Shield segment reinforcement cage welding equipment

Abstract

The invention discloses shield segment reinforcement cage welding equipment which comprises a rotary operation platform of an annular structure. The reinforcing mesh construction device comprises a gantry beam frame, a three-axis carrying mechanism, a carrying manipulator and two groups of positioning mechanisms, the gantry beam frame is constructed in the center of the rotary working platform, the three-axis carrying mechanism is mounted at the top end of the gantry beam frame, the carrying manipulator is mounted on the three-axis carrying mechanism, and the two groups of positioning mechanisms are arranged on the gantry beam frame. The two positioning mechanisms are symmetrically mounted at the top of the rotary working platform; the welding device comprises a linear moving platform and a welding mechanism; and the cooperative control system is used for integrally adjusting operation of the device. Efficient building, accurate positioning and automatic welding of the reinforcement cage are achieved through mechanical collaborative operation, the production efficiency and product consistency are remarkably improved, and labor dependence and material waste are reduced.

Description

Technical Field

[0001] This invention relates to the field of shield tunnel segment reinforcement cage processing technology, and in particular to a shield tunnel segment reinforcement cage welding equipment. Background Technology

[0002] The shield tunnel segment reinforcement cage is welded together from multiple layers of steel mesh and portal-shaped stirrups surrounding it.

[0003] Traditional processes suffer from the following problems: The positioning of all main bars and stirrups in the entire rebar cage relies on manual labor. The heavy main bars are manually placed onto a horizontal jig, while stirrups of various sizes are positioned using haphazard methods on the jig, resulting in low production efficiency. Manual operation is easily affected by worker skill levels, fatigue, and operational errors, making it difficult to guarantee the dimensional accuracy, welding quality, and overall consistency of the rebar cage. The assembly and welding of the rebar cage requires workers to perform prolonged periods of high-intensity physical labor, especially during the handling and insertion of rebars, where workers frequently bend over, lift, and adjust the rebar positions, easily leading to physical fatigue and occupational health problems. Due to the lack of precise material management and optimized design in traditional production methods, material waste easily occurs during the cutting and splicing of rebars.

[0004] While existing technologies have proposed collaborative solutions for positioning components and welding robots, they still have limitations: the positioning of stirrups relies on two rows of positioners in the horizontal direction, making it difficult to achieve full-range close contact between the stirrups and the steel mesh to form lap weld points and achieve precise three-dimensional positioning; the welding station is fixed, and the jig is inconvenient to move, making it difficult to achieve multi-station collaboration.

[0005] To address the aforementioned technical problems, this invention provides a welding equipment for the steel reinforcement cage of tunnel segments. Summary of the Invention

[0006] The purpose of this invention is to provide a welding equipment for the steel cage of tunnel segment reinforcement in order to solve the problems existing in the prior art.

[0007] To achieve the above objectives, the present invention provides the following solution: The present invention provides a shield tunnel segment reinforcement cage welding equipment, comprising: A rotating work platform, wherein the rotating work platform has a ring-shaped structure; A steel mesh erection device includes a gantry beam, a three-axis transport mechanism, a transport robot, and a positioning mechanism. The gantry beam is erected at the center of a rotating work platform. The three-axis transport mechanism is installed on the top of the gantry beam. The transport robot is installed on the three-axis transport mechanism. Two sets of positioning mechanisms are provided, and the two sets of positioning mechanisms are symmetrically installed on the top of the rotating work platform. A welding device, comprising a linear moving platform and a welding mechanism, wherein the linear moving platform is erected at the middle position of the rotary working platform and the welding mechanism is mounted on the linear moving platform; A collaborative control system is used to regulate the operation of the overall device.

[0008] According to the shield tunnel segment reinforcement cage welding equipment provided by the present invention, the rotating working platform includes a movable base and an annular sliding track. The movable base is provided with a moving component at its bottom, and the annular sliding track is fixed to the top of the movable base.

[0009] According to the shield tunnel segment reinforcement cage welding equipment provided by the present invention, the three-axis handling mechanism includes an X-axis linear motor, a Y-axis linear motor and a Z-axis linear motor. The X-axis linear motor is horizontally fixed on the top of the gantry beam, the Y-axis linear motor is mounted on the slide of the X-axis linear motor, and the Z-axis linear motor is mounted on the slide of the Y-axis linear motor. The X-axis linear motor, the Y-axis linear motor, and the Z-axis linear motor are arranged vertically.

[0010] According to the shield tunnel segment reinforcement cage welding equipment provided by the present invention, the handling robot includes a gripper connecting rod, the gripper connecting rod is fixed on the slide of the Z-axis linear motor, the gripper connecting rod has a C-shaped structure, and a propulsion mechanism is respectively installed at both ends of the gripper connecting rod. A positioning plate is respectively installed on the two propulsion mechanisms, and a protrusion is fixed on the inner side of the positioning plate. A groove is provided on the protrusion. The propulsion mechanism includes a fixed housing, which is fixed to the end of the gripper connecting rod. A gear set and a first screw are mounted on the gripper connecting rod. The first screw is rotatably connected to the fixed housing. The gear set is fixed to the first screw. A first motor is mounted on the fixed housing. The first motor and the gear set are in a transmission engagement. A slide plate is slidably connected to one end of the fixed housing. A propulsion plate is fixedly connected to the end of the slide plate. A fixing block is fixedly connected to the slide plate. The first screw is threadedly connected to the fixing block.

[0011] According to the shield tunnel segment reinforcement cage welding equipment provided by the present invention, the positioning mechanism includes a positioning column, and a plurality of mounting holes are vertically and equally spaced on one side of the positioning column, and a positioning component is installed in the mounting holes. The positioning component includes a telescopic device housing, which is fixed inside the mounting hole. A second screw is threadedly connected to the telescopic device housing. A second motor is fixedly connected to the end of the mounting hole. The second motor and the second screw are axially connected. A telescopic rod is slidably connected to the other end of the telescopic device housing. The telescopic rod and the second screw are coaxially threadedly connected. The mounting holes on the two sets of positioning columns are set one-to-one.

[0012] According to the shield tunnel segment reinforcement cage welding equipment provided by the present invention, the linear moving platform includes a unidirectional moving ground rail, which is erected at the middle position of the annular sliding track.

[0013] According to the shield tunnel segment reinforcement cage welding equipment provided by the present invention, the welding mechanism includes a multi-degree-of-freedom welding robotic arm and a welding torch. The multi-degree-of-freedom welding robotic arm is fixed on the unidirectional moving ground rail, and the welding torch is installed at the end of the multi-degree-of-freedom welding robotic arm.

[0014] The present invention discloses the following technical effects: Thanks to the collaborative control system, the device achieves fully automated connection of the entire process of "transfer-positioning-welding-material unloading-self-inspection". There is no need for manual adjustment of the mesh, operation of the welding gun or recording of data. This not only reduces the intensity of manual labor, but also avoids errors caused by manual operation (such as mesh placement deviation and unstable welding parameters), and reduces the reliance on skilled technicians.

[0015] Two sets of symmetrical positioning mechanisms can clamp the mesh from both sides of the ring in both directions. Combined with the precise attitude adjustment of the three-axis transport mechanism, the positioning error of the mesh can be controlled within a very small range. At the same time, the composite welding motion of "rotating platform + radial linear movement" can ensure that the position and angle of all welding points of the ring steel cage are uniform without the need for the welding gun to move around the ring. This effectively avoids problems such as "uneven ring welds and misalignment of connecting bars" in traditional manual welding, and meets the high precision requirements of shield tunnel segments for steel cages.

[0016] The uniform rotation of the rotary work platform and the continuous radial movement of the welding mechanism can be synchronized to achieve "uninterrupted ring welding" without the need for frequent machine stops to adjust the welding position. After welding is completed, the equipment automatically completes material unloading, self-inspection and preparation for the next batch. The various processes are seamlessly connected. Compared with manual staged welding, the processing time of a single set of steel cages is greatly shortened and the batch production capacity is improved.

[0017] The collaborative control system monitors welding current, voltage, temperature, and platform speed in real time during the welding process. If any parameter deviation occurs, it can be dynamically adjusted immediately to avoid quality defects such as "false welding, missed welding, and weld burn-through". At the same time, the system automatically records welding data for each batch, forming a traceable production ledger, which facilitates subsequent quality inspection and process optimization, and ensures that the mechanical properties of the finished steel cage meet the standards.

[0018] By adjusting the rotation speed of the rotary work platform, the movement range of the three-axis conveying mechanism, the radial travel of the linear moving platform, and the parameters of the welding mechanism, the device can be adapted to shield tunnel segment reinforcement cages with different inner diameters, outer diameters, and reinforcement specifications. This eliminates the need to replace core components, reduces equipment modification costs, and meets the segment production needs of different tunnel projects.

[0019] The core processes of the device, such as welding and positioning, are all completed by mechanical mechanisms and automated systems. Humans only need to pre-process the steel bars in the early stage and monitor the operation of the equipment in the later stage. They do not need to come into close contact with the high-temperature welding area and high-speed moving parts, which effectively avoids safety risks such as "burns and mechanical pinching" and improves the working environment. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a schematic diagram of the overall structure of the shield tunnel segment reinforcement cage welding equipment of the present invention; Figure 2 This is a schematic diagram of the positioning mechanism of the present invention; Figure 3 This is a schematic diagram of the positioning component of the present invention; Figure 4 This is a schematic diagram of the handling robot of the present invention; Figure 5 This is a schematic diagram of the propulsion mechanism of the present invention; Figure 6 This is a schematic diagram of the positioning plate of the present invention; Figure 7 This is a schematic diagram of the welding device of the present invention; Figure 8 This is a schematic diagram of the steel cage structure of the present invention.

[0022] The components include: 1. Gantry beam frame; 2. Movable base; 3. Circular sliding track; 4. X-axis linear motor; 5. Y-axis linear motor; 6. Z-axis linear motor; 7. Gripper connecting rod; 8. Positioning plate; 9. Protrusion; 10. Fixed housing; 11. First screw; 12. Gear set; 13. First motor; 14. Push plate; 15. Positioning column; 16. Telescopic device housing; 17. Second screw; 18. Telescopic rod; 19. Unidirectional moving ground rail; 20. Multi-degree-of-freedom welding robotic arm; 21. Welding torch. Detailed Implementation

[0023] 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.

[0024] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0025] Reference Figures 1-8 This invention provides a welding equipment for the steel reinforcement cage of a tunnel segment, comprising: A rotating work platform, which has a ring-shaped structure; The steel mesh erection device includes a gantry beam 1, a three-axis transport mechanism, a transport robot, and a positioning mechanism. The gantry beam 1 is erected at the center of the rotating work platform. The three-axis transport mechanism is installed on the top of the gantry beam 1. The transport robot is installed on the three-axis transport mechanism. There are two sets of positioning mechanisms, which are symmetrically installed on the top of the rotating work platform. The welding device includes a linear motion platform and a welding mechanism. The linear motion platform is built in the middle of the rotary work platform, and the welding mechanism is installed on the linear motion platform. A collaborative control system is used to regulate the operation of the overall control device.

[0026] In operation, the pre-treated steel mesh units are first precisely transferred to a circular rotating work platform that matches the specifications of the shield tunnel segment steel cage via a transfer device. Then, the steel mesh assembly device is activated and fixed to the gantry beam 1 at the center of the rotating platform. A three-axis transport mechanism drives a robotic arm to grab the mesh units on the platform and adjust their spatial orientation. Simultaneously, two sets of symmetrically installed positioning mechanisms on the top of the rotating platform clamp the mesh and send accuracy signals to the system to confirm successful positioning. The linear moving platform drives the welding mechanism to move radially, covering the inner and outer ring welding areas of the steel cage through a composite motion of "platform rotation + radial linear movement." Continuous welding of all welding points is completed according to preset current and voltage parameters. During the process, the system monitors the welding parameters and platform rotation speed in real time, adjusting immediately if any deviation occurs. After welding is completed, the positioning mechanism is released, and the three-axis transport mechanism drives the robotic arm to transfer the finished steel cage to the unloading area. The system automatically records production data and triggers equipment self-checks to prepare for the next batch of processing.

[0027] Further optimization of the design: the rotating work platform includes a movable base 2 and an annular sliding track 3. The movable base 2 is equipped with a moving component at its bottom, and the annular sliding track 3 is fixed to the top of the movable base 2.

[0028] The movable component at the bottom of the movable base 2 receives instructions from the collaborative control system, driving the entire platform to complete the horizontal position adjustment, improving the spatial adaptability of the device; the annular sliding track 3 is fixed on the top of the movable base 2, serving as the core load-bearing structure for the rotation operation. Its annular trajectory matches the annular contour of the shield tunnel segment steel cage, providing stable support for the steel mesh and positioning mechanism above, and driving the load-bearing surface on the track to rotate at a uniform speed through the built-in drive component, providing a basis for the "circular motion" of subsequent welding.

[0029] Further optimization of the scheme: the three-axis handling mechanism includes an X-axis linear motor 4, a Y-axis linear motor 5, and a Z-axis linear motor 6. The X-axis linear motor 4 is horizontally fixed on the top of the gantry beam 1, the Y-axis linear motor 5 is mounted on the slide of the X-axis linear motor 4, and the Z-axis linear motor 6 is mounted on the slide of the Y-axis linear motor 5. Among them, the X-axis linear motor 4, the Y-axis linear motor 5, and the Z-axis linear motor 6 are arranged vertically.

[0030] X-axis linear motor 4 is horizontally fixed on the top of the gantry beam 1, and its slide moves along the length of the gantry beam (lateral) to provide lateral displacement for the handling robot. Y-axis linear motor 5 is installed on the X-axis slide, and its slide moves in the direction perpendicular to the X-axis (longitudinal) to realize the longitudinal displacement of the robot. Z-axis linear motor 6 is installed on the Y-axis slide, and its slide moves in the vertical direction (up and down) to complete the height adjustment of the robot. The three are synchronously driven by the pulse signal of the collaborative control system, which can accurately control the seating of the handling robot in three-dimensional space to meet the posture adjustment requirements of the steel mesh.

[0031] The solution is further optimized. The handling robot includes a gripper connecting rod 7, which is fixed on the slide of the Z-axis linear motor 6. The gripper connecting rod 7 has a U-shaped structure. A propulsion mechanism is installed at both ends of the gripper connecting rod 7. A positioning plate 8 is installed on each of the two propulsion mechanisms. A protrusion 9 is fixed on the inner side of the positioning plate 8. A groove is provided on the protrusion 9. The propulsion mechanism includes a fixed housing 10, which is fixed to the end of the gripper connecting rod 7. A gear set 12 and a first screw 11 are mounted on the gripper connecting rod 7. The first screw 11 is rotatably connected to the fixed housing 10. The gear set 12 is fixed to the first screw 11. A first motor 13 is mounted on the fixed housing 10. The first motor 13 and the gear set 12 are in a transmission engagement. A slide plate is slidably connected to one end of the fixed housing 10. A propulsion plate 14 is fixedly connected to the end of the slide plate. A fixing block is fixedly connected to the slide plate. The first screw 11 is threadedly connected to the fixing block.

[0032] The U-shaped gripper connecting rod 7 is fixed on the slide of the Z-axis linear motor 6. The push mechanisms at both ends are symmetrically distributed, which can apply force synchronously from both sides of the mesh. When the push mechanism is working, the first motor 13 drives the gear set 12 to rotate, and the gear set 12 drives the first screw 11 to rotate. Since the first screw 11 is threadedly engaged with the fixing block on the slide plate, the rotation of the screw is converted into the linear sliding of the slide plate along the fixed shell 10, which in turn drives the push plate 14 and the positioning plate 8 to push inward. The protrusion 9 on the inner side of the positioning plate 8 contacts the edge of the mesh. The groove on the protrusion 9 can engage the steel bar nodes of the mesh, realizing the dual fixation of "mechanical limit + node engagement", avoiding the mesh from shifting during gripping. At the same time, the U-shaped structure adapts to the planar shape of the mesh, ensuring uniform gripping force.

[0033] The scheme is further optimized. The positioning mechanism includes a positioning column 15. Several mounting holes are opened vertically at equal intervals on one side of the positioning column 15, and positioning components are installed in the mounting holes. The positioning component includes a telescopic device housing 16, which is fixed in the mounting hole. A second screw 17 is threadedly connected to the telescopic device housing 16. A second motor is fixedly connected to the end of the mounting hole. The second motor and the second screw 17 are axially connected. A telescopic rod 18 is slidably connected to the other end of the telescopic device housing 16. The telescopic rod 18 and the second screw 17 are coaxially threadedly connected. The mounting holes on the two sets of positioning columns 15 are set one-to-one.

[0034] The vertically spaced mounting holes on the positioning posts 15 correspond to different height layers of the steel mesh. Each positioning component is responsible for positioning at the corresponding height. When the positioning components are working, the second motor drives the second screw 17 to rotate. Since the second screw 17 is coaxially threaded with the telescopic rod 18 and the telescopic rod 18 is slidably fitted with the telescopic device housing 16, the rotation of the screw drives the telescopic rod 18 to extend and retract radially. The mounting holes of the two sets of positioning posts 15 correspond one-to-one. When the telescopic rods 18 on both sides extend synchronously, a "clamping force" is formed from the mesh to both sides. This ensures that the center of the mesh coincides with the center of the rotating platform (radial positioning) and also prevents the mesh from warping or shifting due to rotation or vibration during welding by synchronous fixing at multiple height points (vertical layering).

[0035] The scheme is further optimized. The linear moving platform includes a one-way moving ground rail 19, which is built in the middle of the circular sliding track 3.

[0036] The design is further optimized so that the welding mechanism includes a multi-degree-of-freedom welding robotic arm 20 and a welding torch 21. The multi-degree-of-freedom welding robotic arm 20 is fixed on a unidirectional moving ground rail 19, and the welding torch 21 is installed at the end of the multi-degree-of-freedom welding robotic arm 20.

[0037] The multi-degree-of-freedom welding robotic arm 20 is fixed on the unidirectional moving ground rail 19, and the spatial angle of the welding torch 21 (such as elevation angle, depression angle, and rotation angle) can be flexibly adjusted. The collaborative control system synchronously controls the joint rotation of the robotic arm and the linear movement of the ground rail and the circumferential rotation of the rotating platform according to the welding point coordinates of the rebar cage, so that the welding torch 21 is always aligned with the welding node. The welding torch 21 starts welding according to the preset parameters. The flexible adjustment capability of the robotic arm can adapt to the intersection angle of different specifications of rebar, avoiding the "welding dead angle" of the traditional fixed welding torch 21.

[0038] In the description of this invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this invention, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0039] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. A welding equipment for the reinforcing cage of a tunnel segment, characterized in that, include: A rotating work platform, wherein the rotating work platform has a ring-shaped structure; A steel mesh erection device, comprising a gantry beam (1), a three-axis transport mechanism, a transport robot, and a positioning mechanism. The gantry beam (1) is erected at the center of a rotating work platform. The three-axis transport mechanism is installed at the top of the gantry beam (1). The transport robot is installed on the three-axis transport mechanism. Two sets of positioning mechanisms are provided, and the two sets of positioning mechanisms are symmetrically installed on the top of the rotating work platform. A welding device, comprising a linear moving platform and a welding mechanism, wherein the linear moving platform is erected at the middle position of the rotary working platform and the welding mechanism is mounted on the linear moving platform; A collaborative control system is used to regulate the operation of the overall device.

2. The shield tunnel segment reinforcement cage welding equipment according to claim 1, characterized in that, The rotating work platform includes a movable base (2) and an annular sliding track (3). The movable base (2) has a moving component at its bottom, and the annular sliding track (3) is fixed to the top of the movable base (2).

3. The shield tunnel segment reinforcement cage welding equipment according to claim 1, characterized in that, The three-axis conveying mechanism includes an X-axis linear motor (4), a Y-axis linear motor (5), and a Z-axis linear motor (6). The X-axis linear motor (4) is horizontally fixed on the top of the gantry beam (1). The Y-axis linear motor (5) is mounted on the slide of the X-axis linear motor (4). The Z-axis linear motor (6) is mounted on the slide of the Y-axis linear motor (5). The X-axis linear motor (4), the Y-axis linear motor (5), and the Z-axis linear motor (6) are arranged vertically.

4. The shield tunnel segment reinforcement cage welding equipment according to claim 3, characterized in that, The handling robot includes a gripper connecting rod (7), which is fixed on the slide of the Z-axis linear motor (6). The gripper connecting rod (7) has a U-shaped structure. A propulsion mechanism is installed at both ends of the gripper connecting rod (7). A positioning plate (8) is installed on each of the two propulsion mechanisms. A protrusion (9) is fixed on the inner side of the positioning plate (8). A groove is provided on the protrusion (9). The propulsion mechanism includes a fixed housing (10), which is fixed to the end of the gripper connecting rod (7). A gear set (12) and a first screw (11) are mounted on the gripper connecting rod (7). The first screw (11) is rotatably connected to the fixed housing (10). The gear set (12) is fixed to the first screw (11). A first motor (13) is mounted on the fixed housing (10). The first motor (13) is driven by the gear set (12). A sliding plate is slidably connected to one end of the fixed housing (10). A propulsion plate (14) is fixedly connected to the end of the sliding plate. A fixing block is fixedly connected to the sliding plate. The first screw (11) is threadedly connected to the fixing block.

5. The shield tunnel segment reinforcement cage welding equipment according to claim 1, characterized in that, The positioning mechanism includes a positioning column (15), and a plurality of mounting holes are vertically and equally spaced on one side of the positioning column (15), and a positioning component is installed in the mounting holes; The positioning component includes a telescopic device housing (16), which is fixed in the mounting hole. A second screw (17) is threadedly connected to the telescopic device housing (16). A second motor is fixedly connected to the end of the mounting hole. The second motor and the second screw (17) are axially connected. A telescopic rod (18) is slidably connected to the other end of the telescopic device housing (16). The telescopic rod (18) and the second screw (17) are coaxially threadedly connected. The mounting holes on the two sets of positioning columns (15) are set one-to-one.

6. The shield tunnel segment reinforcement cage welding equipment according to claim 2, characterized in that, The linear moving platform includes a unidirectional moving ground rail (19), which is built in the middle of the annular sliding track (3).

7. The shield tunnel segment reinforcement cage welding equipment according to claim 6, characterized in that, The welding mechanism includes a multi-degree-of-freedom welding robot arm (20) and a welding torch (21). The multi-degree-of-freedom welding robot arm (20) is fixed on the unidirectional moving ground rail (19), and the welding torch (21) is installed at the end of the multi-degree-of-freedom welding robot arm (20).

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