34 installed on the inner side of the second conveying frame 31, and a feeding trolley 50 is slidably connected to the third guide rail 34; the fourth driving mechanism 33 is drivingly connected to the second transmission chain 32, and the fourth driving mechanism 33 is used to drive the second transmission chain 32 to rotate, thereby driving the I-beam 9 on the second transmission chain 32 to move, thereby realizing the transportation of the I-beam 9.

[0069] Among them, a third guide rail 34 is installed on the inner side of the second conveying frame 31, and a movable feeding trolley 50 is arranged on the third guide rail 34. When the plate welding mechanism 400 needs to feed, and the I-beam 9 of the reinforcing plate to be welded on the second conveying mechanism 300 has not yet reached the discharge end, the feeding trolley 50 in the second conveying mechanism 300 starts to work, moves to the bottom of the first I-beam 9 of the reinforcing plate to be welded, and the feeding trolley 50 lifts the I-beam 9 and transports it to the discharge end of the second conveying mechanism 300. Therefore, the feeding trolley 50 arranged on the inner side of the second conveying mechanism 300 can convey the I-beam 9 to be welded with the reinforcement plate to the discharge end of the second conveying mechanism 300 at any time to feed the plate welding mechanism 400, thereby ensuring the continuity of feeding of the plate welding mechanism 400 and avoiding feeding pauses, thereby ensuring the production rhythm of the I-beam 9 plate welding, improving the production efficiency of the steel arch frame production line, realizing the automation and continuous production of the steel arch frame, and realizing the mass production of the steel arch frame.

[0070] like Figure 1 , Figure 7 , Figure 8 and Fig. 9 As shown, in some embodiments, the plate welding mechanism 400 includes a support frame 41 mounted on the displacement clamping mechanism 700, a material storage rack 46 arranged on one side below the support frame 41, and a first movable plate 42 and a second movable plate 43 slidably connected to the support frame 41, the first movable plate 42 is fixedly connected with a plate attaching robot 44 for attaching a reinforcing plate, the second movable plate 43 is fixedly connected with a welding robot 45 for welding a reinforcing plate, the material storage rack 46 is used to store reinforcing plates, the plate attaching robot 44 is used to attach the reinforcing plates stored in the material storage rack 46 to the weld of the I-beam 9 clamped by the displacement clamping mechanism 700, and the welding robot 45 is used to weld the reinforcing plates attached by the plate attaching robot 44 to the I-beam 9. Among them, the plate attaching robot 44 and the welding robot 45 can also be installed with a visual positioning camera (not shown in the figure), and the visual positioning camera is used to scan the I-beam 9 with a seam and locate the seam position.

[0071] In this embodiment, the first movable plate 42 and the second movable plate 43 can be driven by a driving mechanism such as a motor to slide on the guide rails provided on the support frame 41. For example, a rack can be provided on the support frame 41, and the first movable plate 42 and the second movable plate 43 are fixedly connected to the motor, and the motor drives a gear meshing with the rack. The motor drives the gear to rotate, so that the first movable plate 42 and the second movable plate 43 slide on the support frame 41. When the plate welding mechanism 400 is in use, the plate robot 44 attaches the reinforcement plate stored in the material storage rack 46 to the weld of the I-beam 9 clamped by the displacement clamping mechanism 700, and the welding robot 45 welds the reinforcement plate attached by the plate robot 44 to the I-beam 9, so as to complete the automatic welding of the reinforcement plate operation.

[0072] like Fig.11 As shown, in some embodiments, the steel arch frame is made of an I-beam 9, and the I-beam 9 is a curved structure; the reinforcing plate includes a first reinforcing plate 47 and a second reinforcing plate 48, the first reinforcing plate 47 is an arc-shaped plate and is compatible with the inner and outer arc surfaces of the I-beam 9, and the two first reinforcing plates 47 are respectively installed at the welds of the inner and outer arc surfaces of the I-beam 9; the second reinforcing plate 48 is a hexagonal structure, and the two second reinforcing plates 48 are respectively installed at the welds on both sides of the web of the I-beam 9.

[0073] like Figure 7 , Figure 8 , Fig.10 and Fig.12 As shown, in some embodiments, the feeding mechanism 500 includes a feeding rack 51, and two feeding trolleys 50 are slidably connected to the feeding rack 51, the two feeding trolleys 50 are arranged opposite to each other and are respectively connected to a fifth driving mechanism 52, the two fifth driving mechanisms 52 are respectively fixedly installed at both ends of the feeding rack 51, and the two fifth driving mechanisms 52 are arranged opposite to each other, and the fifth driving mechanism 52 is used to drive the feeding trolley 50 to move on the feeding rack 51; one of the feeding trolleys 50 is located between the second conveying mechanism 300 and the displacement clamping mechanism 700, and is used to transport the I-beam 9 with a seam in the second conveying mechanism 300 to the displacement clamping mechanism 700; the other feeding trolley 50 is located between the displacement clamping mechanism 700 and the third conveying mechanism 600, and is used to transport the I-beam 9 with a seam after the reinforcement plate is welded from the displacement clamping mechanism 700 to the third conveying mechanism 600.

[0074] In this embodiment, the feeding mechanism 500 includes two feeding trolleys 50, one of which is used to transport the I-beam 9 with seams to be welded to the reinforcing plate in the second conveying mechanism 300 to the displacement clamping mechanism 700, and the other feeding trolley 50 is used to transport the I-beam 9 with seams after welding the reinforcing plate from the displacement clamping mechanism 700 to the third conveying mechanism 600; through the linkage of the two feeding trolleys 50, the uninterrupted transportation of the I-beam 9 between the second conveying mechanism 300, the displacement clamping mechanism 700, and the third conveying mechanism 600 is realized, and the continuous and automated operation of the welding of the I-beam 9 with seams is realized, making the process rhythm of the steel arch frame production line more compact, and further improving the production efficiency of the steel arch frame production line. Exemplarily, the fifth driving mechanism 52 can be a cylinder.

[0075] like Fig.13 and Fig.14As shown, in some embodiments, the position-shifting clamping mechanism 700 includes a base frame 71, the base frame 71 is slidably connected to two mobile platforms 72, each of the mobile platforms 72 is slidably connected to a mounting base 73, the mounting base 73 is rotatably connected to a positioner 77, the mounting base 73 is fixedly mounted with a sixth driving mechanism 74, the sixth driving mechanism 74 is drivingly connected to a gear, the outer periphery of the positioner 77 is provided with a third rack 76, the gear of the sixth driving mechanism 74 is meshed with the third rack 76, and the sixth driving mechanism 74 is fixedly mounted with a sixth driving mechanism 74. The mechanism 74 is used to drive the gear connected to it to rotate, so as to drive the third rack 76 and the positioner 77 to rotate on the mounting base 73; the positioner 77 has a clamping opening 78 for clamping the I-beam 9, and a movable clamping plate 79 is arranged in the clamping opening 78. The positioner 77 is installed with a seventh driving mechanism 75, and the output end of the seventh driving mechanism 75 is connected to the clamping plate 79. The seventh driving mechanism 75 is used to drive the clamping plate 79 to move in the clamping opening 78 to clamp and fix the I-beam 9 in the clamping opening 78.

[0076] Exemplarily, the sliding of the mobile platform 72 on the base frame 71 and the sliding of the mounting base 73 on the mobile platform 72 can be achieved by the meshing of gears and racks in the prior art and the motor driving the gears to rotate, and the specific structure will not be repeated; the sixth drive mechanism 74 can be a motor, and the seventh drive mechanism 75 can be a cylinder.

[0077] The displacement clamping mechanism 700 provided in this embodiment of the present application slides on the base frame 71 through two mobile platforms 72, so that the two positioners 77 are close to or away from each other, thereby realizing the adjustment of the spacing between the two positioners 77 to adapt to the clamping of I-beams 9 of different sizes. At the same time, if there is a weld in the middle of the I-beam 9 and it needs to be welded to the plate, the position of the weld of the I-beam 9 can be avoided by adjusting the spacing between the two positioners 77, so as to avoid affecting the welding operation of the robot on the I-beam 9 due to the positioner 77 blocking the weld position of the I-beam 9. In addition, the displacement clamping mechanism 700 can realize the forward and backward movement of the positioner 77 by installing the base 73 and the positioner 77 on the mobile platform 72, and the positioner 77 is driven to rotate by the sixth driving mechanism 74, so as to realize the feeding and discharging of the I-beam 9. Therefore, the displacement clamping mechanism 700 can simultaneously satisfy the rotational motion and forward and backward movement of the positioner 77, and the spacing is adjustable. It is stable in operation, safe and reliable, and has firm clamping, and can simultaneously meet the clamping, transportation and welding tasks of the I-beam 9.

[0078] In addition, if Fig.15 As shown, the present invention also provides a tunnel steel arch frame automatic material division type welding reinforcement plate production process, using the tunnel steel arch frame automatic material division type welding reinforcement plate production line, including the following steps:

[0079] S1, I-beam discharging of the steel arch frame production line; the I-beams 9 with joints and the I-beams 9 without joints produced by the steel arch frame production line are transported to the end of the steel arch frame production line discharging conveyor line 800 through the steel arch frame production line discharging conveyor line 800, and the detection system of the steel arch frame production line sends a signal to the automatic material distribution mechanism 100;

[0080] S2, the automatic material distributing mechanism distributes the materials; after the automatic material distributing mechanism 100 receives the signal, its feeding trolley 50 moves to the material receiving position of the discharging conveyor line 800 of the steel arch frame production line and lifts the I-beam 9, and the feeding trolley 50 determines whether the I-beam 9 at the material receiving position is a seamless I-beam 9 or a jointed I-beam 9 according to the detection system;

[0081] If it is a seamless I-beam 9, the feeding trolley 50 drives the seamless I-beam 9 to walk to the first conveying mechanism 200, and transfers the seamless I-beam 9 to the first transmission chain 22 of the first conveying mechanism 200, and the third driving mechanism 23 of the first conveying mechanism 200 drives the first transmission chain 22 to rotate and uniformly convey the seamless I-beam 9 to the discharging end at an equal distance, so as to realize the finished steel arch discharging of the seamless I-beam 9 without welding the reinforcing plate;

[0082] If it is an I-beam 9 with a seam, the feeding trolley 50 drives the I-beam 9 with a seam to move to the second conveying mechanism 300, and transfers the I-beam 9 with a seam to the second transmission chain 32 of the second conveying mechanism 300, and the fourth driving mechanism 33 of the second conveying mechanism 300 drives the second transmission chain 32 to rotate and evenly convey the I-beam 9 with a seam to the discharge end, so as to achieve evenly distributed I-beam 9 with a seam; when the plate welding mechanism 400 needs to feed, and the I-beam 9 with a seam to be welded to the reinforcement plate on the second conveying mechanism 300 has not yet reached the discharge end, the feeding trolley 50 in the second conveying mechanism 300 starts to work, and moves to the bottom of the first I-beam 9 to be welded to the reinforcement plate, and the feeding trolley 50 lifts the I-beam 9 and conveys it to the discharge end of the second conveying mechanism 300;

[0083] S3, welding reinforcement plate; specifically including:

[0084] S31, feeding of I-beams; one of the feeding trolleys 50 of the feeding mechanism 500 transports the I-beams 9 with seams to be welded to the reinforcing plate on the discharge end of the second conveying mechanism 300 to the clamping opening 78 of the positioner 77 of the position changing clamping mechanism 700, and the positioner 77 is rotated to lift up the I-beams 9 with seams;

[0085] S32, scanning and positioning of the joint position of the I-beam; the visual positioning camera installed in the panel mounting robot 44 scans the I-beam 9 with the joint and performs preliminary positioning of the joint position;

[0086] S33, adjusting the spacing of the positioners; according to the joint position located in S32, adjusting the spacing of the two positioners 77 and causing the seventh driving mechanism 75 to drive the clamping plate 79 to move in the clamping opening 78, clamping the I-beam 9 in the clamping opening 78, so that the positioner 77 avoids the joint position of the I-beam 9, ensuring that the joint is in a constructible position;

[0087] S34, reinforcing plate installation; the plate attaching robot 44 grabs the reinforcing plate stored in the storage rack 46, walks to the joint position for precise visual positioning, adjusts the angle of the reinforcing plate according to the angle of the positioning position, and attaches the reinforcing plate to the I-beam 9;

[0088] S35, reinforcing plate welding; the welding robot 45 welds the reinforcing plates after being attached in step S34. Each time the plate attaching robot 44 attaches a reinforcing plate, the welding robot 45 welds the reinforcing plate. After welding is completed, the plate attaching robot 44 attaches the next reinforcing plate, and the welding robot 45 continues to weld the next reinforcing plate until the two first reinforcing plates 47 are respectively welded to the welds of the inner arc surface and the outer arc surface of the I-beam 9, and the two second reinforcing plates 48 are respectively welded to the welds on the two sides of the web of the I-beam 9;

[0089] S4, discharging the I-beam after the welding reinforcement plate; another feeding trolley 50 of the feeding mechanism 500 moves to the clamping port 78 position of the positioner 77 of the displacement clamping mechanism 700, and the clamping port 78 releases the I-beam 9 after the welding reinforcement plate. The feeding trolley 50 lifts the I-beam 9 after the welding reinforcement plate and transports it to the first transmission chain 22 of the third conveying mechanism 600. The third driving mechanism 23 of the third conveying mechanism 600 drives the first transmission chain 22 to rotate and transport the I-beam 9 after the welding reinforcement plate to the discharging end at an equidistant and uniform manner, thereby realizing the discharging of the finished steel arch frame of the I-beam 9 with a seam after the welding reinforcement plate.

[0090] In summary, the present invention can make close cooperation through the structural layout between the automatic material dividing mechanism, the first conveying mechanism, the second conveying mechanism, the plate welding mechanism, the feeding mechanism, the third conveying mechanism and the displacement clamping mechanism, so as to automatically divide the I-beams with seams and the I-beams without seams delivered by the discharging conveying line of the steel arch frame production line, and divide the I-beams with seams and the I-beams without seams into two process routes for transportation. The I-beams without seams are directly discharged as finished products through one process route, and the I-beams with seams are discharged as finished products after being welded to the reinforcement plate through another process route. The process rhythms of the two process routes are clear and do not affect each other, which can effectively avoid one process route affecting the production rhythm of the other process route, and can effectively avoid the seamless I-beam affecting the production rhythm of the welding reinforcement plate operation of the I-beams with seams, can better control the production rhythm, realize the automation and continuous production of the steel arch frame, greatly improve the production efficiency of the steel arch frame production line, and further improve the automation level of the steel arch frame production line.

[0091] The present invention has a high degree of automation, high work efficiency, low cost, and convenient maintenance. It can realize the continuous installation and welding of reinforcement plates, and can realize the automated production and mass production of steel arch frames. In addition, the present invention automatically divides I-beams with seams and I-beams without seams into two process routes for transportation, which is stable in operation, accurate and reliable, and highly safe. It avoids the safety accident of I-beams falling due to a large increase in the number of I-beams, and the equipment has strong versatility and can adapt to the needs of different production lines. Secondly, the present invention can realize the automated operation of welding reinforcement plates at the seams of steel arch frames, can realize continuous installation and welding work, can realize continuous feeding of reinforcement plates, and then can realize continuous production operations. It has high work efficiency and can realize fully automated production operations, which greatly reduces the operating cost of the steel arch production line, reduces the production and processing costs of steel arch frames, and can realize the installation and installation of reinforcement plates in large quantities. In addition, the plate-pasting robot and welding robot provided in the present invention can perform accurate visual positioning of the joint position of the I-beam, adjust the angle of the reinforcing plate according to the angle of the positioning position, and accurately fit the reinforcing plate on the I-beam. The installation position is accurate, the welding effect is good, and the welding quality is high, thereby ensuring the product quality of the steel arch frame.

[0092] The principles and implementation methods of the present invention are described in this article using specific embodiments. The description of the above embodiments is only used to help understand the method and core ideas of the present invention. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of the present invention, several improvements and modifications can be made to the present invention, and these improvements and modifications also fall within the scope of protection of the claims of the present invention. Therefore, the scope of protection of the patent of the present invention shall be based on the attached claims.

Claims

1. A tunnel steel arch frame automatic material separation type welding reinforcement plate production line, characterized in that: include: A first conveying mechanism (200) and a second conveying mechanism (300), wherein the first conveying mechanism (200) and the second conveying mechanism (300) are respectively used to receive seamless I-beams (9) and jointed I-beams (9) produced by the steel arch production line; An automatic material distribution mechanism (100) is docked with the first conveying mechanism (200) and the second conveying mechanism (300), and comprises a movable feeding trolley (50), wherein the feeding trolley (50) is configured to be able to convey the I-beams (9) with seams to the second conveying mechanism (300) and convey the I-beams (9) without seams to the first conveying mechanism (200) by moving; A displacement clamping mechanism (700) is docked with the second conveying mechanism (300), wherein the displacement clamping mechanism (700) comprises a positioner (77), wherein the positioner (77) is used to receive the I-beam (9) with a seam in the second conveying mechanism (300) and clamp and fix it; A plate welding mechanism (400) is mounted above the displacement clamping mechanism (700) and is used for welding a reinforcing plate to an I-beam (9) with a joint in the displacement clamping mechanism (700). The plate welding mechanism (400) comprises a movable plate welding robot (44) for attaching the reinforcing plate and a movable welding robot (45) for welding the reinforcing plate. A third conveying mechanism (600) is connected to the displacement clamping mechanism (700) and is used to receive the I-beam (9) with seams after the reinforcement plate is welded in the displacement clamping mechanism (700); The seamless I-beam (9) is discharged through the first conveying mechanism (200), and the I-beam (9) with a seam after being welded with a reinforcing plate is discharged through the third conveying mechanism (600).

2. The tunnel steel arch automatic material separation type welding reinforcement plate production line according to claim 1 is characterized in that: The invention also includes a feeding mechanism (500) arranged between the second conveying mechanism (300) and the third conveying mechanism (600), wherein the feeding mechanism (500) is located on the displacement clamping mechanism (700), and the feeding mechanism (500) includes two movable feeding trolleys (50), wherein one feeding trolley (50) is located between the second conveying mechanism (300) and the displacement clamping mechanism (700), and is used to transport the I-beam (9) with a seam in the second conveying mechanism (300) to the displacement clamping mechanism (700); and the other feeding trolley (50) is located between the displacement clamping mechanism (700) and the third conveying mechanism (600), and is used to transport the I-beam (9) with a seam after the reinforcement plate is welded from the displacement clamping mechanism (700) to the third conveying mechanism (600).

3. The tunnel steel arch frame automatic material separation type welding reinforcement plate production line according to claim 1 is characterized in that: The automatic material distribution mechanism (100) further comprises a bottom frame (11), a first guide rail (12) and a first rack (14) arranged on the bottom frame (11), and a first movable seat (13) slidably connected to the first guide rail (12); the first movable seat (13) is fixedly connected to a first driving mechanism (15); the first driving mechanism (15) is drivingly connected to a gear; the gear of the first driving mechanism (15) is meshed with the first rack (14); the first driving mechanism (15) drives the gear connected thereto to rotate, thereby driving the first movable seat (13) to move along the first guide rail (11). 2) movement; the first movable seat (13) is provided with a second rack (18) and a second guide rail (19), the feeding trolley (50) is slidably connected to the second guide rail (19), the feeding trolley (50) is fixedly connected to the second driving mechanism (16) through the first connecting plate (17), the second driving mechanism (16) is drivingly connected to a gear, the gear of the second driving mechanism (16) is meshed with the second rack (18), the second driving mechanism (16) drives the gear connected thereto to rotate, and drives the feeding trolley (50) to move along the second guide rail (19).

4. The tunnel steel arch automatic material separation type welding reinforcement plate production line according to claim 1 or 2 is characterized in that: The feeding trolley (50) comprises a trolley base (5011), a trolley column (509) fixedly connected to the trolley base (5011), and a trolley fixing plate (503) fixedly connected to a plurality of trolley columns (509); the trolley base (5011) is fixedly connected to a first trolley driving mechanism (501) via a trolley connecting plate (5010); an output end of the first trolley driving mechanism (501) passes through the trolley fixing plate (503) and is connected to a trolley lifting plate (504); the trolley lifting plate (504) is located above the trolley fixing plate (503) and is fixedly connected to a second trolley driving mechanism (502); the second trolley driving mechanism (502) is movably arranged on the trolley fixing plate (503). In the fixed plate (503), the output end of the second trolley driving mechanism (502) is connected to a trolley support plate (505), the trolley support plate (505) is located above the trolley top lifting plate (504), and a plurality of guide columns (506) are arranged between the trolley support plate (505) and the trolley top lifting plate (504), and between the trolley top lifting plate (504) and the trolley fixed plate (503); wedge blocks (507) are fixedly installed on both sides of the top of the trolley support plate (505), and limit blocks (508) are fixedly installed on both sides of each of the wedge blocks (507), the shape of the wedge blocks (507) is adapted to the arc surface of the I-beam (9), and the limit blocks (508) are higher than the top of the wedge blocks (507).

5. The tunnel steel arch automatic material separation type welding reinforcement plate production line according to claim 1 is characterized in that: The third conveying mechanism (600) has the same structure as the first conveying mechanism (200), and both comprise a first conveying frame (21), a first transmission chain (22) mounted at both ends of the first conveying frame (21), and a third driving mechanism (23) fixedly mounted on the first conveying frame (21); the third driving mechanism (23) is drivingly connected to the first transmission chain (22); the third driving mechanism (23) is used to drive the first transmission chain (22) to rotate, so as to drive the I-beam (9) on the first transmission chain (22) to move.

6. The tunnel steel arch frame automatic material separation type welding reinforcement plate production line according to claim 4 is characterized in that: The second conveying mechanism (300) comprises a second conveying frame (31), a second transmission chain (32) installed at both ends of the second conveying frame (31), a fourth driving mechanism (33) fixedly installed on the second conveying frame (31), and a third guide rail (34) installed on the inner side of the second conveying frame (31), and a feeding trolley (50) is slidably connected to the third guide rail (34); the fourth driving mechanism (33) is drivingly connected to the second transmission chain (32), and the fourth driving mechanism (33) is used to drive the second transmission chain (32) to rotate, so as to drive the I-beam (9) on the second transmission chain (32) to move.

7. The tunnel steel arch frame automatic material separation type welding reinforcement plate production line according to claim 1 is characterized in that: The plate-attaching welding mechanism (400) further comprises a support frame (41) mounted on the displacement clamping mechanism (700), a material storage rack (46) arranged on one side below the support frame (41), and a first movable plate (42) and a second movable plate (43) slidably connected to the support frame (41), wherein the first movable plate (42) is fixedly connected to the plate-attaching robot (44), the second movable plate (43) is fixedly connected to the welding robot (45), and the material storage rack (46) is used to store reinforced The plate-attaching robot (44) is used to attach the reinforcing plate stored in the storage rack (46) to the weld of the I-beam (9) clamped and fixed by the displacement clamping mechanism (700), and the welding robot (45) is used to weld the reinforcing plate attached by the plate-attaching robot (44) to the I-beam (9); the plate-attaching robot (44) and the welding robot (45) are also equipped with a visual positioning camera, which is used to scan the I-beam (9) with a seam and locate the seam position.

8. The tunnel steel arch frame automatic material separation type welding reinforcement plate production line according to claim 2 is characterized in that: The feeding mechanism (500) further comprises a feeding rack (51), two feeding trolleys (50) are slidably connected to the feeding rack (51), the two feeding trolleys (50) are arranged opposite to each other and are respectively connected to a fifth driving mechanism (52), the two fifth driving mechanisms (52) are respectively fixedly mounted at two ends of the feeding rack (51), the two fifth driving mechanisms (52) are arranged opposite to each other, and the fifth driving mechanism (52) is used to drive the feeding trolleys (50) to move on the feeding rack (51).

9. The tunnel steel arch frame automatic material separation type welding reinforcement plate production line according to claim 1 is characterized in that: The position-shifting clamping mechanism (700) further comprises a base frame (71), wherein the base frame (71) is slidably connected to two movable platforms (72), each movable platform (72) is slidably connected to a mounting base (73), the positioner (77) is rotatably connected to the mounting base (73), the mounting base (73) is fixedly mounted with a sixth driving mechanism (74), the sixth driving mechanism (74) is drivingly connected to a gear, a third rack (76) is arranged on the periphery of the positioner (77), the gear of the sixth driving mechanism (74) is meshed with the third rack (76), and the sixth driving mechanism (74) is used to rotate the sixth driving mechanism (74). The gear connected to the gear is driven to rotate, so as to drive the third rack (76) and the positioner (77) to rotate on the mounting base (73); the positioner (77) has a clamping opening (78) for clamping the I-beam (9), and a movable clamping plate (79) is arranged in the clamping opening (78); the positioner (77) is installed with a seventh driving mechanism (75), and the output end of the seventh driving mechanism (75) is connected to the clamping plate (79), and the seventh driving mechanism (75) is used to drive the clamping plate (79) to move in the clamping opening (78) to clamp and fix the I-beam (9) in the clamping opening (78).

10. A tunnel steel arch frame automatic material separation type welding reinforcement plate production process, characterized in that: The tunnel steel arch frame automatic material-dividing type welding reinforcement plate production line according to any one of claims 1 to 9 is used, comprising the following steps: S1, discharging of I-beams from the steel arch frame production line; the I-beams (9) with joints and the I-beams (9) without joints produced by the steel arch frame production line are transported to the end of the steel arch frame production line discharging conveyor line (800) through the steel arch frame production line discharging conveyor line (800), and the detection system of the steel arch frame production line sends a signal to the automatic material distribution mechanism (100); S2, the automatic material distributing mechanism distributes the materials; after the automatic material distributing mechanism (100) receives the signal, its feeding trolley (50) moves to the material receiving position of the material discharging conveyor line 800 of the steel arch frame production line and lifts the I-beam (9), and the feeding trolley (50) determines whether the I-beam (9) at the material receiving position is a seamless I-beam (9) or a jointed I-beam (9) according to the detection system; If the I-beam (9) is seamless, the feeding trolley (50) drives the seamless I-beam (9) to move to the first conveying mechanism (200), and transfers the seamless I-beam (9) to the first transmission chain (22) of the first conveying mechanism (200), and the third driving mechanism (23) of the first conveying mechanism (200) drives the first transmission chain (22) to rotate and uniformly convey the seamless I-beam (9) to the discharge end, thereby realizing the discharge of finished steel arches of seamless I-beams (9) without welding reinforcement plates; If the I-beam (9) has a seam, the feeding trolley (50) drives the I-beam (9) with a seam to move to the second conveying mechanism (300), and transfers the I-beam (9) with a seam to the second transmission chain (32) of the second conveying mechanism (300). The fourth driving mechanism (33) of the second conveying mechanism (300) drives the second transmission chain (32) to rotate and uniformly transport the I-beam (9) with a seam to the discharge end, thereby achieving the goal of achieving the goal of achieving the goal of achieving the goal of achieving the goal of achieving the goal of achieving the goal of achieving the goal of achieving the goal of achieving the goal of achieving the goal of achieving the goal of achieving the goal of achieving the goal of The I-beams (9) are evenly distributed at equal distances; when the plate welding mechanism (400) needs to feed, and the I-beams (9) with seams to be welded to the reinforcing plate on the second conveying mechanism (300) have not yet reached the discharge end, the feeding trolley (50) in the second conveying mechanism (300) starts to work and moves to the bottom of the first I-beam (9) to be welded to the reinforcing plate, and the feeding trolley (50) lifts the I-beam (9) and conveys it to the discharge end of the second conveying mechanism (300); S3, welding reinforcement plate; specifically including: S31, feeding of I-beams; one of the feeding trolleys (50) of the feeding mechanism (500) transports the I-beams (9) with seams to be welded to the reinforcing plate on the discharge end of the second conveying mechanism (300) to the clamping opening (78) of the positioner (77) of the position changing clamping mechanism (700), and the positioner (77) is rotated to lift up the I-beams (9) with seams; S32, scanning and positioning the joint position of the I-beam; the visual positioning camera installed on the panel mounting robot (44) scans the I-beam (9) with the joint and performs preliminary positioning of the joint position; S33, adjusting the spacing of the positioners; according to the joint position located in S32, adjusting the spacing of the two positioners (77) and causing the seventh driving mechanism (75) to drive the clamping plate (79) to move in the clamping opening (78), clamping the I-beam (9) in the clamping opening (78), and making the positioner (77) avoid the joint position of the I-beam (9), ensuring that the joint is in a constructible position; S34, reinforcing plate installation; the plate attaching robot (44) grabs the reinforcing plate stored in the storage rack (46), walks to the joint position for precise visual positioning, adjusts the angle of the reinforcing plate according to the angle of the positioning position, and attaches the reinforcing plate to the I-beam (9); S35, reinforcing plate welding; the welding robot (45) welds the reinforcing plates that have been attached in step S34. Each time the plate attaching robot (44) attaches a reinforcing plate, the welding robot (45) welds the reinforcing plate. After welding is completed, the plate attaching robot (44) attaches the next reinforcing plate, and the welding robot (45) continues to weld the next reinforcing plate until the two first reinforcing plates (47) are respectively attached to the weld seams of the inner arc surface and the outer arc surface of the I-beam (9), and the two second reinforcing plates (48) are respectively attached to the weld seams of the two sides of the web of the I-beam (9); S4, discharging the I-beam after the welded reinforcement plate; another feeding trolley (50) of the feeding mechanism (500) moves to the clamping port (78) position of the positioner (77) of the displacement clamping mechanism (700), and the clamping port (78) releases the I-beam (9) after the welded reinforcement plate. The feeding trolley (50) lifts the I-beam (9) after the welded reinforcement plate and transports it to the first transmission chain (22) of the third conveying mechanism (600). The third driving mechanism (23) of the third conveying mechanism (600) drives the first transmission chain (22) to rotate and evenly transport the I-beam (9) after the welded reinforcement plate to the discharging end at an equidistant manner, thereby realizing the discharging of the finished steel arch frame of the I-beam (9) with a seam after the welded reinforcement plate.

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