Steel box girder assembling and welding multi-dimensional monitoring and correcting device

Abstract

The application belongs to the technical field of steel structure construction, and particularly relates to a multi-dimensional monitoring and correcting device for steel box girder assembling and welding, which comprises an arch rib section, a moving mechanism arranged on one side of the arch rib section, an adjusting mechanism arranged on one side of the moving mechanism, a guide block in sliding connection with the outer surface of the arch rib section, an auxiliary strip arranged on one side of the arch rib section, and L-shaped hooks arranged in an array on one side of the arch rib section. The correcting device is characterized in that the moving mechanism is arranged, the hooks are matched with the electric sliding rail section insertion holes, the insertion type design realizes the quick positioning of the device and the arch rib section, the installation time is greatly reduced compared with the traditional technology, the hooks penetrate through the auxiliary strip to form double constraints, the wind load resistance is improved to a certain extent, the electric sliding rail section is combined with the semicircular groove of the sliding seat and the hydraulic turntable to realize the multi-degree-of-freedom movement of the sliding seat on the curved track, the complex arch rib structure is adapted, the manual input is reduced, and the docking efficiency is improved.

Description

Technical Field

[0001] This invention relates to the field of steel structure construction technology, and in particular to a multi-dimensional monitoring and correction device for steel box girder assembly and welding. Background Technology

[0002] In the manufacturing of large steel structure bridges, high-rise buildings, and heavy machinery, the assembly and welding quality of steel box girders directly affects the overall safety and stability of the structure. Traditional steel box girder assembly relies primarily on manual measurement and adjustment equipment, resulting in low accuracy and slow efficiency, failing to meet the millimeter-level precision requirements of modern engineering. Furthermore, existing adjustment equipment is mostly single-dimensional, unable to adapt to the adjustment needs of complex spatial postures, and lacks effective measures to address environmental factors (such as strong winds at high altitudes and temperature changes), leading to problems such as accumulated splicing errors and structural stress concentration during actual construction. In addition, traditional equipment lacks real-time monitoring and intelligent control functions, failing to dynamically optimize adjustment strategies based on changes in working conditions, increasing construction risks and rework costs.

[0003] To address the above problems, this invention proposes a multi-dimensional monitoring and correction device for steel box girder assembly and welding. Summary of the Invention

[0004] Based on the existing technical problems of low calibration accuracy, poor environmental adaptability and insufficient automation, this invention proposes a multi-dimensional monitoring and calibration device for steel box girder assembly and welding.

[0005] This invention proposes a multi-dimensional monitoring and correction device for steel box assembly and welding, comprising an arch rib section, a moving mechanism on one side of the arch rib section, an adjusting mechanism on one side of the moving mechanism, a guide block slidably connected to the outer surface of the arch rib section, an auxiliary strip on one side of the arch rib section, and an array of L-shaped hooks on one side of the arch rib section, the upper end of each L-shaped hook penetrating the body of the auxiliary strip, and the lower end of each L-shaped hook being fixedly connected to the outer surface of the arch rib section.

[0006] Preferably, the moving mechanism includes an electric slide rail section. The main body array of the electric slide rail section has insertion holes adapted to the L-shaped hook. The inner wall of the insertion hole is slidably inserted into the outer surface of the L-shaped hook. A slide block is slidably connected to the outer surface of the electric slide rail section. A control system is provided on one side of the slide block. A semi-circular groove is provided on one side of the slide block. Bearings are fixedly connected to the upper and lower ends of the inner wall of the groove. A hydraulic cylinder is provided between the inner rings of the two bearings. The main cylinder body of the hydraulic cylinder is fixedly connected to the inner rings of the two bearings. One end of the telescopic rod of the hydraulic cylinder passes through the inner ring of the lower bearing. A hydraulic turntable is provided outside the inner ring of the upper bearing. The rotating part of the hydraulic turntable is fixedly connected to the inner ring of the upper bearing through a fixing rod.

[0007] Preferably, the adjusting mechanism includes a slide rod fixedly connected to the lower outer surface of the hydraulic cylinder, a figure-eight slip ring slidably connected to the surface of the slide rod, a hydraulic rod disposed below the slide rod, one end of the hydraulic rod being fixedly connected to the lower end of the figure-eight slip ring, an adjusting rod disposed above the slide rod, the rods of the adjusting rod rotating intersectingly, the lower ends of the adjusting rods being rotatably connected to the upper end of the figure-eight slip ring and the surface of the slide rod respectively, and a hydraulic cylinder assembly disposed at the upper end of the adjusting rod.

[0008] Preferably, one end of the hydraulic rod of the hydraulic cylinder group is rotatably connected to an electromagnetic adsorption disk, and the other end of the hydraulic rod of the hydraulic cylinder group is fixedly connected to a support block, with an industrial camera mounted on the upper end of the support block.

[0009] Preferably, the adsorption surface of the electromagnetic adsorption disk is provided with a rubber pad.

[0010] Preferably, the contact surface array between the guide block and the arch rib section is provided with ball grooves, and a steel ball rolls in each ball groove. The upper end of the guide block is set as an inclined surface adapted to the arch rib section.

[0011] Preferably, a hydraulic oil tank is provided at the upper end of the arch rib section, and the hydraulic oil tank is controlled to move horizontally and vertically by external lifting equipment.

[0012] Preferably, the control system includes a six-dimensional force sensing network, an environmental adaptability control module, and a multi-field coupling control algorithm. The six-dimensional force sensing network consists of multiple sensors. A triaxial force sensor is embedded inside the electromagnetic adsorption disk to measure the X / Y / Z components of the adsorption force. A torque sensor is installed at the joint of the adjusting rod to monitor the stress change of the connecting rod. The environmental adaptability control module measures the ambient wind speed in real time using an ultrasonic anemometer installed on the top of the electric sliding rail section. It monitors the microenvironment of the welding area using a temperature and humidity sensor integrated in the support block. It detects thermal deformation caused by sunlight using a laser displacement sensor distributed on the surface of the arch rib section. The multi-field coupling control algorithm calculates the pressure fluctuation of the hydraulic system based on a fluid dynamics model.

[0013] Preferably, the six-dimensional force sensing network further includes an adsorption state monitoring unit, a load balance control unit, and an intelligent force feedback control algorithm. The adsorption state monitoring unit detects the adsorption uniformity through contact pressure sensors evenly distributed around the adsorption surface of the electromagnetic adsorption disk and monitors the changes in magnetic field strength in real time through Hall sensors installed inside the electromagnetic adsorption disk. The load balance control unit measures the load distribution of each actuator based on the tension sensors installed on each piston rod of the hydraulic cylinder group. The intelligent force feedback control algorithm adopts a model predictive control algorithm to achieve dynamic decoupling of adsorption force and correction force.

[0014] Preferably, the environmental adaptability control module triggers the anti-phase compensation movement of the hydraulic turntable and the piezoelectric ceramic sheet on the surface of the slide rod through the real-time data of the anemometer, thereby generating damping force through the inverse piezoelectric effect.

[0015] The beneficial effects of this invention are as follows:

[0016] 1. By setting up a moving mechanism, the hook and the electric slide rail section are matched with the plug-in design to realize the rapid positioning of the equipment and the arch rib section. The installation time is greatly reduced compared with the traditional technology. Moreover, the hook passes through the auxiliary strip to form a double constraint, which improves the wind load resistance. At the same time, the electric slide rail section and the semi-circular groove of the slide block are combined with the hydraulic turntable to realize the multi-degree-of-freedom movement of the slide block on the curved track, which can adapt to complex arch rib structures, reduce manual input, and improve docking efficiency.

[0017] 2. By setting up an adjustment mechanism, the linkage between the figure-eight slip ring and the cross adjustment rod, combined with the distributed drive of the hydraulic cylinder group, the independent adjustment of the X / Y / Z three-axis correction force can be realized. The load distribution error is reduced to a very small range, reducing welding time and further improving welding efficiency. At the same time, manual intervention is avoided, reducing unnecessary dangers. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of a multi-dimensional monitoring and correction device for steel box girder assembly and welding proposed in this invention;

[0019] Figure 2 This is a perspective view of the moving mechanism of a multi-dimensional monitoring and correction device for steel box girder assembly and welding proposed in this invention;

[0020] Figure 3 This is a diagram showing the position of the L-shaped hook in a multi-dimensional monitoring and correction device for steel box girder assembly and welding proposed in this invention.

[0021] Figure 4 This is a three-dimensional view of the guide block of a multi-dimensional monitoring and correction device for steel box girder assembly and welding proposed in this invention;

[0022] Figure 5This is a bottom view of the guide block of a multi-dimensional monitoring and correction device for steel box girder assembly and welding proposed in this invention.

[0023] In the diagram: 1. Arch rib section; 10. Auxiliary strip; 11. L-shaped hook; 2. Moving mechanism; 21. Electric slide rail section; 22. Slide seat; 23. Insertion hole; 24. Bearing; 25. Hydraulic cylinder one; 26. Hydraulic turntable; 3. Adjusting mechanism; 31. Slide rod; 32; 33. Figure-eight slip ring; 34. Adjusting rod; 35. Hydraulic cylinder group; 36. Support block; 37. Electromagnetic adsorption plate; 38. Industrial camera; 4. Guide block; 41. Steel ball. Detailed Implementation

[0024] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0025] Reference Figures 1-5 A multi-dimensional monitoring and correction device for steel box girder assembly and welding includes an arch rib section 1, a moving mechanism 2 on one side of the arch rib section 1, an adjusting mechanism 3 on one side of the moving mechanism 2, a guide block 4 slidably connected to the outer surface of the arch rib section 1, an auxiliary strip 10 on one side of the arch rib section 1, and an array of L-shaped hooks 11 on one side of the arch rib section 1. The upper end of each L-shaped hook 11 penetrates the body of the auxiliary strip 10, and the lower end of each L-shaped hook 11 is fixedly connected to the outer surface of the arch rib section 1.

[0026] In this embodiment, the moving mechanism 2 includes an electric slide rail section 21. The main body array of the electric slide rail section 21 has insertion holes 23 adapted to the L-shaped hook 11. The inner wall of the insertion hole 23 is slidably inserted into the outer surface of the L-shaped hook 11. A slide seat 22 is slidably connected to the outer surface of the electric slide rail section 21. A control system is provided on one side of the slide seat 22. A semi-circular groove is provided on one side of the slide seat 22. Bearings 24 are fixedly connected to the upper and lower ends of the inner wall of the groove. A hydraulic cylinder 25 is provided between the inner rings of the two bearings 24. The main cylinder body of the hydraulic cylinder 25 is fixedly connected to the inner rings of the two bearings. One end of the telescopic rod of the hydraulic cylinder 25 passes through the inner ring of the lower bearing 24. A hydraulic turntable 26 is provided outside the inner ring of the upper bearing 24. The rotating part of the hydraulic turntable 26 is fixedly connected to the inner ring of the upper bearing 24 through a fixing rod.

[0027] Specifically, the L-shaped hook 11 is inserted into the socket 23 to quickly position and install the electric slide rail section 21 on the side of the arch rib section 1, realizing the rapid deployment of the moving mechanism 2; the slide block 22 is driven by a servo motor and can achieve rapid lateral displacement along the electric slide rail section 21 with a positioning accuracy of ±0.5mm; the hydraulic cylinder 25 can rotate freely 180 degrees through the bearing 24, and with the ±15° angle adjustment of the hydraulic turntable 26, the adjustment mechanism 3 can flexibly adapt to the splicing requirements of the arch rib section 1 at different angles; when it is necessary to adjust the working position of the adjustment mechanism 3, the control system first drives the hydraulic turntable 26 to reset to the initial angle, and then controls the slide block 22 to move along the electric slide rail section 21. After reaching the target position, the hydraulic turntable 26 rotates again to the specified angle. This process realizes the rapid positioning and attitude adjustment of the mechanism, which effectively improves the installation efficiency compared with the traditional fixed bracket.

[0028] In this embodiment, the adjusting mechanism 3 includes a slide rod 31 fixedly connected to the lower outer surface of the hydraulic cylinder 25, a figure-eight slip ring 33 slidably connected to the surface of the slide rod 31, a hydraulic rod 32 disposed below the slide rod 31, one end of the hydraulic rod 32 being fixedly connected to the lower end of the figure-eight slip ring 33, an adjusting rod 34 disposed above the slide rod 31, the rods of the adjusting rod 34 rotating intersecting each other, the lower ends of the rods of the adjusting rod 34 being rotatably connected to the upper end of the figure-eight slip ring 33 and the surface of the slide rod 31 respectively, and a hydraulic cylinder assembly 35 disposed at the upper end of the rod of the adjusting rod 34.

[0029] Specifically, the hydraulic rod 32 pushes the figure-eight slip ring 33 to slide back and forth along the slide rod 31 through telescopic movement; the adjusting rod 34 adopts a scissor linkage structure. When the figure-eight slip ring 33 moves, the adjusting rod 34 adjusts its height by cross rotation, which can amplify the displacement of the figure-eight slip ring 33 by 1 to 2 times; the outer surface of the hydraulic cylinder of the hydraulic cylinder group 35 is rotatably mounted on the upper end of the adjusting rod 34 through bearings. Through the coordinated work of the parallel hydraulic cylinders, a large continuous thrust can be achieved; when it is necessary to correct the docking deviation of the arch rib section 1, the control system first controls the hydraulic rod 32 to coarsely adjust the position of the figure-eight slip ring 33, and then performs micron-level fine adjustment through the hydraulic cylinder group 35. Compared with the adjustment of a single hydraulic cylinder, this composite adjustment structure effectively improves the correction efficiency.

[0030] In this embodiment, one end of the hydraulic rod of the hydraulic cylinder assembly 35 is rotatably connected to an electromagnetic adsorption disk 37, and the other end of the hydraulic rod of the hydraulic cylinder assembly 35 is fixedly connected to a support block 36. An industrial camera 38 is provided on the upper end of the support block 36.

[0031] Specifically, the electromagnetic adsorption plate 37 is pressed against the part of the arch rib section 1 to be corrected by the thrust of the hydraulic cylinder group 35. After being energized, it generates an adsorption force that moves the arch rib section 1 to fix the workpiece. The industrial camera 38 uses a 5-megapixel vision sensor, which collects 20 frames of images per second. Its installation height is 300mm from the adsorption surface, and its viewing angle covers a range of 400mm×300mm. When the correction process is started, the industrial camera 38 first collects images of the splice seam of the arch rib section 1, identifies the weld contour through an edge detection algorithm, and then calculates the X / Y / Z axis offset and angle deviation by comparing it with the preset model. The control system drives the hydraulic cylinder group 35 to adjust the position of the electromagnetic adsorption plate 37 according to the deviation data. At the same time, the industrial camera 38 monitors the correction process in real time, forming a closed-loop control of "detection-adjustment-feedback". Compared with manual measurement and correction, the degree of automation is significantly improved and the splicing error pass rate is significantly reduced.

[0032] In this embodiment, the adsorption surface of the electromagnetic adsorption disk 37 is provided with a rubber pad.

[0033] Specifically, the rubber pad is made of nitrile rubber with a Shore hardness of 60 and a thickness of 5mm, with a diamond-shaped anti-slip texture on the surface. When the electromagnetic adsorption plate 37 adsorbs the arch rib section 1, the rubber pad fills the tiny unevenness on the workpiece surface through elastic deformation, increasing the actual contact area. Its insulating properties prevent the generation of electric sparks during adsorption, ensuring the safety of welding operations. At the same time, the buffering effect of the rubber pad effectively reduces the adsorption impact force and prevents indentations on the surface of the arch rib section 1. Compared with direct metal contact adsorption, it maintains the integrity of the workpiece surface to a certain extent. Moreover, the rubber pad can be quickly disassembled and replaced, reducing maintenance costs.

[0034] In this embodiment, the contact surface array between the guide block 4 and the arch rib section 1 is provided with ball grooves, and steel balls 41 roll in each ball groove. The upper end of the guide block 4 is set as an inclined surface adapted to the arch rib section 1.

[0035] Specifically, a set of guide blocks 4 are arranged at both ends of the arch rib section 1, and the angle of their inclined surfaces is consistent with the design slope of the arch rib section 1; the steel balls 41 are G10 grade precision balls, which are evenly distributed in the ball groove through a polytetrafluoroethylene cage; when the arch rib section 1 is hoisted and moved, the inclined surface of the guide block 4 guides it to be accurately positioned, and the steel balls 41 convert sliding friction into rolling friction, reducing a certain amount of traction force, accelerating the docking of the arch rib section 1, and improving its docking efficiency.

[0036] In this embodiment, a hydraulic oil tank is provided at the upper end of the arch rib section 1, and the hydraulic oil tank is controlled to move horizontally and vertically by external lifting equipment.

[0037] Specifically, the hydraulic oil tank maintains its lifting status in real time by spanning the high-altitude lifting equipment. The hydraulic oil tank adopts a double-sealed structure and has built-in level sensors, temperature sensors, and contamination sensors. When the equipment is in operation, the external lifting equipment is connected to the lifting lugs on the top of the hydraulic oil tank via an electric hoist, enabling horizontal movement and vertical lifting. The hydraulic oil tank is connected to the hydraulic system of the moving mechanism 2 and the adjusting mechanism 3 via a high-pressure hose, with a 40% redundancy in hose length to accommodate equipment movement. When the hydraulic oil level is lower than 80% of the set value, the level sensor triggers an alarm, and the lifting equipment automatically moves the oil tank to the replenishment position. Compared with traditional fixed oil tanks, this mobile design expands the equipment's operating range, avoids pressure loss caused by long-distance hydraulic pipeline laying, and oil tank maintenance does not require interruption of the overall operation process.

[0038] In this embodiment, the control system includes a six-dimensional force sensing network, an environmental adaptive control module, and a multi-field coupling control algorithm. The six-dimensional force sensing network consists of multiple sensors. A triaxial force sensor is embedded inside the electromagnetic adsorption disk 37 to measure the X / Y / Z components of the adsorption force. A torque sensor is installed at the joint of the adjusting rod 34 to monitor the stress change of the connecting rod. The environmental adaptive control module measures the ambient wind speed in real time through an ultrasonic anemometer installed on the top of the electric slide rail section 21, monitors the microenvironment of the welding area through a temperature and humidity sensor integrated in the support block 36, and detects thermal deformation caused by sunlight through a laser displacement sensor distributed on the surface of the arch rib section 1. The multi-field coupling control algorithm calculates the pressure fluctuation of the hydraulic system based on a fluid dynamics model.

[0039] Specifically, the triaxial force sensor collects data every 0.1 seconds. When the deviation of the adsorption force in a certain direction exceeds ±5kN, the control system immediately adjusts the adsorption force of the electromagnetic adsorption plate 37 and the pulling force of the hydraulic cylinder group 35 to ensure uniform distribution of the adsorption force. The torque sensor continuously monitors the stress of the adjusting rod 34. When the stress exceeds 80% of the allowable stress of the material, it automatically triggers overload protection, stops the current action, and alarms. The ultrasonic anemometer monitors the ambient wind speed in real time. When the wind speed is >8m / s, the environmental adaptability control module starts the windproof mode, adjusts the angle of the equipment's windward side through the hydraulic turntable 26, and increases the adsorption force of the electromagnetic adsorption plate 37. The temperature and humidity sensor collects data every 5 minutes. When the humidity is >85%RH, it automatically starts the dehumidifying fan in the welding area. The laser displacement sensor scans the surface of the arch rib section at a frequency of 1Hz and compensates for the deformation caused by temperature changes in real time through the thermal expansion coefficient calculation model. The multi-field coupling control algorithm iterates every 200ms, integrates data such as hydraulic pressure, structural stress, and environmental parameters, and optimizes the extension speed and pressure output of the hydraulic cylinder 25.

[0040] In this embodiment, the six-dimensional force sensing network also includes an adsorption state monitoring unit, a load balance control unit, and an intelligent force feedback control algorithm. The adsorption state monitoring unit detects the adsorption uniformity through contact pressure sensors evenly distributed around the adsorption surface of the electromagnetic adsorption disk 37, and monitors the changes in magnetic field strength in real time through Hall sensors installed inside the electromagnetic adsorption disk 37. The load balance control unit measures the load distribution of each actuator based on the tension sensors installed on each piston rod of the hydraulic cylinder group 35. The intelligent force feedback control algorithm adopts a model predictive control algorithm to achieve dynamic decoupling of adsorption force and correction force.

[0041] Specifically, the Hall sensor monitors the magnetic field strength of the electromagnetic adsorption disk 37 in real time. When the magnetic field attenuation exceeds 10%, the excitation current is automatically increased to compensate and ensure the adsorption force is stable. The tension sensor collects the load data of each cylinder of the hydraulic cylinder group 35 in real time. The load balance control unit adjusts the pressure of each cylinder through the PID algorithm to keep the load imbalance within ±3%. The intelligent force feedback control algorithm is based on model predictive control and predicts the coupling effect of adsorption force and correction force 100ms in advance. Dynamic decoupling is achieved through feedforward compensation and feedback adjustment. During the rapid correction process, the force control response time is shortened to 50ms. Compared with traditional PID control, this effectively avoids equipment vibration and workpiece damage caused by force coupling.

[0042] In this embodiment, the environmental adaptability control module triggers the anti-phase compensation movement of the hydraulic turntable 26 and the piezoelectric ceramic sheet on the surface of the slide bar 31 through real-time data from the anemometer, thereby generating damping force through the inverse piezoelectric effect.

[0043] Specifically, when the ultrasonic anemometer detects a gust wind speed > 5 m / s, the environmental adaptability control module calculates the compensation angle and rotation speed of the hydraulic turntable 26 based on the wind direction and frequency, and drives the hydraulic turntable 26 to counteract the wind vibration effect with an anti-phase motion, achieving a compensation angle accuracy of ±0.5°. Eight piezoelectric ceramic plates are uniformly pasted on the surface of the slide rod 31. When the equipment vibration frequency is detected to be > 10 Hz, the control system applies an alternating voltage to the piezoelectric ceramic plates, using the inverse piezoelectric effect to generate a damping force opposite to the vibration direction, reducing the vibration amplitude. At the same time, the piezoelectric ceramic plates can also serve as vibration sensors to monitor the equipment's operating status in real time, triggering an early warning when the vibration is abnormal. Compared with traditional passive vibration reduction devices, this active vibration reduction system improves the stability of the equipment in strong wind environments, effectively ensuring the safety and calibration accuracy of high-altitude operations.

[0044] Reference Figures 1-5 A construction method for a multi-dimensional monitoring and correction device for steel box girder assembly and welding, the specific steps of which are as follows:

[0045] Step 1: Hoist the arch rib section 1 to the predetermined position, and quickly complete the installation of the moving mechanism 2 by connecting the L-shaped hook 11 to the insertion hole 23 of the electric slide rail section 21. Start the control system, drive the slide block 22 to move along the electric slide rail section 21 to the initial position, and control the hydraulic turntable 26 to reset. At the same time, use external lifting equipment to hoist the hydraulic oil tank to a suitable height above the arch rib section 1, and complete the connection with the moving mechanism 2 and the adjusting mechanism 3 through the high-pressure hose. Start the hydraulic system to preheat to the working temperature.

[0046] Step 2: The control system drives hydraulic cylinder 25 to adjust the angle of slide bar 31 in conjunction with hydraulic turntable 26, so that the adjustment mechanism 3 is aligned with the area to be corrected in arch rib section 1. Then, the control hydraulic rod 32 extends to push the figure-eight slip ring 33 to move along slide bar 31, which drives the adjustment rod 34 to move in conjunction, so that the electromagnetic adsorption plate 37 is raised to a distance of 50mm from the surface of arch rib section 1. The electromagnetic adsorption plate 37 is energized, and the rubber pad is tightly attached to the surface of arch rib section 1 to generate adsorption force to fix the workpiece, thus completing the pre-positioning adsorption.

[0047] Step 3: The triaxial force sensor monitors the adsorption force distribution in real time. Once the adsorption force stabilizes, the hydraulic cylinder group 35 works in tandem. Based on the preliminary data detected by the industrial camera 38, the arch rib section 1 is gradually pulled. The adjusting rod 34, in conjunction with the figure-eight slip ring 33, achieves a composite displacement in the lateral and vertical directions, pulling the arch rib section 1 to a position within ±10mm of the target position, which is directly above the guide block 4. Then, the adjusting mechanism 3 continues to pull the arch rib section 1 down. The lower end of the arch rib section 1 enters the inclined guide groove of the guide block 4 and slides along the guide groove. During this period, the torque sensor monitors the stress of the adjusting rod 34. If the stress exceeds the threshold, the pulling is paused and the correction path is replanned until the arch rib section 1 is completely lowered, thus completing the coarse adjustment and docking.

[0048] Step 4: After coarse adjustment, the industrial camera 38 acquires high-precision images of the splicing seam at a frequency of 20 frames per second. By comparing the edge detection algorithm with the preset model, it obtains offset data of ±0.1mm and angular deviation data of ±0.05° in the X / Y / Z axis directions. The control system inputs the deviation values ​​into the multi-field coupling control algorithm, and generates fine-tuning commands by combining real-time environmental parameters and hydraulic system pressure fluctuation data. The hydraulic cylinder group 35 fine-tunes the thrust, and the hydraulic rod 32, in conjunction with the figure-eight slip ring 33, performs micron-level displacement adjustment. The adjusting rod 34 simultaneously achieves multi-dimensional angle correction. The intelligent force feedback control algorithm adopts model predictive control, predicting the coupling effect of adsorption force and correction force 100ms in advance. Dynamic decoupling is achieved through feedforward compensation and feedback adjustment to ensure stable and vibration-free adjustment. During the adjustment process, the six-dimensional force sensing network continuously monitors the adsorption force of the electromagnetic adsorption plate 37, the stress of the adjusting rod 34, and the load distribution of each actuator. When all deviation values ​​meet the design requirements, the hydraulic cylinder group 35 and the hydraulic rod 32 are locked to complete precise positioning, providing a high-precision benchmark for subsequent welding processes.

[0049] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A multi-dimensional monitoring and correction device for steel box girder assembly and welding, comprising an arch rib segment (1), characterized in that: A moving mechanism (2) is provided on one side of the arch rib section (1), and an adjusting mechanism (3) is provided on one side of the moving mechanism (2). A guide block (4) is slidably connected to the outer surface of the arch rib section (1). An auxiliary strip (10) is provided on one side of the arch rib section (1). An L-shaped hook (11) is arranged in an array on one side of the arch rib section (1). The upper end of each L-shaped hook (11) penetrates the body of the auxiliary strip (10), and the lower end of each L-shaped hook (11) is fixedly connected to the outer surface of the arch rib section (1). The moving mechanism (2) includes an electric slide rail section (21). The main body array of the electric slide rail section (21) has insertion holes (23) adapted to the L-shaped hook (11). The inner wall of the insertion hole (23) is slidably inserted into the outer surface of the L-shaped hook (11). A slide block (22) is slidably connected to the outer surface of the electric slide rail section (21). A control system is provided on one side of the slide block (22). A semi-circular groove is provided on one side of the slide block (22). The upper and lower ends of the inner wall of the groove are respectively fixed. A bearing (24) is fixedly connected to the inner ring of the two bearings (24). A hydraulic cylinder (25) is provided between the inner rings of the two bearings. The main cylinder body of the hydraulic cylinder (25) is fixedly connected to the inner rings of the two bearings respectively. One end of the telescopic rod of the hydraulic cylinder (25) passes through the inner ring of the lower bearing (24). A hydraulic turntable (26) is provided outside the inner ring of the upper bearing (24). The rotating part of the hydraulic turntable (26) is fixedly connected to the inner ring of the upper bearing (24) through a fixed rod. The adjustment mechanism (3) includes a slide rod (31) fixedly connected to the lower outer surface of the hydraulic cylinder (25), a figure-eight slip ring (33) slidably connected to the surface of the slide rod (31), a hydraulic rod (32) provided below the slide rod (31), one end of the hydraulic rod (32) being fixedly connected to the lower end of the figure-eight slip ring (33), an adjustment rod (34) provided above the slide rod (31), the rods of the adjustment rod (34) rotating intersecting each other, the lower ends of the rods of the adjustment rod (34) being rotatably connected to the upper end of the figure-eight slip ring (33) and the surface of the slide rod (31), and a hydraulic cylinder assembly (35) provided at the upper end of the rod of the adjustment rod (34). One end of the hydraulic rod of the hydraulic cylinder group (35) is rotatably connected to an electromagnetic adsorption disk (37), and the other end of the hydraulic rod of the hydraulic cylinder group (35) is fixedly connected to a support block (36). An industrial camera (38) is provided on the upper end of the support block (36).

2. The multi-dimensional monitoring and correction equipment for steel box girder assembly and welding according to claim 1, characterized in that: The adsorption surface of the electromagnetic adsorption disk (37) is provided with a rubber pad.

3. The multi-dimensional monitoring and correction equipment for steel box girder assembly and welding according to claim 2, characterized in that: The contact surface array between the guide block (4) and the arch rib section (1) is provided with ball grooves, and a steel ball (41) rolls in each ball groove. The upper end of the guide block (4) is set as an inclined surface adapted to the arch rib section (1).

4. The multi-dimensional monitoring and correction equipment for steel box girder assembly and welding according to claim 3, characterized in that: A hydraulic oil tank is provided at the upper end of the arch rib section (1), and the hydraulic oil tank is controlled to move horizontally and vertically by external lifting equipment.

5. The multi-dimensional monitoring and correction equipment for steel box girder assembly and welding according to claim 4, characterized in that: The control system includes a six-dimensional force sensing network, an environmental adaptive control module, and a multi-field coupling control algorithm. The six-dimensional force sensing network consists of multiple sensors. The electromagnetic adsorption disk (37) is embedded with a triaxial force sensor to measure the X / Y / Z components of the adsorption force. A torque sensor is installed at the joint of the adjusting rod (34) to monitor the stress change of the connecting rod. The environmental adaptive control module measures the ambient wind speed in real time through an ultrasonic anemometer installed on the top of the electric slide rail section (21), monitors the microenvironment of the welding area through a temperature and humidity sensor integrated in the support block (36), and detects the thermal deformation caused by sunlight through a laser displacement sensor distributed on the surface of the arch rib section (1). The multi-field coupling control algorithm calculates the pressure fluctuation of the hydraulic system based on a fluid dynamics model.

6. The multi-dimensional monitoring and correction equipment for steel box girder assembly and welding according to claim 5, characterized in that: The six-dimensional force sensing network also includes an adsorption state monitoring unit, a load balance control unit, and an intelligent force feedback control algorithm. The adsorption state monitoring unit detects the adsorption uniformity through contact pressure sensors evenly distributed around the adsorption surface of the electromagnetic adsorption disk (37) and monitors the change in magnetic field strength in real time by setting Hall sensors inside the electromagnetic adsorption disk (37). The load balance control unit measures the load distribution of each actuator based on the tension sensors installed on each piston rod of the hydraulic cylinder group (35). The intelligent force feedback control algorithm adopts a model predictive control algorithm to achieve dynamic decoupling of adsorption force and correction force.

7. A multi-dimensional monitoring and correction device for steel box girder assembly and welding according to claim 6, characterized in that: The environmental adaptability control module triggers the anti-phase compensation movement of the hydraulic turntable (26) and the piezoelectric ceramic sheet on the surface of the slide rod (31) through the real-time data of the anemometer, generating damping force through the inverse piezoelectric effect.

Images