A ground rail mobile inner and outer cooperative support truss welding device

Abstract

The application relates to the technical field of railway engineering equipment manufacturing, and discloses a ground rail mobile internal-external cooperative support truss welding device, which comprises a ground rail, a gantry frame fixedly connected to the moving end of the ground rail, and a workbench arranged at the center of the gantry frame; the gantry frame is driven by the ground rail to reciprocatingly move along the track of the workbench; a pre-clamping mechanism is arranged on the workbench and used for clamping and fixing each component of the truss to form a welding state; an internal support unit is arranged on the lower cross arm of the gantry frame and located in the interior of the truss in the welding state, and is used for providing internal support for the welding position of the truss; and an external support unit is arranged on the upper cross arm of the gantry frame. The double-end swing arm structure designed on the internal support unit and the external support unit not only utilizes the high-precision advantage of the touch sensor, but also completely avoids the damage risk of the electronic components caused by high-temperature splashing, and further reserves an unobstructed optimal welding channel for the welding torch.

Description

Technical Field

[0001] This invention relates to the field of railway engineering equipment manufacturing technology, specifically to a ground-rail mobile internal and external collaborative support truss welding equipment. Background Technology

[0002] As a key load-bearing component in the turnout area of ​​high-speed railways, the internal steel truss structure of ballastless track sleepers directly determines the overall strength and fatigue life of the sleepers. This truss is typically welded together from triangularly distributed chords and continuously bent, wavy web reinforcement. Due to the varying lengths and specifications of the sleepers, the manufacturing process of the truss places extremely stringent requirements on welding precision, joint strength, and overall straightness. In current production practice, with the advancement of railway construction standardization, traditional bulk assembly and manual welding methods are no longer sufficient to meet the dual demands of production capacity and quality. Automated welding equipment is gradually becoming an inevitable trend in the industry.

[0003] However, in existing automated welding technology systems, there are still many unresolved technical bottlenecks in the assembly and welding of such slender, irregularly shaped trusses. Firstly, the steel reinforcement itself has certain manufacturing tolerances and irregular threaded ribs on its surface, posing a significant challenge to traditional visual recognition systems when locating weld seams. Optical cameras or laser sensors are highly susceptible to interference from intense welding arc light, fumes, and molten slag spatter, leading to increased image noise, feature extraction failures, and consequently, welding torch trajectory deviations, resulting in quality defects such as weld misalignment, incomplete welds, or undercut.

[0004] Secondly, existing external clamps mostly employ a simple opposing compression method, which is insufficient to effectively support the narrow triangular spaces within the truss. This external enveloping clamping often fails to eliminate assembly gaps within the reinforcing bars, resulting in incomplete connections between the web members and chord members during welding. Furthermore, if the clamp structure is designed to be too large to ensure rigidity, it often encroaches on the operating space of the welding torch, preventing automated equipment from covering all welding dead zones and requiring manual welding for additional work, thus reducing the overall level of automation.

[0005] Furthermore, because the truss is a flexible structure with a large aspect ratio, it is prone to downward deflection or lateral torsional swaying due to its own weight during long-distance transport along the production line. Existing fixed welding stations typically lack a full-stroke follow-up support mechanism, causing slight changes in the spatial posture of the truss as it moves to different welding nodes. This positional uncertainty forces the welding robot to frequently perform large-scale positioning and correction, significantly reducing the production cycle time. Simultaneously, the lack of effective process constraints prevents the release of welding thermal stress, making the finished truss prone to exceeding straightness standards after welding, increasing the cost of subsequent straightening processes. Summary of the Invention

[0006] To address the shortcomings of existing technologies, this invention provides a ground-rail-mounted, internally and externally coordinated support truss welding equipment. This solves the problem of visual recognition system positioning failure in existing automated welding equipment when faced with strong arc light and dense smoke interference. Furthermore, this invention also solves the problems of conventional external clamping mechanisms being unable to penetrate the narrow triangular nested interior of ballastless turnout sleeper trusses for effective support, failing to eliminate assembly gaps between web reinforcement and chord members, and causing gravitational deflection and lateral swaying of large aspect ratio flexible trusses during mobile production due to the lack of full-stroke follow-up constraints, which severely affects the overlap of welded joints and the straightness of finished products.

[0007] To achieve the above objectives, the present invention provides the following technical solution: a ground-rail mobile internal and external collaborative support truss welding equipment, comprising a ground rail, a gantry frame fixedly connected to the moving end of the ground rail, a worktable disposed at the center of the gantry frame, the gantry frame being driven by the ground rail to reciprocate along the worktable track, a pre-clamping mechanism disposed on the worktable for clamping and fixing the various components of the truss to form a state to be welded, an internal support unit disposed on the lower crossarm of the gantry frame, which is located inside the truss in the state to be welded, for providing internal support for the welded part of the truss, and the upper arm of the gantry frame... An external support unit is provided on the cross arm, which extends to both sides of the upper part of the truss to be welded, and is used to provide external support for the welding part of the truss. Welding equipment is also provided on the lower and upper cross arms of the gantry frame. A welding point positioning component one is provided on the inner support unit, which is used to obtain the coordinates of the welding point between the web reinforcement and the lower chord reinforcement in the truss. A welding point positioning component two is provided on the outer support unit, which is used to obtain the coordinates of the welding point between the web reinforcement and the upper chord reinforcement in the truss. The control unit controls the welding equipment to perform welding operations on the truss according to the coordinates of the welding points of the two components.

[0008] Preferably, the pre-clamping mechanism includes two three-point clamping parts symmetrically arranged at both ends of the upper surface of the workbench. Each three-point clamping part includes an end bracket. The bottom of the end bracket is fixedly connected to the upper surface of the workbench. A pipe clamp is fixedly connected to the top of the end bracket for clamping and fixing the end of the upper chord steel bar. Two pipe clamps are symmetrically arranged below the pipe clamp. The bottom wall of the pipe clamp is fixedly connected to the upper surface of the workbench, and the pipe clamp is used to clamp and fix the end of the lower chord steel bar.

[0009] Preferably, the pre-clamping mechanism further includes two symmetrically arranged inclined clamping parts. Each inclined clamping part includes a rotating shaft, the two ends of which are rotatably connected to two side frames. The side frames are fixedly connected to the end brackets. An inclined side bracket is sleeved and fixedly connected to the shaft body of the rotating shaft. A through channel is opened in the inclined side bracket, and the web reinforcement is inserted in the channel. A motor is fixedly connected to the outer wall of one of the side frames. The output end of the motor is fixedly connected to one end of the rotating shaft. The inclined side bracket is driven to rotate by the motor, so that the bottom of the web reinforcement abuts against the inner side of the lower chord reinforcement and the top of the web reinforcement abuts against the outer side of the upper chord reinforcement, forming multiple welding points.

[0010] Preferably, the inner support unit includes two sliding bases symmetrically and fixedly connected to the upper surface of the lower crossarm of the gantry frame. A slider is slidably connected to the top of the sliding base, and a cylinder is fixedly connected to the top wall of the sliding base. The output end of the cylinder is fixedly connected to the side wall of the slider, and the slider is driven to move on the sliding base by the cylinder. A baffle is rotatably connected to the end of the slider facing the web reinforcement. An electric push rod is fixedly connected to the top of the sliding base. The output end of the electric push rod is rotatably connected to the upper part of the baffle. A support plate is fixedly connected to the upper part of the baffle facing the web reinforcement, and a welding point positioning component is fixedly connected to the lower part of the baffle facing the web reinforcement.

[0011] Preferably, the welding point positioning component includes a positioning seat, the outer wall of which is fixedly connected to the outer wall of the baffle. The positioning seat has a plurality of sliding holes in a rectangular array on the side facing the lower chord steel bar. A signal transmitting unit is embedded in the positioning seat. A slot-type trigger unit is provided in the sliding hole. The signal output terminal of the slot-type trigger unit is electrically connected to a signal input terminal of the signal transmitting unit. The signal transmitting terminal of the signal transmitting unit is communicatively connected to the control unit. A pin is also slidably connected in the sliding hole. The sliding hole and the pin are connected by a spring. When the pin retracts into the sliding hole after contacting the web steel bar, the tail of the pin inserts into the slot-type trigger unit, and the two contacts of the slot-type trigger unit are connected, thereby generating an electrical signal at the corresponding coordinate.

[0012] Preferably, the inner support unit further includes a top column, the bottom end of which is fixedly connected to the upper surface of the lower cross arm of the gantry frame, and a roller is rotatably connected to the top of the top column, the outer wall of which abuts against the lower surface of the upper chord steel bar.

[0013] Preferably, the external support unit includes a second cylinder. The base of the second cylinder is fixedly connected to the middle of the upper cross arm of the gantry frame. An inverted V-shaped bracket is fixedly connected to the output end of the second cylinder. A baffle second is rotatably connected to the bottom end of each forked arm of the inverted V-shaped bracket, and an electric push rod second is fixedly connected to each of them. The output end of the electric push rod second is rotatably connected to the upper part of the baffle second. A support plate second is fixedly connected to the lower part of the baffle second facing the upper chord steel bar. The upper part of the baffle second facing the upper chord steel bar is fixedly connected to the welding point positioning component second.

[0014] Preferably, the welding point positioning component two includes a positioning seat two, the outer wall of the positioning seat two is fixedly connected to the outer wall of the baffle two, the positioning seat two has a plurality of sliding holes two in a rectangular array on the side facing the upper chord steel bar, a signal transmitting unit two is embedded in the positioning seat two, a slot-type trigger unit two is provided in the sliding hole two, the signal output end of the slot-type trigger unit two is electrically connected to one signal input end of the signal transmitting unit two, the signal transmitting end of the signal transmitting unit two is communicatively connected to the control unit, a pin two is also slidably connected in the sliding hole two, the sliding hole two and the pin two are connected by a spring two, when the pin two retracts into the sliding hole two after contacting the web steel bar, the tail of the pin two is inserted into the slot-type trigger unit two, and the two contacts of the slot-type trigger unit two are connected, thus generating an electrical signal at the corresponding coordinate.

[0015] Preferably, support rods are fixedly connected to the columns on both sides of the gantry frame, and a second roller is rotatably connected to the end of the support rod facing the lower chord steel bar, with the outer wall of the second roller abutting against the outer surface of the lower chord steel bar.

[0016] This invention provides a ground-rail-mounted, internally and externally coordinated support truss welding device. It has the following advantages:

[0017] 1. This invention utilizes a double-headed swing arm structure designed on both the inner and outer support units. During the detection phase, the device pushes the weld point positioning component to the foremost position to obtain precise coordinates. During the welding phase, reverse drive rapidly flips the sensor and retracts it to a safe area, while simultaneously coordinating with the support plate at the other end to forcefully cut and clamp the workpiece. This time-division multiplexing spatial conversion strategy leverages the high precision of the tactile sensor while completely avoiding the risk of damage to electronic components from high-temperature spatter, and provides an unobstructed optimal welding channel for the welding torch. Simultaneously, a high-density mechanical pin array and slot-type trigger unit directly scan the physical topology of the rebar joint. This sensing method is independent of lighting conditions, accurately capturing the actual joint contours of the web members and chord members through smoke and dust, effectively filtering out optical noise caused by rust or oil on the rebar surface, and significantly improving the robustness and reliability of welding coordinate calculation under harsh working conditions.

[0018] 2. This invention, through the rotational action of the inclined side support in the pre-clamping mechanism, can forcibly straighten loose web reinforcement bars into a self-locking state, replacing the traditional manual binding or pre-positioning process. Simultaneously, the inner support unit can penetrate deep into the narrow triangular cavity to push outwards, while the outer support unit crosses the top and presses inwards. These opposing, mutually referential clamping forces form a rigid mechanical closed loop, not only completely eliminating assembly gaps during reinforcement assembly but also effectively suppressing node distortion caused by welding thermal stress, ensuring extremely high geometric accuracy of the formed truss. Attached Figure Description

[0019] Figure 1 This is a perspective view of the present invention;

[0020] Figure 2 This is a schematic diagram of the inclined side support in this invention;

[0021] Figure 3 This is a schematic diagram of the internal support unit in this invention;

[0022] Figure 4 for Figure 3 Enlarged view of point A in the middle;

[0023] Figure 5 for Figure 3 Enlarged view at point B in the middle;

[0024] Figure 6 This is a schematic diagram of the structure of the welding point positioning component one in this invention;

[0025] Figure 7 for Figure 6 Enlarged view at point C;

[0026] Figure 8 This is a schematic diagram of the structure of the second welding point positioning component in this invention;

[0027] Figure 9 for Figure 8 Enlarged view of point D in the middle.

[0028] The components are as follows: 1. Ground rail; 2. Gantry frame; 3. Workbench; 4. End support; 5. Pipe clamp one; 6. Pipe clamp two; 7. Rotating shaft; 8. Slanted side support; 9. Motor; 10. Sliding base; 11. Slider; 12. Cylinder one; 13. Baffle one; 14. Electric push rod one; 15. Support plate one; 16. Positioning seat one; 1601. Sliding hole one; 17. Slot-type trigger unit one; 18. Ejector pin one; 19. Spring one; 20. Top column; 21. Roller one; 22. Cylinder two; 23. Inverted V-shaped support; 24. Baffle two; 25. Electric push rod two; 26. Support plate two; 27. Positioning seat two; 2701. Sliding hole two; 28. Slot-type trigger unit two; 29. ​​Ejector pin two; 30. Spring two; 31. Support rod; 32. Roller two. Detailed Implementation

[0029] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0030] Please see the appendix Figure 1 -Appendix Figure 9 This invention provides a ground-rail-mounted mobile truss welding equipment with internal and external collaborative support. Its design aims to solve the technological challenges of difficult internal node positioning and external welding interference in irregular triangular truss structures. It includes a ground rail 1, with a gantry frame 2 fixedly connected to its movable end. A worktable 3 is located at the center of the gantry frame 2. The ground rail 1 drives the gantry frame 2 to reciprocate along the trajectory of the worktable 3. A pre-clamping mechanism is provided on the worktable 3 to clamp and fix the various truss components to form a welding state. An internal support unit is provided on the lower crossarm of the gantry frame 2, located inside the truss in the welding state, to provide internal support for the welding area. An external support unit is provided on the upper crossarm of the gantry frame 2, extending to the welding area. On both sides of the upper part of the truss in the welding state, external support is provided for the welding points of the truss. Welding equipment is also installed on the lower and upper cross arms of the gantry frame 2. The inner support unit is equipped with a welding point positioning component one, which is used to obtain the coordinates of the welding points between the web reinforcement and the lower chord reinforcement in the truss. The outer support unit is equipped with a welding point positioning component two, which is used to obtain the coordinates of the welding points between the web reinforcement and the upper chord reinforcement in the truss. The control unit controls the welding equipment to perform welding operations on the truss according to the coordinates of the welding points of the two components.

[0031] The ground rail 1 forms the longitudinal working reference (defined as the X-axis direction) for the entire equipment. A gantry frame 2 is fixedly connected to the moving end of the ground rail 1. The gantry frame 2, in an inverted U-shape, spans above the ground rail 1. A drive mechanism is installed within the ground rail 1, which drives the gantry frame 2 to move in a high-precision reciprocating linear motion along the extension direction of the ground rail 1. This movement method enables dynamic switching of welding workstations, allowing the equipment to cover all welding nodes within the entire truss length. At the center of the internal space spanned by the gantry frame 2, a worktable 3 is fixedly installed parallel to the ground rail 1. The worktable 3 serves as a load-bearing platform for truss assembly and welding, and its length is adapted to the full length of the truss to be processed. The upper surface of the worktable 3 integrates a pre-clamping mechanism. This mechanism not only provides initial support for the loading of the various steel reinforcement components of the truss, but more importantly, it uses mechanical limiting to organize the scattered steel reinforcement materials (including upper chord reinforcement, lower chord reinforcement, and web reinforcement) into a standard triangular structure to be welded.

[0032] To achieve precise welding of special structural trusses, the gantry frame 2 integrates a layered operation execution unit. The gantry frame 2 includes a lower crossarm and an upper crossarm, which maintain a predetermined distance in the vertical direction (Z-axis direction). The lower crossarm is positioned at the internal spatial height level of the truss to be welded, and its upper surface is equipped with an inner support unit. During welding operations, the inner support unit is located inside the triangular cavity of the truss, applying support force to the web reinforcement from the inside out. Correspondingly, the upper crossarm of the gantry frame 2 is located above the top of the truss, and its lower surface is equipped with an outer support unit. The extended ends of the outer support unit can reach the upper sides of the truss, applying clamping force to the upper nodes of the web reinforcement from the outside in. This layout forms a differential constraint system of "inner support and outer pressure," ensuring that the equipment can automatically adapt to and lock complex reinforcement intersections without manual intervention.

[0033] At the welding execution level, automated welding equipment is also installed on the lower and upper cross arms of the gantry frame 2. The positions of these welding devices correspond spatially to the inner and outer support units, so that the joints can be welded at the moment the support is locked. In order to eliminate the positional error caused by the deformation of the steel bars themselves, the inner support unit integrates a weld point positioning component one, whose probe end faces the joint between the web members and the lower chord steel bars at the bottom of the truss; the outer support unit integrates a weld point positioning component two, whose probe end faces the joint between the web members and the upper chord steel bars at the top of the truss.

[0034] The equipment is also equipped with a control unit, which establishes electrical or communication connections with the drive mechanism of the ground rail 1, the power source of the pre-clamping mechanism, the inner support unit, the outer support unit, the weld point positioning component one, the weld point positioning component two, and the welding equipment. Based on the physical coordinate data fed back in real time by the weld point positioning component, the control unit generates corrected welding path instructions after computational processing, and coordinates the action sequence of each mechanical component, thereby realizing fully automated operation from rebar assembly, error detection, adaptive clamping to precision welding.

[0035] The pre-clamping mechanism includes two three-point clamping parts symmetrically arranged at both ends of the upper surface of the workbench 3. Each three-point clamping part includes an end bracket 4. The bottom of the end bracket 4 is fixedly connected to the upper surface of the workbench 3. A pipe clamp 5 is fixedly connected to the top of the end bracket 4, which is used to clamp and fix the end of the upper chord steel bar. Two pipe clamps 6 are symmetrically arranged below the pipe clamp 5. The bottom wall of the pipe clamp 6 is fixedly connected to the upper surface of the workbench 3. The pipe clamps 6 are used to clamp and fix the end of the lower chord steel bar. The pre-clamping mechanism also includes two symmetrically arranged inclined clamping parts. Each inclined clamping part includes a rotating shaft 7, with both ends of the rotating shaft 7 rotatably connected to two side frames. The side frames are fixedly connected to the end brackets 4. An inclined side bracket 8 is sleeved and fixedly connected to the shaft of the rotating shaft 7. The inclined side bracket 8 has a through channel running vertically through it, and the web reinforcement bars pass through the channel. A motor 9 is fixedly connected to the outer wall of one of the side frames. The output end of the motor 9 is fixedly connected to one end of the rotating shaft 7. The inclined side bracket 8 is driven to rotate by the motor 9, so that the bottom of the web reinforcement bar abuts against the inner side of the lower chord reinforcement bar, and the top of the web reinforcement bar abuts against the outer side of the upper chord reinforcement bar, forming multiple welding points.

[0036] To accurately construct the scattered precast steel reinforcement components into a triangular truss shape that meets welding requirements, a unique pre-clamping and attitude reconstruction system is integrated on workbench 3. This system mainly consists of two three-point clamping parts symmetrically arranged along the longitudinal direction of workbench 3, as well as an inclined clamping part used in conjunction. This layout not only achieves stable constraint on both ends of the ultra-long truss, but also completes the precise positioning of the web reinforcement through a dynamic rotation mechanism.

[0037] Specifically, the three-point clamping section serves as a standard component of the truss foundation framework, with the end bracket 4 as its core part. The bottom of the end bracket 4 is rigidly fixed to the upper surface of the workbench 3 via bolts or welding, establishing the assembly reference position. A pipe clamp 5 is fixedly connected to the center of the inner top of the end bracket 4. The axis of the pipe clamp 5 is parallel to the ground rail 1, and its inner diameter is adapted to the diameter of the upper chord reinforcement. It is used to grip and lock the end of a single upper chord reinforcement at the top, thereby defining the vertex position of the triangular truss.

[0038] Below the vertical projection of clamp 5, two clamps 6 are symmetrically arranged on the upper surface of workbench 3. The positions of clamps 6 correspond to the two corner points at the bottom of the truss, and are used to clamp and fix the ends of the two lower chord steel bars respectively. Through the spatial cooperation between clamp 5 and the two clamps 6, the relative positional relationship between the upper chord steel bars and the two lower chord steel bars is forcibly established, constructing the isosceles triangular profile of the truss section, and providing accurate geometric boundaries for the subsequent implantation of web members.

[0039] In conjunction with the aforementioned fixed frame, the pre-clamping mechanism also includes an inclined clamping part for manipulating the posture of the web reinforcement bars. This part mainly includes a transversely extending rotating shaft 7, with its two ends rotatably supported on two side frames. The inclined side bracket 8 is not a simple support component; it itself serves as a carrier for the web reinforcement bars, sleeved and fixedly connected to the shaft of the rotating shaft 7, rotating synchronously with the rotating shaft 7. The inclined side bracket 8 has a vertically penetrating channel inside, the cross-sectional dimension of which is slightly larger than the corrugated profile of the web reinforcement bars, allowing the web reinforcement bars to smoothly pass through in the initial state.

[0040] To achieve automated posture adjustment, a drive motor 9 is fixedly connected to the outer wall of one of the inclined side supports 8. The motor 9 serves as the power source, and its output is connected to the rotating shaft 7 via a reducer or coupling. During the initial loading stage, the inclined side support 8 is in a vertical position, facilitating manual or robotic placement of the web reinforcement bars into the channel. Once the upper and lower chord reinforcement bars are locked by the three-point clamping parts, the control system commands the motor 9 to start, driving the rotating shaft 7 to rotate the inclined side support 8 inward. During rotation, the web reinforcement bars passing through the channel undergo lateral tilting displacement. This rotational motion is precisely controlled by a designed stroke until the predetermined welding position is reached: at this point, the bottom of the web reinforcement bar shifts outward and tightly abuts against the inner surface of the lower chord reinforcement bar, while the top of the web reinforcement bar shifts inward and tightly abuts against the outer surface of the upper chord reinforcement bar.

[0041] This motor-driven rotary extrusion method cleverly solves the complex nested positioning problem of the web members "inner against the lower chord and outer against the upper chord" by utilizing the lever principle. Through the mechanical limiting of the inclined side bracket 8, the web members are forced to maintain this specific tilt angle, which not only eliminates the springback gap of the reinforcing bars in their natural state, but also forms a stable and unobstructed array of nodes to be welded for the subsequent precise welding of the welding equipment on the gantry frame.

[0042] The internal support unit includes two sliding bases 10 symmetrically and fixedly connected to the upper surface of the lower cross arm of the gantry frame 2. A slider 11 is slidably connected to the top of the sliding base 10, and a cylinder 12 is fixedly connected to the top wall of the sliding base 10. The output end of the cylinder 12 is fixedly connected to the side wall of the slider 11. The slider 11 is driven to move on the sliding base 10 by the cylinder 12. A baffle 13 is rotatably connected to the end of the slider 11 facing the web reinforcement. An electric push rod 14 is fixedly connected to the top of the sliding base 10. The output end of the electric push rod 14 is rotatably connected to the upper part of the baffle 13. A support plate 15 is fixedly connected to the upper part of the baffle 13 facing the web reinforcement. The lower part of the baffle 13 facing the web reinforcement is fixedly connected to the welding point positioning component.

[0043] The internal support unit is integrated on the upper surface of the lower crossarm of the gantry frame 2. It adopts a composite motion architecture that combines "feed translation and lever swing". The original design intention of this architecture is to use a single mechanical actuator to time-division multiplex the detection and support functions in the limited internal space of the truss. By switching the physical modes of the mechanical structure, it solves the problem of protection and avoidance of precision sensors in high-temperature welding environment.

[0044] Specifically, the inner support unit includes two symmetrically arranged sliding bases 10, which are rigidly fixed to the lower crossarm in a transverse direction perpendicular to the ground rail 1. Each sliding base 10 is fitted with a slider 11, and a cylinder 12 is fixedly connected to the tail of each sliding base 10. The piston rod output end of the cylinder 12 is connected to the slider 11, driving the slider 11 to perform linear reciprocating motion in and out of the truss's internal space. This translational motion constitutes the first degree of freedom of the inner support unit's feed, used to deliver the actuator to a predetermined working depth inside the web reinforcement.

[0045] At the end of the slider 11 facing the web reinforcement, a hinged support is provided. A lever-shaped baffle 13 is rotatably connected to this support via a pin. The baffle 13 can swing bidirectionally in a vertical plane around the pin, and its structure is designed as an irregular double-headed lever. To drive the attitude change of the baffle 13, an electric push rod 14 is mounted on the upper part of the sliding base 10 or the slider 11. The telescopic output end of the electric push rod 14 is hinged to the lever arm end (e.g., the upper back side) of the baffle 13 via a spherical bearing. Through the axial extension and retraction of the electric push rod 14, the rotation angle of the baffle 13 around the fulcrum pin can be precisely controlled.

[0046] The working end of baffle 13 has two functional areas distributed vertically, and these two areas are spatially mutually exclusive and have an advancing-retreating relationship. The upper area of ​​baffle 13 serves as a support area, fixedly connected to a high-strength support plate 15; while the lower area of ​​baffle 13 serves as a detection area, fixedly connected to the positioning seat 16 of the welding point positioning component. This layout ensures that when baffle 13 rotates around the pin axis in a certain direction, the welding point positioning component extends forward to become the contact extreme point, while the support plate 15 retracts backward; conversely, when baffle 13 rotates in the opposite direction, the welding point positioning component quickly retracts backward, while the support plate 15 pushes forward.

[0047] In the actual operation logic, when welding coordinates need to be acquired, the electric push rod 14 drives the baffle 13 to rotate to the detection position. At this time, the weld point positioning component is at the foremost position and contacts the joint of the web reinforcement and the lower chord reinforcement as the slider 11 advances. The coordinate signal is fed back through the displacement of the internal pin array. When the coordinate acquisition is completed and welding is ready, the electric push rod 14 reverses its action, driving the baffle 13 to flip to the support position. During this process, using the lever principle, the weld point positioning component actively moves away from the welding point, leaving space for welding and avoiding spatter damage. At the same time, the support plate 15 presses the web reinforcement tightly from the inside out, firmly pressing it against the inner side of the lower chord reinforcement, forming a rigid welding reaction force support.

[0048] The external support unit includes cylinder 22. The base of cylinder 22 is fixedly connected to the middle of the upper horizontal arm of the gantry frame 2. The output end of cylinder 22 is fixedly connected to an inverted V-shaped bracket 23. Each forked arm of the inverted V-shaped bracket 23 is rotatably connected to a baffle 24 at its bottom end, and each baffle 24 is also fixedly connected to an electric push rod 25. The output end of the electric push rod 25 is rotatably connected to the upper part of the baffle 24. A support plate 26 is fixedly connected to the lower part of the baffle 24 facing the upper chord steel bar. The upper part of the baffle 24 facing the upper chord steel bar is fixedly connected to the welding point positioning component 2.

[0049] The external support unit is located in the middle of the upper crossarm of the gantry frame 2. Its structural design adopts an execution logic that combines "vertical lifting coarse positioning with rocker arm precision operation". This unit not only undertakes the task of applying clamping force to the top node of the truss from top to bottom, but also realizes the physical isolation and functional alternation of the welding point positioning component 2 and the support plate 26 in the working space through a unique rocker arm switching mechanism. This effectively avoids damage to the precision detection component from high-temperature spatter during welding and avoids obstruction of the welding torch trajectory.

[0050] Specifically, the main lifting structure of the outer support unit is driven by cylinder 22, which is vertically fixed on the upper crossarm. The output end of cylinder 22 is rigidly connected to an inverted V-shaped bracket 23. The two forked arms of this bracket are designed as a straddle structure, with an opening span greater than the width of the upper chord reinforcement. When cylinder 22 drives the inverted V-shaped bracket 23 to extend downwards, the two forked arms can smoothly cross the upper chord reinforcement and reach the working areas on both sides of the upper part of the truss, providing a stable spatial reference for subsequent lateral clamping actions.

[0051] At the bottom end of each forked arm of the inverted V-shaped bracket 23, a rotating hinge point is provided, on which a baffle 24 is rotatably connected via a pin. The baffle 24 constitutes the core actuator of the outer support unit, and its overall structure is lever-like, capable of swinging around the pin in a plane perpendicular to the truss axis. To achieve precise control of the swing angle of the baffle 24, an electric push rod 25 is installed on the outer wall of the inverted V-shaped bracket 23. The telescopic output end of the electric push rod 25 is hinged to the upper power end of the baffle 24. Through the telescopic movement of the electric push rod 25, the baffle 24 can be driven to deflect clockwise or counterclockwise around the bottom pin fulcrum.

[0052] The second baffle 24 integrates two relatively independent and functionally exclusive components. The upper side of the second baffle 24, facing outwards from the truss, is fixedly fitted with a positioning seat 27 for the second welding point positioning component; while the lower side of the second baffle 24, facing outwards from the truss, is fixedly connected to a high-rigidity support plate 26. This structure allows the second welding point positioning component and the second support plate 26 to be distributed in different lever arm directions or angular phases at the lever fulcrum, forming a modal switching relationship similar to a "seesaw."

[0053] In actual operation, this structure exhibits a strict sequential action logic: During the detection phase, the electric push rod 25 drives the baffle 24 to rotate to the "detection position," causing the weld point positioning component 2 to rotate inward and be at its lowest or foremost position. As the support descends, it preferentially contacts the joint between the web reinforcement and the upper chord reinforcement, completing coordinate acquisition. During the welding preparation phase, the electric push rod 25 reverses its direction, pulling the baffle 24 to rotate to the "pressing position." At this time, the weld point positioning component 2 rises rapidly upward and outward with the rotation of the swing arm, actively retracting from the welding heat-affected zone and creating clearance space. Simultaneously, the support plate 26 presses down forcefully from the outside inward with the rotation of the swing arm, using the lever amplification principle to tightly press the top of the web reinforcement onto the side wall of the upper chord reinforcement, achieving simultaneous rigid fixation of the welding joint and sensor retraction protection.

[0054] The welding point positioning component includes a positioning seat 16, the outer wall of which is fixedly connected to the outer wall of the baffle 13. The positioning seat 16 has a rectangular array of sliding holes 1601 on the side facing the lower chord steel bar. A signal transmitting unit is embedded in the positioning seat 16. A slot-type trigger unit 17 is provided in the sliding hole 1601. The signal output terminal of the slot-type trigger unit 17 is electrically connected to a signal input terminal of the signal transmitting unit 1. The signal transmitting terminal of the signal transmitting unit 1 is communicatively connected to the control unit. A pin 18 is also slidably connected in the sliding hole 1601. The sliding hole 1601 and the pin 18 are connected by a spring 19. When the pin 18 retracts into the sliding hole 1601 after contacting the web steel bar, the tail of the pin 18 inserts into the slot-type trigger unit 17, and the two contacts of the slot-type trigger unit 17 are connected, thus generating an electrical signal at the corresponding coordinate.

[0055] The welding point positioning component two includes a positioning seat two 27. The outer wall of the positioning seat two 27 is fixedly connected to the outer wall of the baffle two 24. The positioning seat two 27 has a rectangular array of sliding holes two 2701 on the side facing the upper chord steel bar. A signal transmitting unit two is embedded in the positioning seat two 27. A slot-type trigger unit two 28 is provided in the sliding hole two 2701. The signal output terminal of the slot-type trigger unit two 28 is electrically connected to a signal input terminal of the signal transmitting unit two. The signal transmitting terminal of the signal transmitting unit two is communicatively connected to the control unit. A pin two 29 is also slidably connected in the sliding hole two 2701. The sliding hole two 2701 and the pin two 29 are connected by a spring two 30. When the pin two 29 retracts into the sliding hole two 2701 after contacting the web steel bar, the tail of the pin two 29 inserts into the slot-type trigger unit two 28 and makes the two contacts of the slot-type trigger unit two 28 conduct, thus generating an electrical signal at the corresponding coordinate.

[0056] Given the complex spatial structure, concealed weld seams, and interference from strong arc light and fumes during the welding process of ballastless turnout sleeper trusses, the equipment abandoned traditional visual recognition schemes limited by lighting conditions and instead adopted an array-based tactile positioning system based on physical contact. This system directly senses the geometric topology of the reinforcing bar surface through a high-density array of mechanical probes, thereby accurately reconstructing the actual contour of the joint between the web reinforcement and the chord in three-dimensional space.

[0057] Specifically, the weld point positioning component is integrated into the detection end of the inner support unit baffle 13, and its main structure includes a positioning seat 16. The positioning seat 16 is fixed to the baffle 13 by bolt connection or embedded installation, and moves closer to or away from the detection target along the movement trajectory of the baffle 13. The detection surface of the positioning seat 16 faces the joint area of ​​the web reinforcement and the lower chord reinforcement of the truss, and multiple sliding holes 1601 arranged in a rectangular array or a specific pattern are precision machined on this surface. These sliding holes 1601 constitute the physical sensing pixel array of the system, and their distribution range covers the expected welding area and the possible assembly error range.

[0058] Within the internal cavity of each sliding hole 1601, an independent ejector pin 18 is slidably fitted. The ejector pin 18 is made of a wear-resistant, insulating, and rigid material, with its front end protruding from the outer surface of the sliding hole 1601 and its rear end extending into the interior of the positioning seat 16. To ensure that the ejector pin 18 remains in its protruding, reset position when not in operation, a spring 19 is installed between the inner wall step of the sliding hole 1601 and the shoulder of the ejector pin 18. In the initial state, the spring 19 is in a pre-compressed or naturally extended state, pushing the ejector pin 18 axially outward to its mechanical limit position.

[0059] To convert the mechanical displacement of the pin array into a digital signal recognizable by the control system, a slot-type trigger unit 17 is precisely embedded inside the positioning base 16, corresponding to the tail position of each sliding hole 1601. This trigger unit integrates a microswitch, photoelectric interruptor, or Hall effect sensor. When the inner support unit performs a detection action and the positioning base 16 approaches the rebar node, any pin 18 that has physical contact with the surface of the web rebar or lower chord rebar will retract inward against the resistance of the spring 19. The retracted pin 18's tail precisely inserts into or triggers the corresponding slot-type trigger unit 17, causing the circuit to conduct or the level to change, thereby generating a contact signal at that specific coordinate point.

[0060] The positioning base 16 also integrates a signal transmitting unit, which has multi-channel signal acquisition capabilities and is electrically connected to the signal output terminals of each slot-type trigger unit 17 in the array. The discrete signals of all triggered channels are collected in real time and transmitted to the control unit of the device. Based on these signals, the control unit constructs a binary three-dimensional point cloud map. Through the built-in edge detection and fitting algorithm, it can clearly distinguish the cylindrical outline of the steel bar and the center of the V-shaped angle formed by their intersection, thereby calculating the precise coordinates of the welding arc initiation point.

[0061] Similarly, the second weld point positioning component is integrated into the detection end of the second baffle 24 of the outer support unit, used to detect the joint nodes on the upper part of the truss. Its core components include a positioning seat 27 fixedly connected to the second baffle 24. The positioning seat 27 also has multiple sliding holes 2701 arranged in an array on the side facing the upper chord steel bar. A pin 29 is installed in the sliding hole 2701, and an elastic restoring force is provided by a spring 30. The positioning seat 27 is equipped with a slot-type trigger unit 28 and a signal transmitting unit 2.

[0062] When the outer support unit is in the detection mode, the positioning seat 27, along with the movement of the baffle 24, presses against the junction of the top of the web reinforcement and the upper chord reinforcement. The ejector pin 29, which contacts the reinforcement, retracts under pressure, triggering the slot-type trigger unit 28 and generating an electrical signal at the corresponding position. This tactile array design, with its separate upper and lower placement and coordinated internal and external components, combined with the aforementioned swing arm retraction mechanism, not only ensures the acquisition of the true physical boundary even when the reinforcement has bending, ellipticity errors, or assembly deviations, but also allows for rapid retraction from the heat-affected zone with the swing arm after the detection task is completed. This effectively solves the technical challenge of the conflict between the lifespan of precision sensors and the space required for welding operations.

[0063] The internal support unit also includes a top column 20, the bottom end of which is fixedly connected to the upper surface of the lower crossarm of the gantry frame 2. A roller 21 is rotatably connected to the top of the top column 20, and the outer wall of the roller 21 abuts against the lower surface of the upper chord steel bar. Support rods 31 are fixedly connected to the columns on both sides of the gantry frame 2. A roller 32 is rotatably connected to the end of the support rod 31 facing the lower chord steel bar, and the outer wall of the roller 32 abuts against the outer surface of the lower chord steel bar.

[0064] In this embodiment, considering the physical characteristics of the truss structure being slender and prone to elastic deformation, in order to maintain the relative stability of the equipment coordinate system and the workpiece coordinate system during the long-distance movement of the gantry frame along the ground rail, and to ensure that the welding execution terminal can cut into the working space vacated by the detection mechanism without obstruction, the equipment is equipped with a follow-up auxiliary support system and a welding execution system with multi-axis adjustment capability.

[0065] Specifically, in addition to the aforementioned detection and clamping functions, the internal support unit also integrates an internal lifting mechanism to support the weight of the upper chord reinforcement. The core component of this mechanism is a top column 20, vertically fixed to the upper surface of the lower crossarm of the gantry frame 2. The height of the top column 20 is precisely calculated and rigidly checked, ensuring its top extends accurately to a position near the apex of the triangle inside the truss. A roller 21 is rotatably connected to the top of the top column 20 via a bearing; the axis of the roller 21 is parallel to the cross-sectional direction of the ground rail. When the gantry frame performs non-welded movement, the outer cylindrical surface of the roller 21 always contacts the lower surface of the upper chord reinforcement upwards, converting sliding friction into rolling friction. This design effectively bears part of the self-weight of the upper chord reinforcement over long spans, preventing downward deflection, and also serves as an internal height physical reference, limiting the minimum vertical distance between the lower crossarm and the internal space of the truss.

[0066] Regarding lateral posture constraints, support rods 31 are fixedly connected to the inner walls of the columns on both sides of the gantry frame 2 by bolts or welding. The support rods 31 extend horizontally inward, with their ends suspended on the outer side of the lower chord reinforcement. Rollers 32 are rotatably connected to the ends of the support rods 31 via pins, with the plane of rotation of the rollers 32 parallel to the ground rail plane. When the gantry frame moves along the ground rail, the two symmetrically arranged rollers 32 abut against the outer surfaces of the two lower chord reinforcements. This structure effectively forms a set of follow-up lateral guide rails, strictly limiting the lateral swaying or twisting of the truss bottom during welding, ensuring the straightness of the lower chord reinforcement along its entire length, and providing a stable geometric boundary for high-precision welding.

[0067] In conjunction with the aforementioned support and positioning system, welding equipment for performing the final connection operation is mounted on the lower and upper cross arms of the gantry frame 2. The welding equipment on the lower cross arm is equipped with a welding torch for internal nodes, which is mounted on the base via a multi-axis fine-tuning slide or a small industrial robotic arm. This mounting mechanism is positioned behind or to the side of the baffle 13 of the inner support unit, and its travel covers the space left by the retraction of the baffle 13. When the baffle 13 completes its attitude change, the welding point positioning component 1 retracts, and the support plate 1 clamps the reinforcing bars, the lower welding torch can extend into this area according to control commands, precisely aligning with the inner joint gap between the web reinforcement and the lower chord reinforcement.

[0068] Similarly, the welding equipment located on the upper cross arm is equipped with a welding torch for the top node, and its mounting mechanism also has the ability to adjust in three-dimensional space. The installation position of this welding torch is spatially complementary to the baffle 24 of the outer support unit. When the baffle 24 drives the welding point positioning component 2 to flip upward to avoid it, and the node is pressed by the support plate 2, the upper welding torch is controlled to move downward or forward, enters the safe working area above the baffle 24, and is aligned with the outer joint gap between the web reinforcement and the upper chord reinforcement.

[0069] The control unit integrates a coordinate mapping and trajectory planning module, which can receive the original physical coordinates collected by the weld point positioning component and combine them with the mechanical geometric compensation values ​​brought about by the arm switching to generate the final welding path command. This command drives the execution ends of the upper and lower welding equipment to adjust their posture, realizing arc ignition welding in an ideal state where there is no sensor obstruction and the workpiece is rigidly locked, ensuring the consistency and stability of weld formation quality.

[0070] The automated operation process of the aforementioned ground-rail type ballastless turnout sleeper truss automatic welding equipment, through the overall scheduling of the central control unit and following strict time sequence logic, realizes a closed-loop operation from raw material assembly, high-precision physical positioning, mechanical mode switching to final unobstructed welding. This process completely changes the contradictory relationship between sensor protection and working space in traditional welding equipment, and achieves the original process of "probe retraction and fixture replacement" through the ingenious movement of the mechanical structure.

[0071] In the initial stage of operation, the operator or the feeding system places the single top chord steel bar, two bottom chord steel bars, and web steel bars in their respective positions on the pre-clamping mechanism. As pipe clamp 5 and pipe clamp 6 lock together, the external triangular frame of the truss is established. Subsequently, the control unit commands the drive motor 9 to start, causing the inclined support 8 to rotate. This action forces the web steel bars to undergo lateral tilting displacement until they reach the predetermined nesting posture, i.e., the bottom of the web steel bar abuts against the inside of the bottom chord steel bar, and the top abuts against the outside of the top chord steel bar, completing the initial reconstruction from loose material to a self-locking structure.

[0072] After assembly, the gantry frame 2 begins to move along the ground rail 1. During this process, the roller 21 at the top of the top column 20 and the roller 32 at the ends of the side support rods 31 respectively roll and guide the upper chord steel bars against their bottom surfaces and lower chord steel bars. This multi-point rolling constraint effectively suppresses the sagging of long-span steel bars due to their own weight and the lateral vibration caused by motion inertia, ensuring that the equipment coordinate system and the workpiece coordinate system maintain a relatively stable reference relationship when the gantry frame reaches the welding node.

[0073] When the gantry frame 2 stops at the preset welding node area, the equipment immediately enters the "detection and coordinate acquisition" stage. At this time, the electric push rod 14 of the inner support unit and the electric push rod 25 of the outer support unit move synchronously, driving the baffle 13 and baffle 24 to rotate to the detection mode respectively. In this mode, the weld point positioning component 1 and the weld point positioning component 2 are pushed to the foremost or bottommost position of the swing arm respectively. Immediately afterwards, the slider 11 of the inner support unit moves outward, and the inverted V-shaped bracket 23 of the outer support unit moves downward, so that the upper and lower probe arrays physically contact the joint between the web reinforcement and the chord. The retracted pin under pressure triggers the internal signal unit, and the control unit receives the feedback signal in real time and uses the algorithm to construct the real physical contour and center coordinates of the node.

[0074] After completing coordinate acquisition, the system immediately executes the core "modal switching and locking" phase. The slider 11 of the inner support unit and the bracket 23 of the outer support unit maintain their positions or slightly retract to release contact stress. Subsequently, electric push rod 14 and electric push rod 25 drive in opposite directions. Utilizing the lever principle, baffle 13 and baffle 24 reverse their movements. During this process, the weld point positioning components 1 and 2, which were originally in contact, quickly flip and retreat away from the weld, actively withdrawing to a safe area where welding spatter cannot reach, and completely clearing the feed channel of the welding torch.

[0075] Simultaneously, as the swing arm reverses, support plate 15 and support plate 26, located at the other end of the lever, alternately screw into their working positions. Support plate 15 forcefully presses against the bottom of the web reinforcement from the inside out, clamping it tightly against the inner side of the lower chord reinforcement; support plate 26 forcefully presses against the top of the web reinforcement from the outside in, clamping it tightly against the side wall of the upper chord reinforcement. This process achieves seamless spatial and temporal integration between the physical detection component and the mechanical clamping component, ensuring that the reinforcement node is rigidly locked before welding, and that there are no sensors obstructing the working area.

[0076] Finally, the "trajectory correction and welding execution" stage begins. The control unit retrieves the previously calculated coordinate data and overlays the fixed mechanical geometric compensation values ​​generated by the arm switching to generate the final welding path. Following this path instruction, the welding equipment mounted on the crossarm drives the welding torch into the open space cleared by the positioning components, accurately aligning it with the locked inner and outer joint seams for arc ignition welding. After the current node is welded, each support unit resets, the arm rotates back to its initial state, and the gantry frame 2 quickly moves to the next node, repeating the above process until the entire truss is welded.

[0077] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A ground-rail mobile internal and external collaborative support truss welding equipment, comprising a ground rail (1), characterized in that, The moving end of the ground rail (1) is fixedly connected to a gantry frame (2). A workbench (3) is set at the center of the gantry frame (2). The gantry frame (2) is driven by the ground rail (1) to move back and forth along the trajectory of the workbench (3). A pre-clamping mechanism is set on the workbench (3) to clamp and fix the various components of the truss to form a state to be welded. An inner support unit is set on the lower horizontal arm of the gantry frame (2), which is located inside the truss in the state to be welded, and is used to provide internal support for the part of the truss to be welded. An outer support unit is set on the upper horizontal arm of the gantry frame (2), which extends to the part to be welded. The upper two sides of the truss in the welding state are used to provide external support for the truss to be welded. The lower and upper cross arms of the gantry frame (2) are also equipped with welding equipment. The inner support unit is equipped with a welding point positioning component one, which is used to obtain the coordinates of the welding point between the web reinforcement and the lower chord reinforcement in the truss. The outer support unit is equipped with a welding point positioning component two, which is used to obtain the coordinates of the welding point between the web reinforcement and the upper chord reinforcement in the truss. The control unit controls the welding equipment to perform welding operations on the truss according to the coordinates of the welding point obtained by the welding point positioning component one and the welding point positioning component two.

2. The ground-rail mobile internal and external collaborative support truss welding equipment according to claim 1, characterized in that, The pre-clamping mechanism includes two three-point clamping parts symmetrically arranged at both ends of the upper surface of the workbench (3). The three-point clamping parts include end brackets (4). The bottom of the end brackets (4) is fixedly connected to the upper surface of the workbench (3). A pipe clamp (5) is fixedly connected to the top of the end brackets (4), which is used to clamp and fix the end of the upper chord steel bar. Two pipe clamps (6) are symmetrically arranged below the pipe clamps (5). The bottom wall of the pipe clamps (6) is fixedly connected to the upper surface of the workbench (3). The pipe clamps (6) are used to clamp and fix the end of the lower chord steel bar.

3. The ground-rail mobile internal and external collaborative support truss welding equipment according to claim 2, characterized in that, The pre-clamping mechanism also includes two symmetrically arranged inclined clamping parts. The inclined clamping parts include a rotating shaft (7). The two ends of the rotating shaft (7) are rotatably connected to two side frames respectively. The side frames are fixedly connected to the end bracket (4). An inclined side bracket (8) is sleeved and fixedly connected to the shaft of the rotating shaft (7). A vertical channel is opened in the inclined side bracket (8). The web bar is inserted in the channel. A motor (9) is fixedly connected to the outer wall of one of the side frames. The output end of the motor (9) is fixedly connected to one end of the rotating shaft (7). The inclined side bracket (8) is driven to rotate by the motor (9), so that the bottom of the web bar abuts against the inner side of the lower chord bar and the top of the web bar abuts against the outer side of the upper chord bar, forming multiple welding points.

4. The ground-rail mobile internal and external collaborative support truss welding equipment according to claim 1, characterized in that, The inner support unit includes two sliding bases (10) symmetrically fixedly connected to the upper surface of the lower cross arm of the gantry frame (2). A slider (11) is slidably connected to the top of the sliding base (10), and a cylinder (12) is fixedly connected to the top wall of the sliding base (10). The output end of the cylinder (12) is fixedly connected to the side wall of the slider (11). The slider (11) is driven to move on the sliding base (10) by the cylinder (12). A baffle (13) is rotatably connected to the end of the slider (11) facing the web reinforcement. An electric push rod (14) is fixedly connected to the top of the sliding base (10). The output end of the electric push rod (14) is rotatably connected to the upper part of the baffle (13). A support plate (15) is fixedly connected to the upper part of the baffle (13) facing the web reinforcement. The lower part of the baffle (13) facing the web reinforcement is fixedly connected to a welding point positioning component.

5. The ground-rail mobile internal and external collaborative support truss welding equipment according to claim 4, characterized in that, The welding point positioning component includes a positioning seat (16), the outer wall of which is fixedly connected to the outer wall of the baffle (13). The positioning seat (16) has a plurality of sliding holes (1601) in a rectangular array facing the lower chord steel bar. A signal transmitting unit is embedded in the positioning seat (16), and a slot-type trigger unit (17) is provided in the sliding hole (1601). The signal output terminal of the slot-type trigger unit (17) is electrically connected to a signal input of the signal transmitting unit. The signal transmitting end of the signal transmitting unit is connected to the control unit. The sliding hole (1601) is also slidably connected to the ejector pin (18). The sliding hole (1601) and the ejector pin (18) are connected by a spring (19). When the ejector pin (18) retracts into the sliding hole (1601) after contacting the web bar, the tail of the ejector pin (18) is inserted into the slot-type trigger unit (17), and the two contacts of the slot-type trigger unit (17) are connected, thus generating an electrical signal corresponding to the coordinate.

6. The ground-rail mobile internal and external collaborative support truss welding equipment according to claim 4, characterized in that, The inner support unit also includes a top column (20), the bottom end of which is fixedly connected to the upper surface of the lower cross arm of the gantry frame (2), and a roller (21) is rotatably connected to the top of the top column (20), the outer wall of the roller (21) abutting against the lower surface of the upper chord steel bar.

7. The ground-rail mobile internal and external collaborative support truss welding equipment according to claim 1, characterized in that, The external support unit includes cylinder two (22), the base of cylinder two (22) is fixedly connected to the middle of the upper horizontal arm of the gantry frame (2), the output end of cylinder two (22) is fixedly connected to an inverted V-shaped bracket (23), each fork arm of the inverted V-shaped bracket (23) is rotatably connected to a baffle two (24) at the bottom end, and each is also fixedly connected to an electric push rod two (25), the output end of the electric push rod two (25) is rotatably connected to the upper part of the baffle two (24), the lower part of the baffle two (24) facing the upper chord steel bar is fixedly connected to a support plate two (26), and the upper part of the baffle two (24) facing the upper chord steel bar is fixedly connected to a welding point positioning component two.

8. The ground-rail mobile internal and external collaborative support truss welding equipment according to claim 7, characterized in that, The second welding point positioning component includes a second positioning seat (27). The outer wall of the second positioning seat (27) is fixedly connected to the outer wall of the second baffle (24). The second positioning seat (27) has a plurality of sliding holes (2701) in a rectangular array on the side facing the upper chord steel bar. A signal transmitting unit (2) is embedded in the second positioning seat (27). A slot-type trigger unit (28) is provided in the sliding hole (2701). The signal output terminal of the slot-type trigger unit (28) is electrically connected to a signal input of the signal transmitting unit (2). The signal transmitting end of the signal transmitting unit two is connected to the control unit. The sliding hole two (2701) is also slidably connected to the ejector pin two (29). The sliding hole two (2701) and the ejector pin two (29) are connected by the spring two (30). When the ejector pin two (29) retracts into the sliding hole two (2701) after contacting the web bar, the tail of the ejector pin two (29) is inserted into the slot-type trigger unit two (28), and the two contacts of the slot-type trigger unit two (28) are connected, thus generating an electrical signal corresponding to the coordinate.

9. The ground-rail mobile internal and external collaborative support truss welding equipment according to claim 1, characterized in that, Support rods (31) are fixedly connected to the columns on both sides of the gantry frame (2). The end of the support rod (31) facing the lower chord steel bar is rotatably connected to a roller (32). The outer wall of the roller (32) abuts against the outer surface of the lower chord steel bar.

Images