Laser welding equipment for reinforcement cage of self-compacting underground diaphragm wall

Abstract

The invention discloses laser welding equipment for a reinforcement cage of a self-compacting underground diaphragm wall, and relates to the technical field of laser welding equipment. Through cooperation of the lifting motor, the lifting screw rod and the lifting plate, the stability of the welding process is conveniently guaranteed, then through cooperation of the moving motor, the moving gear, the spur rack and the welding device, the welding requirements of reinforcement cages of different specifications are conveniently met, and the function of rapid remodeling and debugging is achieved; the analysis module is used for calculating specific steel bar thickness data influenced by steel bar surface lines at the laser alignment position, and the steel bar thickness at the welding position is reflected more accurately; the relationship between the laser power and the thickness of the reinforcing steel bar is analyzed through the analysis module, power data of laser is adjusted in real time according to the thickness change of the reinforcing steel bar, it is ensured that input of laser energy is always matched with the actual demand of the reinforcing steel bar in the welding process, and the problems that the reinforcing steel bar is burnt through due to too high power or welding is not firm or incomplete due to too low power are solved; and the welding quality is effectively improved.

Description

Technical Field

[0001] This invention relates to the field of laser welding equipment technology, and in particular to a laser welding equipment for self-compacting underground continuous wall reinforcement cages. Background Technology

[0002] Self-compacting underground continuous walls are key structures for support and seepage prevention in underground engineering. The welding quality of their steel cages directly affects the overall mechanical properties and durability of the walls. The steel cages are composed of a large number of longitudinal bars, stirrups, and reinforcing bars, with numerous welding nodes (500-2000 welding points for a single wall steel cage). Traditional welding methods can no longer meet the requirements of modern engineering for welding efficiency, precision, and safety.

[0003] The existing laser welding equipment for self-compacting underground continuous wall steel cages has several drawbacks during use. Firstly, its moving mechanism has low positioning accuracy (repeat positioning error ±5mm), making it impossible to achieve precise alignment of longitudinal bars and stirrups, resulting in a welding offset rate exceeding 20%. Secondly, the lifting and adjustment are mostly hydraulically driven, leading to poor operational stability (vibration amplitude up to 0.5mm), resulting in inconsistent weld formation and affecting the geometric accuracy of the steel cage (verticality deviation exceeding 1‰). Furthermore, the existing equipment is difficult to adapt to the welding requirements of steel cages of different specifications (longitudinal bar diameter 16-32mm, stirrup spacing 100-300mm), requiring over 4 hours for changeover and debugging, demonstrating extremely poor adaptability.

[0004] Therefore, the above-mentioned technical problems need to be addressed. Summary of the Invention

[0005] The purpose of this invention is to address the shortcomings of existing technologies by proposing a laser welding device for self-compacting underground continuous wall steel cages.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: a laser welding device for a self-compacting underground continuous wall steel cage, comprising I-beams installed on the ground, each I-beam having a movable block slidably installed on its upper end, a movable mechanism installed inside each movable block, and a column fixedly installed on the upper end of each movable block, with lifting grooves opened between the columns, and a lifting mechanism installed on the upper end of each column, and a welding mechanism assembled and installed in the lifting mechanism;

[0007] The control box of the welding equipment is equipped with intelligent control components, which include a data acquisition module, an analysis module, and an execution module.

[0008] The data acquisition module collects thickness data of the reinforcing bars and image data of the reinforcing bar surface, and then transmits the collected data to the analysis module.

[0009] The analysis module receives data from the acquisition module, analyzes image data and thickness data to obtain the steel bar thickness data affected by the steel bar surface texture, and analyzes the laser power data required for the corresponding steel bar thickness; it analyzes the image data to determine the position of the steel bar surface texture at the welding section, calculates the required laser power, compares it with the real-time laser power, and if the two are not equal, it generates an adjustment signal and transmits the adjustment signal to the execution module.

[0010] After receiving the adjustment signal, the execution module records the difference between the real-time laser power and the calculated laser power as the adjustment amount, and adjusts the real-time laser power to the calculated laser power based on the adjustment amount.

[0011] Preferably, the analysis module performs the following steps to analyze the laser power corresponding to the rebar thickness:

[0012] S1: When the laser welding position moves from the center to one side, the horizontal displacement distance... With horizontal distance Varying rebar thickness data and the radius data of the reinforcing bars. The three elements form a right triangle. When located on both sides of the outermost edge of the reinforcing bar, the thickness data of the reinforcing bar is as follows. , This refers to the thickness data of the straight protrusions on both sides of the steel bar surface;

[0013] S2: Let the height of the raised section in the middle of the texture above the surface of the reinforcing bar be... , length is The slightly narrower sections on both sides are considered as straight inclined planes, and the length of the slightly narrower section on one side is... The length of the inclined plane is ,Will , and It is approximately a right triangle. and The included angle between them is Then the height between the corresponding position on the inclined plane and the bottom surface is... , It is the horizontal distance between the corresponding position on the inclined plane and the lower end of the inclined plane;

[0014] S3: The angle between the inclined raised texture and the steel bar section is... Then the position moves horizontally. The corresponding displacement of the tilted raised texture Then when At that time, the height of the protrusion on the surface of the reinforcing bar is ;when At that time, the height of the protrusion on the surface of the reinforcing bar is ;when At that time, the height of the protrusion on the surface of the reinforcing bar is ;

[0015] S4: During laser welding, the specific rebar thickness at the laser alignment position can be calculated based on the horizontal distance between the laser alignment position and the center of the rebar, as well as the distance between the laser alignment position and the inclined raised texture in the detection image. The relationship between laser power and steel reinforcement thickness is as follows: , To simplify the coefficients, Based on base power.

[0016] Preferably, the analysis module performs the following steps to analyze the location of the reinforcing bar pattern:

[0017] K1: During the laser welding operation, the surface image data of the two steel bars to be welded are processed in grayscale, and the grayscale images are compared according to the preset inclined raised texture contours. The contours on the grayscale images with the same contour ratio are marked.

[0018] K2: By comparing the grayscale value of the rebar at its placement location with that of the rebar, the cross-section of the rebar to be welded is determined. Based on the size and number of pixel blocks, the shortest vertical distance between one end of the inclined raised texture contour and the cross-section of the rebar to be welded is calculated. From this, the thickness of the rebar at the location of the cross-section to be welded is inferred. The laser power is then adjusted based on the rebar thickness data. Calculation of laser power With real-time laser power If a comparison is made, Then, an adjustment signal is generated and transmitted to the execution module.

[0019] Preferably, the moving mechanism includes drive rollers rotatably mounted at equal intervals inside the moving block. The drive rollers are tightly fitted into the grooves on both sides of the I-beam, and each drive roller is vertically upward and fixed to a pulley through the moving block. A drive pulley is rotatably mounted on the top of the moving block at both ends between the pulleys.

[0020] Preferably, drive motors are installed at both ends of the column above the drive pulley, and the output end of the drive motor is coaxially fixed to one end of the drive pulley through the moving block. A transmission belt is sleeved between the drive pulley and the pulley, and a limit cylinder is rotatably installed above the moving block on one side of the transmission belt.

[0021] Preferably, the lifting mechanism includes a lifting screw that is rotated and installed in the lifting groove, a lifting motor is installed at the top of the column above the lifting screw, the output end of the lifting motor passes through the column and is coaxially fixed to one end of the lifting screw, and a lifting plate is horizontally connected between the two lifting screws by threads.

[0022] Preferably, a straight rack is horizontally installed at the upper end of the lifting plate, and a limit groove is horizontally formed at the lower end of the lifting plate.

[0023] Preferably, the welding mechanism includes a welder that is slidably and equidistantly mounted on a lifting plate. The lower end of the welder is slidably engaged in a limiting groove, and a moving gear that meshes with a rack and pinion is installed inside the welder. A moving motor is installed on the welder at one end of the moving gear. The output end of the moving motor passes through the welder and is coaxially fixed to one end of the moving gear. A welding head is installed at the lower end of the welder.

[0024] Compared with the prior art, the beneficial effects of the present invention are:

[0025] 1. The combination of drive motor, active pulley, transmission belt, and drive roller facilitates high-precision positioning of the moving block, improving the positioning accuracy of the moving mechanism and enabling precise alignment of longitudinal reinforcement and stirrups. The combination of lifting motor, lifting screw, and lifting plate ensures stability of the welding process and improves the smoothness of lifting adjustment, thus achieving consistent weld formation. Furthermore, the combination of moving motor, moving gear, rack and pinion, and welder facilitates adaptation to the welding requirements of different specifications of steel cages, improving the equipment's adaptability and enabling rapid model changeover and debugging. Ultimately, this solves the problems of low positioning accuracy, unstable lifting, and poor adaptability of existing self-compacting underground continuous wall steel cage laser welding equipment.

[0026] 2. The analysis module calculates the specific rebar thickness data affected by the surface texture of the rebar at the laser alignment position, more accurately reflecting the rebar thickness at the welding position; the analysis module analyzes the relationship between laser power and rebar thickness, and adjusts the laser power data in real time according to changes in rebar thickness, ensuring that the laser energy input always matches the actual needs of the rebar during the welding process, avoiding problems such as burning through the rebar due to excessive power, or weak welding or incomplete penetration due to insufficient power, effectively improving welding quality and joint strength. Attached Figure Description

[0027] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings:

[0028] Figure 1 This is a schematic diagram of the overall three-dimensional structure proposed in this invention;

[0029] Figure 2 This is a schematic diagram of the overall three-dimensional structure of the moving mechanism proposed in this invention;

[0030] Figure 3 This is a schematic diagram of the overall three-dimensional structure of the moving mechanism proposed in this invention, viewed from below.

[0031] Figure 4 This is a schematic diagram of the overall three-dimensional structure proposed in this invention from a bottom-view perspective;

[0032] Figure 5 This is a schematic diagram of the side cross-sectional structure proposed in this invention;

[0033] Figure 6 This is a schematic diagram of the straight rack structure proposed in this invention;

[0034] Figure 7 This is a schematic diagram of the welding position proposed in this invention;

[0035] Figure 8 This is a flowchart of the system proposed in this invention.

[0036] The following are the components listed in the diagram: 1. I-beam; 2. Moving block; 3. Column; 4. Drive motor; 5. Lifting plate; 6. Lifting motor; 7. Straight rack; 8. Lifting screw; 9. Welder; 10. Welding head; 11. Transmission belt; 12. Pulley; 13. Limiting cylinder; 14. Drive roller; 15. Moving gear; 16. Moving motor. Detailed Implementation

[0037] 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.

[0038] Example: See Figure 1-6This invention discloses a laser welding device for a self-compacting underground continuous wall rebar cage, comprising an I-beam 1 mounted on the ground, with movable blocks 2 slidably mounted on the upper ends of each I-beam 1. A moving mechanism is installed inside each movable block 2, and a column 3 is fixedly mounted on the upper end of each movable block 2. Lifting grooves are formed between the columns 3, and a lifting mechanism is installed on the upper end of each column 3. A welding mechanism is assembled within the lifting mechanism. Through the I-beam 1, movable blocks 2, moving mechanism, columns 3, lifting mechanism, and welding mechanism on the ground, laser welding of the rebar cage is facilitated. The moving mechanism includes drive rollers 14 equidistantly rotatably mounted inside the movable blocks 2. The drive rollers 14 are tightly fitted into the grooves on both sides of the I-beam 1. Each drive roller 14 is vertically upward and fixed to a pulley 12 through the moving block 2. A drive pulley is rotatably mounted on top of the moving block 2 at both ends between the pulleys 12. The drive roller 14, pulley 12 and drive pulley in the moving block 2 facilitate the movement of the moving block 2 along the I-beam 1. Both ends of the column 3 above the drive pulley are equipped with drive motors 4. The output end of the drive motor 4 passes through the moving block 2 and is coaxially fixed to one end of the drive pulley. A transmission belt 11 is sleeved between the drive pulley and the pulley 12. A limit sleeve 13 is rotatably mounted on top of the moving block 2 on one side of the transmission belt 11. The drive motor 4 on the column 3, the transmission belt 11 and the limit sleeve 13 facilitate the provision of power to the moving mechanism and ensure transmission stability.

[0039] In this invention, the lifting mechanism includes a lifting screw 8 that is rotatably installed in a lifting groove. A lifting motor 6 is installed at the top of a column 3 above the lifting screw 8. The output end of the lifting motor 6 passes through the column 3 and is coaxially fixed to one end of the lifting screw 8. A lifting plate 5 is horizontally threaded between the two lifting screws 8. The lifting screw 8, lifting motor 6, and lifting plate 5 within the column 3 facilitate the height adjustment of the welding mechanism. A straight rack 7 is horizontally installed on the upper end of the lifting plate 5, and a limiting groove is horizontally formed on the lower end of the lifting plate 5. The straight rack 7 and the limiting groove on the lifting plate 5 facilitate the adjustment of the height of the welding mechanism. The system provides a moving track and power transmission; the welding mechanism includes a welder 9 that is slidably and equidistantly mounted on the lifting plate 5. The lower end of the welder 9 is slidably engaged in a limiting groove, and a moving gear 15 that meshes with a rack 7 is installed inside the welder 9. A moving motor 16 is installed on the welder 9 at one end of the moving gear 15. The output end of the moving motor 16 passes through the welder 9 and is coaxially fixed to one end of the moving gear 15. A welding head 10 is installed at the lower end of the welder 9. The laser welding of the reinforcing cage is facilitated by the welder 9, the moving gear 15, the moving motor 16, and the welding head 10 on the lifting plate 5.

[0040] Example 2: See Figure 7-8 The control box of the welding equipment is equipped with intelligent control components, which include a data acquisition module, an analysis module, and an execution module.

[0041] The data acquisition module collects thickness data of the reinforcing bars and image data of the reinforcing bar surface, and then transmits the collected data to the analysis module.

[0042] The analysis module receives data from the acquisition module, analyzes image data and thickness data to obtain the steel bar thickness data affected by the steel bar surface texture, and analyzes the laser power data required for the corresponding steel bar thickness; it analyzes the image data to determine the position of the steel bar surface texture at the welding section, calculates the required laser power, compares it with the real-time laser power, and if the two are not equal, it generates an adjustment signal and transmits the adjustment signal to the execution module.

[0043] The reinforcing bars are approximately cylindrical. Based on the obtained reinforcing bar parameter data, the radius of the reinforcing bar is... When laser welding two reinforcing bars, the bars are positioned with their straight protrusions on both sides parallel to the horizontal plane. The laser is positioned at the corresponding center positions of the two reinforcing bars. The thickness data of the reinforcing bars at this point is... When the laser welding position moves from the center to one side, the horizontal displacement distance... With horizontal distance Varying rebar thickness data and the radius data of the reinforcing bars. The three elements form a right triangle. When located on both sides of the outermost edge of the reinforcing bar, the thickness data of the reinforcing bar is as follows. , This refers to the thickness data of the straight protrusions on both sides of the steel bar surface;

[0044] The surface of the reinforcing bar has uniform, sloping raised patterns, with the center of the patterns being higher and the sides slightly narrower. Let the height of the raised pattern in the center above the surface of the reinforcing bar be . , length is The slightly narrower sections on both sides are considered as straight inclined planes, and the length of the slightly narrower section on one side is... The length of the inclined plane is ,Will , and It is approximately a right triangle. and The included angle between them is Then the height between the corresponding position on the inclined plane and the bottom surface is... , The horizontal distance between the corresponding position on the straight inclined surface and the lower end of the inclined surface; the angle between the inclined raised texture and the steel bar section is... Then the position moves horizontally. The corresponding displacement of the tilted raised texture Then when At that time, the height of the protrusion on the surface of the reinforcing bar is ;when At that time, the height of the protrusion on the surface of the reinforcing bar is ;when At that time, the height of the protrusion on the surface of the reinforcing bar is ;

[0045] Inclined raised textures refer to a regular, convex structure on the surface of reinforcing bars that is inclined along the axial direction. This is formed by the hot rolling process (the pattern is pressed by the rolls as the steel billet passes through them). Its function is to enhance the bond between the reinforcing bar and concrete (diaphragm walls need to transmit soil pressure; insufficient bond can lead to structural instability). However, for laser welding, these textures can cause a localized increase in thickness (1-3 mm), requiring additional energy for complete penetration. The texture morphology varies depending on the type of reinforcing bar: the texture height of HRB400E rebar is approximately 1.5 mm, with an inclination angle of... 30°; Plain round steel bars (HPB300) have no obvious texture, but the surface may have slight rolling marks (height <0.5mm), which have little impact on welding; In laser welding, analysis parameters need to be adjusted for different texture types (e.g., plain round steel bars can be ignored). , (e.g., parameters)

[0046] During laser welding, the specific rebar thickness at the laser alignment point can be calculated based on the horizontal distance between the laser alignment point and the center of the rebar, as well as the distance between the laser alignment point and the inclined raised texture in the detection image. ;

[0047] Assuming all laser energy is used to melt the steel (ignoring thermal radiation and convection losses), the heat balance formula for laser welding is: , Laser power, For laser energy utilization, For the density of the reinforcing steel, The volume of steel melted per unit time. For the specific heat capacity of steel bars, The temperature difference between room temperature and melting point of the steel reinforcement. This refers to the latent heat of fusion of the reinforcing steel; if the focused spot is circular (area) , (where the diameter is the spot diameter) and the melting depth is... If approximately equal to the depth of the molten pool, then the volume of molten material melted per unit time... , For welding speed; substitute into the heat balance formula for laser welding and simplify (penetration depth) Approximately equal to the effective thickness of the steel to be welded, the relationship between laser power and steel reinforcement thickness is obtained: Based on the actual situation, the formula was adjusted to , To simplify the coefficients, Base power;

[0048] This is a coefficient reflecting the laser energy requirements of the reinforcing steel material, and it is directly related to the material's melting point and thermal conductivity: carbon steel has a melting point of approximately 1538℃ and a thermal conductivity of approximately 45W / (m・K). The value is 300-400W / mm; the melting point of stainless steel is about 1450℃, but its thermal conductivity is only 16W / (m・K) (energy is easily concentrated). The power needs to be increased to 500-600 W / mm; this value is determined through process experiments: test welds are performed on steel bars of different thicknesses, and the power required to achieve full penetration is recorded. The slope of the fitted power-thickness curve is then used to obtain the power. ;

[0049] This is the fundamental energy required to overcome the reflection and initial melting of the steel reinforcement surface. Even with a thickness of 0 (theoretically), it must be maintained—the steel reinforcement surface has an oxide layer, and its reflectivity to 1064nm fiber lasers reaches 30%-50%. This loss needs to be offset, while providing enough energy to bring the surface to its melting point; in practice, carbon steel Approximately 500-800W, stainless steel has a higher reflectivity. It needs to be upgraded to 800-1200W;

[0050] The formula originates from the heat balance principle of laser welding: energy required to melt steel bars = laser input energy (minus losses); theoretically, energy demand is proportional to the melting volume (thickness). The power is directly proportional to the thickness, therefore the power and thickness have a linear relationship. It is a proportionality coefficient (including factors such as material and efficiency). Compensation for basic losses; the derivation process can be traced back to the heat balance equation: When welding speed Spot diameter When fixed, Proportional to After simplification, a linear formula is obtained; applicable scenarios cover most steel cage welding requirements (longitudinal reinforcement diameter 16-32mm, stirrup spacing 100-300mm): for 16mm thick carbon steel, according to 400W / mm 500W calculation, power 400×16+500=6900W, which can achieve stable penetration; if the thickness is increased to 32mm, the power needs to reach 13300W (ten-thousand-watt laser), and the heat-affected zone needs to be expanded by oscillating welding.

[0051] During laser welding, grayscale images of the surfaces of two steel bars to be welded are processed. The images are then compared against a pre-defined inclined raised texture contour, and contours with the same proportions are marked. By comparing the grayscale values ​​at the steel bar's placement location with those of the corresponding steel bar, the weldable section is determined. Based on the size and number of pixel blocks, the shortest vertical distance between one end of the inclined raised texture contour and the weldable section is calculated, thus inferring the steel bar thickness at the weldable section. The laser power is then adjusted based on this thickness data. Calculation of laser power With real-time laser power If a comparison is made, If so, an adjustment signal is generated and transmitted to the execution module;

[0052] After receiving the adjustment signal, the execution module, according to... and The difference is the adjustment amount, which adjusts the real-time laser power to the calculated laser power. .

[0053] Working Principle: When using this invention, firstly, according to the welding requirements of the rebar cage, the laser power and welding time of the welding head 10, as well as the operating speed and stroke parameters of the moving mechanism and lifting mechanism, are set. The rebar cage to be welded is hoisted to the welding area between the I-beams 1, ensuring that the rebar cage is placed stably and the welding joint is exposed within the operable range of the welding head 10. Then, the drive motor 4 is started, driving the active pulley to rotate through the output end, thereby driving the pulley 12 and the drive roller 14 to rotate synchronously through the transmission belt 11, causing the drive roller 14 to roll in the grooves on both sides of the I-beam 1, pushing the moving block 2 to move laterally along the I-beam 1, thereby driving the column 3, the lifting mechanism and the welding mechanism to move as a whole. Then, the lifting motor 6 at the upper end of the column 3 is started. The output end drives the lifting screw 8 to rotate in the lifting groove, thereby driving the lifting plate 5 to move up and down along the lifting groove between the columns 3, adjusting the height of the welder 9 and the welding head 10. Then, the moving motor 16 on the welder 9 is started, driving the moving gear 15 to rotate through the output end. Since the moving gear 15 meshes with the spur rack 7 at the upper end of the lifting plate 5, the welder 9 and the welding head 10 slide longitudinally along the limiting groove, adjusting the longitudinal position of the welding device. When the welding head 10 is aligned with the welding node of the steel cage, the welder 9 is started, and the laser is emitted through the welding head 10 to weld the steel connection of the steel cage. Laser welding has the characteristics of concentrated energy, fast welding speed and small heat-affected zone, which can ensure the welding strength and the integrity of the steel cage.

[0054] 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 laser welding device for a self-compacting underground continuous wall reinforcement cage, comprising an I-beam (1) mounted on the ground, characterized in that: Each of the I-beams (1) has a sliding block (2) installed on its upper end. The sliding block (2) has a moving mechanism installed inside it. The upper end of the sliding block (2) is fixedly connected to a column (3). The columns (3) are provided with lifting grooves opposite each other. The upper end of the columns (3) is equipped with a lifting mechanism. The lifting mechanism is equipped with a welding mechanism. The control box of the welding equipment is equipped with intelligent control components, which include a data acquisition module, an analysis module, and an execution module. The data acquisition module collects thickness data of the reinforcing bars and image data of the reinforcing bar surface, and then transmits the collected data to the analysis module. The analysis module receives data from the acquisition module, analyzes image data and thickness data to obtain the steel bar thickness data affected by the steel bar surface texture, and analyzes the laser power data required for the corresponding steel bar thickness; it analyzes the image data to determine the position of the steel bar surface texture at the welding section, calculates the required laser power, compares it with the real-time laser power, and if the two are not equal, it generates an adjustment signal and transmits the adjustment signal to the execution module. After receiving the adjustment signal, the execution module records the difference between the real-time laser power and the calculated laser power as the adjustment amount, and adjusts the real-time laser power to the calculated laser power based on the adjustment amount.

2. The laser welding equipment for self-compacting underground continuous wall reinforcement cages according to claim 1, characterized in that: The analysis module performs the following steps to analyze the laser power corresponding to the rebar thickness: S1: When the laser welding position moves from the center to one side, the horizontal displacement distance... With horizontal distance Varying rebar thickness data and the radius data of the reinforcing bars. The three elements form a right triangle. When located on both sides of the outermost edge of the reinforcing bar, the thickness data of the reinforcing bar is as follows. , This refers to the thickness data of the straight protrusions on both sides of the steel bar surface; S2: Let the height of the raised section in the middle of the texture above the surface of the reinforcing bar be... , length is The slightly narrower sections on both sides are considered as straight inclined planes, and the length of the slightly narrower section on one side is... The length of the inclined plane is ,Will , and It is approximately a right triangle. and The included angle between them is Then the height between the corresponding position on the inclined plane and the bottom surface is... , It is the horizontal distance between the corresponding position on the inclined plane and the lower end of the inclined plane; S3: The angle between the inclined raised texture and the steel bar section is... Then the position moves horizontally. The corresponding displacement of the tilted raised texture Then when At that time, the height of the protrusion on the surface of the reinforcing bar is ;when At that time, the height of the protrusion on the surface of the reinforcing bar is ;when At that time, the height of the protrusion on the surface of the reinforcing bar is ; S4: During laser welding, the specific rebar thickness at the laser alignment position can be calculated based on the horizontal distance between the laser alignment position and the center of the rebar, as well as the distance between the laser alignment position and the inclined raised texture in the detection image. The relationship between laser power and steel reinforcement thickness is as follows: , To simplify the coefficients, Based on base power.

3. The laser welding equipment for self-compacting underground continuous wall reinforcement cages according to claim 2, characterized in that: The steps for analyzing the location of the reinforcing bar pattern in the analysis module are as follows: K1: During the laser welding operation, the surface image data of the two steel bars to be welded are processed in grayscale, and the grayscale images are compared according to the preset inclined raised texture contours. The contours on the grayscale images with the same contour ratio are marked. K2: By comparing the grayscale value of the rebar at its placement location with that of the rebar, the cross-section of the rebar to be welded is determined. Based on the size and number of pixel blocks, the shortest vertical distance between one end of the inclined raised texture contour and the cross-section of the rebar to be welded is calculated. From this, the thickness of the rebar at the location of the cross-section to be welded is inferred. The laser power is then adjusted based on the rebar thickness data. Calculation of laser power With real-time laser power If a comparison is made, Then, an adjustment signal is generated and transmitted to the execution module.

4. The laser welding equipment for self-compacting underground continuous wall reinforcement cages according to claim 1, characterized in that: The moving mechanism includes drive rollers (14) that are equidistantly rotatably installed inside the moving block (2). The drive rollers (14) are tightly fitted in the grooves on both sides of the I-beam (1), and each drive roller (14) is vertically upward through the moving block (2) and fixed with a pulley (12). Both ends of the moving block (2) between the pulleys (12) are rotatably installed with an active pulley.

5. The laser welding equipment for self-compacting underground continuous wall reinforcement cages according to claim 4, characterized in that: The column (3) above the active pulley is equipped with a drive motor (4) at both ends. The output end of the drive motor (4) passes through the moving block (2) and is coaxially fixed to one end of the active pulley. A transmission belt (11) is sleeved between the active pulley and the pulley (12). A limit cylinder (13) is rotatably installed above the moving block (2) on one side of the transmission belt (11).

6. The laser welding equipment for self-compacting underground continuous wall reinforcement cages according to claim 4, characterized in that: The lifting mechanism includes a lifting screw (8) that is rotated and installed in the lifting groove. A lifting motor (6) is installed at the top of the column (3) above the lifting screw (8). The output end of the lifting motor (6) passes through the column (3) and is coaxially fixed to one end of the lifting screw (8). A lifting plate (5) is horizontally connected between the two lifting screws (8) by threads.

7. The laser welding equipment for self-compacting underground continuous wall reinforcement cages according to claim 6, characterized in that: A straight rack (7) is horizontally installed on the upper end of the lifting plate (5), and a limit groove is horizontally opened on the lower end of the lifting plate (5).

8. The laser welding equipment for self-compacting underground continuous wall reinforcement cages according to claim 7, characterized in that: The welding mechanism includes a welder (9) that is slidably and equidistantly mounted on a lifting plate (5). The lower end of the welder (9) is slidably engaged in a limiting groove. A moving gear (15) that meshes with a rack (7) is installed on the inner side of the welder (9). A moving motor (16) is installed on the welder (9) at one end of the moving gear (15). The output end of the moving motor (16) passes through the welder (9) and is coaxially fixed to one end of the moving gear (15). A welding head (10) is installed at the lower end of the welder (9).

Images