A kind of section steel arch positioning and reinforcing plate feeding and welding integrated special machine

Abstract

The present application relates to the technical field of automatic positioning welding, in particular to a type steel arch positioning and reinforcing plate feeding and welding integrated special machine, comprising: a double seven-axis gantry welding special machine; a reinforcing plate automatic feeding special machine arranged on one side of the double seven-axis gantry welding special machine, used for automatically taking, distributing and feeding the reinforcing plate; a type steel arch automatic positioning mechanism arranged below the double seven-axis gantry welding special machine, used for lifting, centering and clamping positioning the type steel arch to be welded. The present application realizes the supply of reinforcing plate materials through the reinforcing plate automatic feeding special machine, realizes the lifting and positioning of the type steel arch through the type steel arch automatic positioning mechanism, and realizes the automatic positioning of the type steel arch, automatic pickup of the reinforcing plate and automatic welding of the reinforcing plate through the cooperation of various auxiliary functions, thereby realizing the highly automatic, intelligent and unmanned production mode.

Description

Technical Field

[0001] This invention relates to the field of automatic positioning and welding technology, specifically to a special machine that integrates positioning of steel arch frames and welding of reinforcing plates. Background Technology

[0002] In tunnel construction, steel arch supports play a crucial role during tunnel construction. The production of steel arches requires welding the ends of the raw steel materials, resulting in weld joints in the finished product. Considering that these joints reduce the overall load-bearing capacity of the steel arch, two reinforcing steel plates need to be welded at the joints.

[0003] Currently, there are two main methods for welding reinforcing steel plates at the joints of steel arch frames: one is manual welding, but manual welding has low production efficiency and inconsistent weld quality. The other is welding using semi-automatic welding equipment, but this method relies heavily on the operator's experience, and insufficient experience affects production efficiency. Furthermore, both methods require manual hoisting of the finished steel arch frames onto the welding fixtures, necessitating frequent adjustments to the equipment and making the operation cumbersome. Summary of the Invention

[0004] To address the aforementioned problems, this invention provides a specialized machine integrating the positioning of steel arch frames and the welding of reinforcing plates.

[0005] This invention adopts the following technical solution: a special machine integrating steel arch frame positioning and reinforcing plate loading and welding, comprising:

[0006] The gantry welding machine with dual seven axes consists of a gantry welding frame, a Y-axis moving mechanism mounted on the gantry welding frame, a dual Z-axis synchronous lifting mechanism mounted on the Y-axis moving mechanism, and a multi-axis welding execution mechanism connected below the dual Z-axis synchronous lifting mechanism.

[0007] An automatic feeding machine for reinforcing plates is installed on one side of the gantry double seven-axis welding machine and is used to automatically pick up, divide and feed reinforcing plates.

[0008] The automatic positioning mechanism for steel arch frames is located below the gantry double seven-axis welding machine and is used to lift, center, and clamp the steel arch frames to be welded.

[0009] The gantry double seven-axis welding machine works in conjunction with the automatic feeding machine for reinforcing plates and the automatic positioning mechanism for steel arch frames to achieve automatic positioning of steel arch frames, automatic feeding of reinforcing plates, automatic joint finding and automatic welding.

[0010] As a further description of the above technical solution: the gantry welding frame is an inverted concave structure, and the bottom ends of its two vertical sections are fixed to the ground by anchor bolts.

[0011] As a further description of the above technical solution: the Y-axis moving mechanism includes a Y-axis guide rail, a Y-axis rack and a moving crossbeam. The Y-axis guide rail and the Y-axis rack are respectively fixed on the gantry welding frame by bolts. The two are arranged parallel to each other along the length of the gantry welding frame, and together they form the lateral guiding and driving foundation of the moving crossbeam.

[0012] The movable crossbeam is slidably connected to the Y-axis guide rail via a slider. A Y-axis drive motor is fixedly installed on the movable crossbeam, and a Y-axis drive gear is fixedly connected to its output shaft. The Y-axis drive gear meshes with the Y-axis rack, thereby enabling the movable crossbeam to move controllably along the direction of the gantry welding frame under the drive of the Y-axis drive motor.

[0013] As a further description of the above technical solution: the dual Z-axis synchronous lifting mechanism includes two rectangular sleeves fixed to both ends of the moving crossbeam and two Z-axis bases inserted into the two rectangular sleeves. The Z-axis bases are welded with Z-axis guide rails and Z-axis racks. The rectangular sleeves are fixedly connected to the sliders that are slidably connected inside the Z-axis guide rails.

[0014] The dual Z-axis synchronous lifting mechanism also includes a Z-axis drive motor and dual Z-axis synchronous shafts. The Z-axis drive motor is fixed on the moving crossbeam. The dual Z-axis synchronous shafts are keyed to the Z-axis drive motor and have shaft hole fits, so that the rotation of the Z-axis drive motor drives the dual Z-axis synchronous shafts to rotate. The shaft end of the dual Z-axis synchronous shaft is equipped with a Z-axis gear, which meshes with the Z-axis rack to achieve synchronous lifting of the dual Z-axis synchronous shafts on both sides.

[0015] As a further description of the above technical solution: the multi-axis welding actuator includes a welding torch and a wire feeder mounted on one side wall of the end of the shaft Z base. A shaft B rotary table is rotatably connected to the other side wall of the end of the shaft Z base. A shaft B drive motor that drives the shaft B rotary table to rotate is fixed on the shaft Z base.

[0016] A shaft V base is mounted on the rotary table of shaft B. A shaft V guide rail and a shaft V lead screw are mounted on the shaft V base. A shaft V drive motor is mounted on the shaft V base and is fixedly connected to the shaft V lead screw via a coupling. A slider is slidably connected inside the shaft V guide rail. A shaft W adapter is mounted on the slider and is connected to the lead screw nut of the shaft V lead screw.

[0017] As a further description of the above technical solution: A shaft W drive motor is installed on the outer wall of the shaft W adapter, a shaft W gear is fixedly connected to the output shaft of the shaft W drive motor, a shaft W base is provided inside the shaft W adapter, a shaft W guide rail and a shaft W rack are fixed on the shaft W base, and the shaft W adapter and the slider inside the shaft W guide rail are fixedly connected, and the shaft W gear and the shaft W rack are meshed.

[0018] A shaft U adapter is mounted on the shaft W base, a shaft U base is provided on the shaft U adapter, a shaft U lead screw and a shaft U guide rail are fixed on the shaft U base, a shaft U drive motor is fixed on the shaft U base, and the output shaft of the shaft U drive motor is fixedly connected to the shaft U lead screw.

[0019] As a further description of the above technical solution: a slider is slidably connected inside the U-axis guide rail, an axis C adapter seat is mounted on the slider, an axis C rotary table is rotatably connected to the axis C adapter seat, an axis C drive motor is fixed on the axis C adapter seat, and the axis C drive motor is used to drive the axis C rotary table to rotate;

[0020] A shaft A adapter seat is mounted on the shaft C rotary table. A shaft A rotary table is rotatably connected to the shaft A adapter seat. A shaft A drive motor is mounted on the shaft A adapter seat. The shaft A drive motor is fixed on the shaft A adapter seat. The shaft A drive motor is used to drive the shaft A rotary table to rotate. The welding torch is fixed on the shaft A rotary table.

[0021] As a further description of the above technical solution: a seam-finding pushing cylinder seat is fixed on the shaft U-type adapter seat, a flange plate pushing cylinder is fixed on the lower end face of the seam-finding pushing cylinder seat, a seam-finding pushing cylinder is fixed on the side end face of the seam-finding pushing cylinder seat, and a seam-finding clamping cylinder is fixed on the movable end of the seam-finding pushing cylinder to achieve back-and-forth movement. A seam-finding clamping wheel is installed on the movable end of the seam-finding clamping cylinder, and a seam-finding sensor is fixed on the fixed end of the seam-finding clamping cylinder.

[0022] As a further description of the above technical solution: one end of the gap-finding sensor is fixed to the movable end of the gap-finding clamping cylinder. When the movable end of the gap-finding clamping cylinder moves back and forth, it drives the gap-finding clamping wheel to open and close and clamp. At the same time, the gap-finding sensor feeds back the position and outputs a signal.

[0023] A flange plate positioning sensor is fixed on the seat of the flange plate pushing cylinder. A flange plate attracting electromagnet is installed on the movable end of the flange plate pushing cylinder. One end of the flange plate positioning sensor is fixed to the flange plate attracting electromagnet. When the flange plate pushing cylinder moves back and forth, it drives the flange plate attracting electromagnet and the one end of the flange plate positioning sensor to sense the pull rope. The flange plate positioning sensor then feeds back the position and outputs a signal.

[0024] A steel arch frame positioning sensor is fixed on the slot-finding and pushing cylinder seat.

[0025] As a further description of the above technical solution: the automatic feeding machine for reinforcing plates includes a push guide rail seat and a distributing push cylinder. The push guide rail seat and the distributing push cylinder are fixed on the gantry welding frame. A distributing push rail is bolted to the push guide rail seat. A distributing cylinder seat is installed on a slider that is slidably connected inside the distributing push rail. A distributing cylinder is installed on the distributing cylinder seat. The distributing push cylinder is connected to the distributing cylinder. A feeding cylinder is installed on the distributing cylinder. A feeding electromagnet is installed at the center of the bottom end of the feeding cylinder.

[0026] As a further description of the above technical solution: the automatic feeding machine for reinforcing plates also includes a flipping frame, which is fixed to the ground by anchor bolts. A flipping cylinder is fixed on the flipping frame, and a flange plate support is fixed to one end of the flipping cylinder. An alignment cylinder is fixed to the lower surface of the flange plate support, and an alignment clamp is installed at one end of the alignment cylinder. The flange plate support is hinged to the flipping frame.

[0027] As a further description of the above technical solution: the automatic positioning mechanism of the steel arch frame includes a positioning frame base, two sets of low positioning frame supports and two sets of high positioning frame supports. The positioning frame base is fixed to the ground by anchor bolts, the two sets of low positioning frame supports are fixed on both sides of the positioning frame base, and the two sets of high positioning frame supports are fixed in the middle of the positioning frame base.

[0028] A hydraulic station system is installed on the positioning frame base. Lifting cylinders are installed on both the low positioning frame support and the high positioning frame support. A lifting pallet seat is installed at the top of the lifting cylinder. Lifting guide columns are fixed around the lower surface of the lifting pallet seat. The lifting guide columns are inserted into linear bearings fixed on the low positioning frame support and the high positioning frame support.

[0029] As a further description of the above technical solution: a lifting push guide rail is fixed on the lifting pallet seat, a slider is slidably connected inside the lifting push guide rail, and a clamping plate is installed on the slider. A clamping rack is installed on the clamping plate. A centering clamping gear is fixed on the lifting pallet seat through a shaft hole. The centering clamping gear meshes with the clamping rack. A push hydraulic cylinder is installed on the lifting pallet seat, and the movable end of the push hydraulic cylinder is connected to the clamping plate.

[0030] Beneficial effects:

[0031] This invention provides an integrated special machine for positioning steel arch frames and welding reinforcing plates. It is constructed from two sets of seven identical servo axes (axis Z, W, U, V, B, C, and A) and a horizontal moving axis (axis Y). Combined with components such as a gap-finding pushing cylinder, a gap-finding clamping cylinder, a gap-finding sensor, and a flange plate positioning sensor, it achieves fully automated welding operations for the steel arch frame, including automatic positioning, automatic picking, and automatic welding of reinforcing plates. The automatic reinforcing plate feeding machine supplies the reinforcing plate material, and the automatic positioning mechanism lifts and positions the steel arch frame. The coordination of these auxiliary functions achieves a highly automated, intelligent, and unmanned production mode for automatic positioning, automatic picking, and automatic welding of the steel arch frame and reinforcing plates, thereby improving production efficiency. Attached Figure Description

[0032] The present invention will be further explained below with reference to the accompanying drawings and embodiments:

[0033] Figure 1 This is a structural schematic diagram of a special machine for positioning and welding reinforcing plates of steel arch frame provided in Embodiment 1 of the present invention;

[0034] Figure 2 This is a schematic diagram of the dual Z-axis synchronous lifting mechanism provided in Embodiment 1 of the present invention;

[0035] Figure 3 This is a schematic diagram of the structure of the multi-axis welding actuator provided in Embodiment 1 of the present invention;

[0036] Figure 4 For the present invention Figure 3 Enlarged view of area A in the image;

[0037] Figure 5 This is a schematic diagram of the structure of the shaft C adapter provided in Embodiment 1 of the present invention;

[0038] Figure 6 This is a schematic diagram of the structure of the automatic feeding machine for reinforcing plates provided in Embodiment 2 of the present invention;

[0039] Figure 7 This is a schematic diagram of the automatic positioning mechanism for steel arch frames provided in Embodiment 3 of the present invention;

[0040] Figure 8 This is a schematic diagram of the lifting platform seat provided in Embodiment 3 of the present invention;

[0041] Figure 9 For the present invention Figure 2 Enlarged view of area B in the image;

[0042] Figure 10 For the present invention Figure 2 Enlarged view of area C in the image;

[0043] Figure 11 For the present invention Figure 2 Enlarged view of area D in the image.

[0044] Reference numerals: 1. Gantry double seven-axis welding machine; 11. Gantry welding frame; 12. Y-axis moving mechanism; 121. Y-axis guide rail; 122. Y-axis rack; 123. Moving crossbeam; 124. Y-axis drive motor; 125. Y-axis drive gear; 13. Double Z-axis synchronous lifting mechanism; 131. Rectangular sleeve; 132. Z-axis base; 133. Z-axis guide rail; 134. Z-axis rack; 135. Z-axis drive motor; 136. Double Z-axis synchronous shaft; 137. Z-axis gear; 14. Multi-axis welding actuator; 141. Welding torch; 142. Wire feeder; 143. 144. Axis B rotary table; 145. Axis B drive motor; 146. Axis V base; 147. Axis V guide rail; 148. Axis V lead screw; 151. Axis W adapter; 152. Axis W drive motor; 153. Axis W gear; 154. Axis W base; 155. Axis W guide rail; 156. Axis W rack; 161. Axis U adapter; 162. Axis U base; 163. Axis U lead screw; 164. Axis U guide rail; 165. Axis U drive motor; 171. Axis C adapter; 172. Axis C rotary table; 173. Axis C drive motor; 18 1. Axis A adapter; 182. Axis A rotary table; 183. Axis A drive motor; 191. Joint-finding push cylinder seat; 192. Flange plate push cylinder; 193. Joint-finding push cylinder; 194. Joint-finding clamping cylinder; 195. Joint-finding clamping wheel; 196. Joint-finding sensor; 197. Flange plate positioning sensor; 198. Flange plate attracting electromagnet; 199. Steel arch frame positioning sensor; 2. Automatic feeding machine for reinforcing plates; 21. Push guide rail seat; 22. Material distribution push cylinder; 23. Material distribution push guide rail; 24. Material distribution cylinder seat; 25. Material distribution cylinder; 26. 1. Feeding cylinder; 27. Feeding electromagnet; 201. Flipping frame; 202. Flipping cylinder; 203. Flange plate support; 204. Alignment cylinder; 205. Alignment clamping plate; 3. Automatic positioning mechanism for steel arch frame; 31. Positioning frame base; 32. Low positioning frame support; 33. High positioning frame support; 34. Hydraulic station system; 35. Lifting cylinder; 36. Lifting pallet seat; 37. Lifting guide column; 38. Linear bearing; 361. Lifting and pushing guide rail; 362. Clamping plate; 363. Clamping rack; 364. Centering clamping gear; 365. Pushing hydraulic cylinder. Detailed Implementation

[0045] To make the technical means, creative features, objectives, and effects of this invention readily understandable, the invention is further described below with reference to specific illustrations. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0046] Example 1

[0047] Please see Figures 1-5 , Figures 9-11 This invention provides a technical solution: a special machine integrating steel arch frame positioning and reinforcing plate loading and welding, comprising:

[0048] The gantry welding machine 1 consists of a gantry welding frame 11, a Y-axis moving mechanism 12 mounted on the gantry welding frame 11, a dual Z-axis synchronous lifting mechanism 13 mounted on the Y-axis moving mechanism 12, and a multi-axis welding execution mechanism 14 connected below the dual Z-axis synchronous lifting mechanism 13.

[0049] The gantry welding frame 11 has an inverted concave structure, and the bottom ends of its two vertical sections are fixed to the ground by anchor bolts.

[0050] The Y-axis moving mechanism 12 includes a Y-axis guide rail 121, a Y-axis rack 122, and a moving crossbeam 123. The Y-axis guide rail 121 and the Y-axis rack 122 are respectively fixed on the gantry welding frame 11 by bolts. The two are arranged parallel to each other along the length of the gantry welding frame 11 and together form the lateral guiding and driving foundation of the moving crossbeam 123.

[0051] The movable crossbeam 123 is slidably connected to the Y-axis guide rail 121 via a slider. The Y-axis drive motor 124 is fixedly mounted on the movable crossbeam 123, and the Y-axis drive gear 125 is fixedly connected to its output shaft. The Y-axis drive gear 125 meshes with the Y-axis rack 122, thereby enabling the movable crossbeam 123 to move controllably along the direction of the gantry welding frame 11 under the drive of the Y-axis drive motor 124.

[0052] The dual Z-axis synchronous lifting mechanism 13 includes two rectangular sleeves 131 fixed to both ends of the moving crossbeam 123 and two Z-axis bases 132 inserted into the two rectangular sleeves 131. Z-axis guide rails 133 and Z-axis racks 134 are welded on the Z-axis bases 132. The rectangular sleeves 131 are fixedly connected to the sliders that are slidably connected inside the Z-axis guide rails 133.

[0053] The dual Z-axis synchronous lifting mechanism 13 also includes a Z-axis drive motor 135 and a dual Z-axis synchronous shaft 136. The Z-axis drive motor 135 is fixed on the moving crossbeam 123. The dual Z-axis synchronous shaft 136 and the Z-axis drive motor 135 form a key connection and shaft hole fit, so that the rotation of the Z-axis drive motor 135 drives the dual Z-axis synchronous shaft 136 to rotate. The shaft end of the dual Z-axis synchronous shaft 136 is equipped with a Z-axis gear 137. The Z-axis gear 137 meshes with the Z-axis rack 134 to realize the synchronous lifting of the dual Z-axis synchronous shafts 136 on both sides.

[0054] The multi-axis welding actuator 14 includes a welding torch 141 and a wire feeder 142 mounted on one side wall of the end of the shaft Z base 132. A shaft B rotary table 143 is rotatably connected to the other side wall of the end of the shaft Z base 132. A shaft B drive motor 144 that drives the shaft B rotary table 143 to rotate is fixed on the shaft Z base 132.

[0055] A shaft V base 145 is mounted on a rotary table 143 of shaft B. A shaft V guide rail 146 and a shaft V lead screw 147 are mounted on the shaft V base 145. A shaft V drive motor 148 is mounted on the shaft V base 145 and is fixedly connected to the shaft V lead screw 147 through a coupling. A slider is slidably connected inside the shaft V guide rail 146. A shaft W adapter 151 is mounted on the slider and is connected to the lead nut of the shaft V lead screw 147.

[0056] A shaft W drive motor 152 is mounted on the outer wall of the shaft W adapter 151. A shaft W gear 153 is fixedly connected to the output shaft of the shaft W drive motor 152. A shaft W base 154 is provided inside the shaft W adapter 151. A shaft W guide rail 155 and a shaft W rack 156 are fixed on the shaft W base 154. The shaft W adapter 151 is fixedly connected to the slider inside the shaft W guide rail 155. The shaft W gear 153 and the shaft W rack 156 are meshed together.

[0057] A shaft U adapter 161 is mounted on the shaft W base 154. A shaft U base 162 is provided on the shaft U adapter 161. A shaft U lead screw 163 and a shaft U guide rail 164 are fixed on the shaft U base 162. A shaft U drive motor 165 is fixed on the shaft U base 162. The output shaft of the shaft U drive motor 165 is fixedly connected to the shaft U lead screw 163.

[0058] A slider is slidably connected inside the U-axis guide rail 164. An axis C adapter 171 is mounted on the slider. An axis C rotary table 172 is rotatably connected to the axis C adapter 171. An axis C drive motor 173 is fixed on the axis C adapter 171. The axis C drive motor 173 is used to drive the axis C rotary table 172 to rotate.

[0059] A shaft A adapter 181 is mounted on the shaft C rotary table 172. A shaft A rotary table 182 is rotatably connected to the shaft A adapter 181. A shaft A drive motor 183 is mounted on the shaft A adapter 181. The shaft A drive motor 183 is fixed on the shaft A adapter 181 and is used to drive the shaft A rotary table 182 to rotate. The welding torch 141 is fixed on the shaft A rotary table 182.

[0060] A seam-finding push cylinder seat 191 is fixed on the shaft U-type adapter 161. A flange plate push cylinder 192 is fixed on the lower end face of the seam-finding push cylinder seat 191. A seam-finding push cylinder 193 is fixed on the side end face of the seam-finding push cylinder seat 191. A seam-finding clamping cylinder 194 is fixed on the movable end of the seam-finding push cylinder 193 to achieve back-and-forth movement. A seam-finding clamping wheel 195 is installed on the movable end of the seam-finding clamping cylinder 194. A seam-finding sensor 196 is fixed on the fixed end of the seam-finding clamping cylinder 194.

[0061] Among them, one end of the gap-finding sensor 196 is fixed to the movable end of the gap-finding clamping cylinder 194. When the movable end of the gap-finding clamping cylinder 194 moves back and forth, it drives the gap-finding clamping wheel 195 to open and close the clamping action. At the same time, the gap-finding sensor 196 provides feedback on the position and outputs a signal.

[0062] A flange plate positioning sensor 197 is fixed on the flange plate pushing cylinder seat 191. A flange plate attracting electromagnet 198 is installed on the movable end of the flange plate pushing cylinder 192. One end of the flange plate positioning sensor 197 is fixed to the flange plate attracting electromagnet 198. When the flange plate pushing cylinder 192 moves back and forth, it drives the flange plate attracting electromagnet 198 and one end of the flange plate positioning sensor 197 to pull the sensing rope. The flange plate positioning sensor 197 provides feedback on the position and outputs a signal.

[0063] A steel arch frame positioning sensor 199 is fixed on the cylinder seat 191 for seam searching and pushing.

[0064] In this embodiment, the Y-axis drive motor 124 in the gantry double seven-axis welding machine 1 is controlled by the control system to drive the Y-axis drive gear 125 to rotate. The Y-axis drive gear 125 meshes with the Y-axis rack 122, driving the moving crossbeam 123 to move above the reinforcing plate automatic feeding machine 2.

[0065] The control axis Z drive motor 135 drives the dual Z axis synchronous shaft 136 to rotate, which in turn drives the axis Z gear 137 to rotate and mesh with the axis Z rack 134, causing the axis Z base 132 to move downward. When it moves to the specified position calculated by the system, the flange plate attracting electromagnet 198 is driven by the flange plate pushing cylinder 192 to grab the reinforcing plate.

[0066] The gantry double seven-axis welding special machine 1 is driven by the system control of the drive motors of each axis, and controls the movement of the steel arch frame positioning sensor 199. When it contacts the steel arch frame, it feeds back a position signal. The system calculates the position of the steel arch frame based on the position signal, and controls the movement of each axis based on this data.

[0067] At this point, the position is such that the seam-finding clamping wheel 195 is at the center of the upper flange plate of the steel arch frame. The seam-finding pushing cylinder 193 and the seam-finding clamping cylinder 194 are activated in sequence, causing the seam-finding clamping wheel 195 to clamp the flange plate. Then, the axes of the gantry double seven-axis welding machine 1 are controlled to move, driving the seam-finding clamping wheel 195 to roll along the arc direction from one side of the steel arch frame. When it passes the weld seam, the seam-finding sensor 196 feeds back the detection signal to the terminal. The terminal starts the Z-axis drive motor 135, the B-axis drive motor 144, the W-axis drive motor 152 and the flange plate pushing cylinder 192 to fasten the reinforcing plate to the center of the weld seam of the steel arch frame. Then, the terminal controls the V-axis drive motor 148 to start, the A-axis drive motor 183, the C-axis drive motor 173 and the U-axis drive motor 165 to start and control the welding torch 141 to weld the reinforcing plate. Both sides are welded simultaneously, realizing the fully automatic operation of the gantry double seven-axis welding machine 1.

[0068] Example 2

[0069] Please see Figure 1 , Figure 6 Based on the above embodiments, this embodiment further discloses the specific structural composition and working method of the automatic feeding machine 2 for reinforcing plates.

[0070] The automatic feeding machine for reinforced plates 2 is fixed to the ground by anchor bolts;

[0071] The automatic feeding machine 2 for reinforcing plates includes a push guide rail seat 21 and a material dispensing push cylinder 22. The push guide rail seat 21 and the material dispensing push cylinder 22 are fixed on the gantry welding frame 11. A material dispensing push rail 23 is bolted to the push guide rail seat 21. A material dispensing cylinder seat 24 is installed on the slider that is slidably connected inside the material dispensing push rail 23. A material dispensing cylinder 25 is installed on the material dispensing cylinder seat 24. The material dispensing push cylinder 22 is connected to the material dispensing cylinder 25. A feeding cylinder 26 is installed on the material dispensing cylinder 25. A feeding electromagnet 27 is installed at the center of the bottom end of the feeding cylinder 26.

[0072] The automatic feeding machine 2 for reinforced plates also includes a flip-plate frame 201, which is fixed to the ground by anchor bolts. A flip-plate cylinder 202 is fixed on the flip-plate frame 201. A flange plate support plate 203 is fixed to one end of the flip-plate cylinder 202. An alignment cylinder 204 is fixed to the lower surface of the flange plate support plate 203. An alignment clamping plate 205 is installed at one end of the alignment cylinder 204. The flange plate support plate 203 is hinged to the flip-plate frame 201.

[0073] In this embodiment, firstly, the specifications and dimensions of the steel arch frame to be welded are selected within the system. The system program is then started by pressing a button, and the automatic feeding machine 2 for the reinforcing plate is activated. The feeding cylinder 26 drives the feeding electromagnet 27 to extend downwards and grab the reinforcing plate. The distributing and pushing cylinder 22 pushes the distributing cylinder seat 24, which in turn drives the distributing cylinder 25 forward. When it reaches one end limit, the distributing cylinder 25 moves left and right, driving the feeding cylinder 26 and the feeding electromagnet 27, which in turn drives the reinforcing plate to move left and right. This process is repeated to place the reinforcing plate on the flange plate support plates 203 on both sides.

[0074] Among them, the alignment cylinder 204 on the flange plate support 203 drives the alignment clamp 205 to complete the clamping and centering of the reinforcing plate, and the flange plate support 203 is lifted and flipped by the flipping cylinder 202 to wait for the flange plate attraction electromagnet 198 on the gantry double seven-axis welding machine 1 to pick up the material.

[0075] Example 3

[0076] Please see Figure 1 , Figures 7-8 Based on the above embodiments, this embodiment further discloses the specific structural composition and working method of the automatic positioning mechanism 3 for steel arch frames;

[0077] The automatic positioning mechanism 3 for steel arch frames is fixed to the ground by anchor bolts;

[0078] The automatic positioning mechanism 3 for steel arch frames includes a positioning frame base 31, two sets of low positioning frame supports 32 and two sets of high positioning frame supports 33. The positioning frame base 31 is fixed to the ground by anchor bolts. The two sets of low positioning frame supports 32 are fixed on both sides of the positioning frame base 31, and the two sets of high positioning frame supports 33 are fixed in the middle of the positioning frame base 31.

[0079] A hydraulic station system 34 is installed on the positioning frame base 31. Lifting cylinders 35 are installed on both the low positioning frame support 32 and the high positioning frame support 33. A lifting pallet seat 36 is installed on the top of the lifting cylinder 35. Lifting guide columns 37 are fixed around the lower surface of the lifting pallet seat 36. The lifting guide columns 37 are inserted into the linear bearings 38 fixed on the low positioning frame support 32 and the high positioning frame support 33.

[0080] A lifting pallet seat 36 is fixed with a lifting push guide rail 361. A slider is slidably connected inside the lifting push guide rail 361, and a clamping plate 362 is installed on the slider. A clamping rack 363 is installed on the clamping plate 362. A centering clamping gear 364 is fixed on the lifting pallet seat 36 through a shaft hole. The centering clamping gear 364 is meshed with the clamping rack 363. A push hydraulic cylinder 365 is installed on the lifting pallet seat 36, and the movable end of the push hydraulic cylinder 365 is connected to the clamping plate 362.

[0081] In this embodiment, when the steel arch frame of the reinforcing plate to be welded moves above the automatic positioning mechanism 3 of the steel arch frame, the lifting cylinder 35 in the automatic positioning mechanism 3 of the steel arch frame receives a signal, the lifting cylinder 35 drives the lifting support plate seat 36 to lift, and at the same time lifts the steel arch frame, the hydraulic station system 34 is started to provide hydraulic power source, push the hydraulic cylinder 365 to drive the single-sided clamping rack 363 to move, thereby driving the centering clamping gear 364 to rotate, realizing the bidirectional clamping rack 363 to move towards each other, and then driving the clamping plate 362 to move towards each other to realize the centering and clamping of the steel arch frame material, waiting for the gantry double seven-axis welding machine 1 to weld.

[0082] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A special machine integrating positioning of steel arch frames and welding of reinforcing plates, characterized in that, include: The gantry double seven-axis welding special machine (1) consists of a gantry welding frame (11), a Y-axis moving mechanism (12) set on the gantry welding frame (11), a double Z-axis synchronous lifting mechanism (13) set on the Y-axis moving mechanism (12), and a multi-axis welding execution mechanism (14) connected below the double Z-axis synchronous lifting mechanism (13); The automatic feeding machine for reinforcing plates (2) is set on one side of the gantry double seven-axis welding machine (1) and is used to automatically pick up, divide and feed the reinforcing plates; The automatic positioning mechanism (3) for steel arch frame is located below the gantry double seven-axis welding machine (1) and is used to lift, center and clamp the steel arch frame to be welded. Among them, the gantry double seven-axis welding machine (1), the automatic feeding machine for reinforcing plates (2), and the automatic positioning mechanism for steel arch frame (3) work together to realize the automatic positioning of steel arch frame, automatic feeding of reinforcing plates, automatic seam finding and automatic welding; The multi-axis welding actuator (14) includes a welding torch (141) and a wire feeder (142) mounted on one side wall of the end of the shaft Z base (132). A shaft B rotary table (143) is rotatably connected to the other side wall of the end of the shaft Z base (132). A shaft B drive motor (144) that drives the shaft B rotary table (143) to rotate is fixed on the shaft Z base (132). A shaft V base (145) is installed on the shaft B rotary table (143). A shaft V guide rail (146) and a shaft V lead screw (147) are installed on the shaft V base (145). A shaft V drive motor (148) is installed on the shaft V base (145), and the shaft V drive motor (148) is fixedly connected to the shaft V lead screw (147) through a coupling. A slider is slidably connected inside the shaft V guide rail (146). A shaft W adapter seat (151) is installed on the slider. The shaft W adapter seat (151) is connected to the lead screw nut of the shaft V lead screw (147). A shaft W drive motor (152) is installed on the outer wall of the shaft W adapter (151). A shaft W gear (153) is fixedly connected to the output shaft of the shaft W drive motor (152). A shaft W base (154) is provided inside the shaft W adapter (151). A shaft W guide rail (155) and a shaft W rack (156) are fixed on the shaft W base (154). The shaft W adapter (151) is fixedly connected to the slider inside the shaft W guide rail (155). The shaft W gear (153) and the shaft W rack (156) are meshed together. A shaft U adapter (161) is installed on the shaft W base (154), a shaft U base (162) is provided on the shaft U adapter (161), a shaft U lead screw (163) and a shaft U guide rail (164) are fixed on the shaft U base (162), a shaft U drive motor (165) is fixed on the shaft U base (162), and the output shaft of the shaft U drive motor (165) is fixedly connected to the shaft U lead screw (163). A slider is slidably connected inside the U-axis guide rail (164), and a C-axis adapter (171) is mounted on the slider. A C-axis rotary table (172) is rotatably connected to the C-axis adapter (171), and a C-axis drive motor (173) is fixed on the C-axis adapter (171). The C-axis drive motor (173) is used to drive the C-axis rotary table (172) to rotate. A shaft A adapter (181) is mounted on the shaft C rotary table (172), and a shaft A rotary table (182) is rotatably connected to the shaft A adapter (181). A shaft A drive motor (183) is mounted on the shaft A adapter (181), and the shaft A drive motor (183) is fixed on the shaft A adapter (181). The shaft A drive motor (183) is used to drive the shaft A rotary table (182) to rotate. The welding torch (141) is fixed on the shaft A rotary table (182). A seam-finding push cylinder seat (191) is fixed on the shaft U-type adapter (161). A flange plate push cylinder (192) is fixed on the lower end face of the seam-finding push cylinder seat (191). A seam-finding push cylinder (193) is fixed on the side end face of the seam-finding push cylinder seat (191). A seam-finding clamping cylinder (194) is fixed on the movable end of the seam-finding push cylinder (193) to achieve forward and backward movement. A seam-finding clamping wheel (195) is installed on the movable end of the seam-finding clamping cylinder (194). A seam-finding sensor (196) is fixed on the fixed end of the seam-finding clamping cylinder (194). One end of the gap-finding sensor (196) is fixed to the movable end of the gap-finding clamping cylinder (194). When the movable end of the gap-finding clamping cylinder (194) moves back and forth, it drives the gap-finding clamping wheel (195) to open and close and clamp. At the same time, the gap-finding sensor (196) provides feedback on the position and outputs a signal. A flange plate positioning sensor (197) is fixed on the seat (191) of the flange plate pushing cylinder. A flange plate attracting electromagnet (198) is installed on the movable end of the flange plate pushing cylinder (192). One end of the flange plate positioning sensor (197) is fixed to the flange plate attracting electromagnet (198). When the flange plate pushing cylinder (192) moves back and forth, it drives the flange plate attracting electromagnet (198) and one end of the flange plate positioning sensor (197) to pull the rope. The flange plate positioning sensor (197) provides feedback on the position and outputs a signal. A steel arch frame positioning sensor (199) is fixed on the groove-finding push cylinder seat (191).

2. The integrated special machine for positioning and welding reinforcing plates of steel arch frames according to claim 1, characterized in that, The gantry welding frame (11) is an inverted concave structure, and the bottom ends of its two vertical sections are fixed to the ground by anchor bolts.

3. The integrated special machine for positioning and welding reinforcing plates of steel arch frames according to claim 1, characterized in that, The Y-axis moving mechanism (12) includes a Y-axis guide rail (121), a Y-axis rack (122), and a moving crossbeam (123). The Y-axis guide rail (121) and the Y-axis rack (122) are respectively fixed on the gantry welding frame (11) by bolts. The two are arranged parallel to each other along the length of the gantry welding frame (11) and together form the lateral guiding and driving foundation of the moving crossbeam (123). The movable crossbeam (123) is slidably connected to the Y-axis guide rail (121) via a slider. A Y-axis drive motor (124) is fixedly installed on the movable crossbeam (123), and a Y-axis drive gear (125) is fixedly connected to its output shaft. The Y-axis drive gear (125) meshes with the Y-axis rack (122), thereby enabling the movable crossbeam (123) to move controllably along the direction of the gantry welding frame (11) under the drive of the Y-axis drive motor (124).

4. The integrated special machine for positioning and welding reinforcing plates of steel arch frames according to claim 3, characterized in that, The dual Z-axis synchronous lifting mechanism (13) includes two rectangular sleeves (131) fixed to both ends of the moving crossbeam (123) and two Z-axis bases (132) inserted into the two rectangular sleeves (131). The Z-axis bases (132) are welded with Z-axis guide rails (133) and Z-axis racks (134). The rectangular sleeves (131) are fixedly connected to the sliders that are slidably connected inside the Z-axis guide rails (133). The dual Z-axis synchronous lifting mechanism (13) further includes a Z-axis drive motor (135) and a dual Z-axis synchronous shaft (136). The Z-axis drive motor (135) is fixed on the moving crossbeam (123). The dual Z-axis synchronous shaft (136) and the Z-axis drive motor (135) form a key connection and shaft hole fit, so that the rotation of the Z-axis drive motor (135) drives the dual Z-axis synchronous shaft (136) to rotate. The shaft end of the dual Z-axis synchronous shaft (136) is equipped with a Z-axis gear (137). The Z-axis gear (137) meshes with the Z-axis rack (134) to realize the synchronous lifting of the dual Z-axis synchronous shafts (136) on both sides.

5. The integrated special machine for positioning and welding reinforcing plates of steel arch frames according to claim 1, characterized in that, The automatic feeding machine (2) for reinforcing plates includes a push guide rail seat (21) and a material dispensing push cylinder (22). The push guide rail seat (21) and the material dispensing push cylinder (22) are fixed on the gantry welding frame (11). A material dispensing push rail (23) is bolted to the push guide rail seat (21). A material dispensing cylinder seat (24) is installed on the slider that is slidably connected inside the material dispensing push rail (23). A material dispensing cylinder (25) is installed on the material dispensing cylinder seat (24). The material dispensing push cylinder (22) is connected to the material dispensing cylinder (25). A feeding cylinder (26) is installed on the material dispensing cylinder (25). A feeding electromagnet (27) is installed at the center of the bottom end of the feeding cylinder (26).

6. The integrated special machine for positioning and welding reinforcing plates of steel arch frames according to claim 5, characterized in that, The automatic feeding machine (2) for reinforcing plates also includes a flip-plate frame (201). The flip-plate frame (201) is fixed to the ground by anchor bolts. A flip-plate cylinder (202) is fixed on the flip-plate frame (201). A flange plate support plate (203) is fixed at one end of the flip-plate cylinder (202). An alignment cylinder (204) is fixed on the lower surface of the flange plate support plate (203). An alignment clamp plate (205) is installed at one end of the alignment cylinder (204). The flange plate support plate (203) is hinged to the flip-plate frame (201).

7. The integrated special machine for positioning and welding reinforcing plates of steel arch frames according to claim 1, characterized in that, The automatic positioning mechanism (3) of the steel arch frame includes a positioning frame base (31), two sets of low positioning frame supports (32) and two sets of high positioning frame supports (33). The positioning frame base (31) is fixed to the ground by anchor bolts. The two sets of low positioning frame supports (32) are fixed on both sides of the positioning frame base (31), and the two sets of high positioning frame supports (33) are fixed in the middle of the positioning frame base (31). A hydraulic station system (34) is installed on the positioning frame base (31). Lifting cylinders (35) are installed on both the low positioning frame support (32) and the high positioning frame support (33). A lifting pallet seat (36) is installed on the top of the lifting cylinder (35). Lifting guide columns (37) are fixed around the lower surface of the lifting pallet seat (36). The lifting guide columns (37) are inserted into linear bearings (38) fixed on the low positioning frame support (32) and the high positioning frame support (33).

8. The integrated special machine for positioning and welding reinforcing plates of steel arch frames according to claim 7, characterized in that, A lifting push guide rail (361) is fixed on the lifting pallet seat (36). A slider is slidably connected inside the lifting push guide rail (361), and a clamping plate (362) is installed on the slider. A clamping rack (363) is installed on the clamping plate (362). A centering clamping gear (364) is fixed on the lifting pallet seat (36) through a shaft hole. The centering clamping gear (364) meshes with the clamping rack (363). A push hydraulic cylinder (365) is installed on the lifting pallet seat (36). The movable end of the push hydraulic cylinder (365) is connected to the clamping plate (362).

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