An insertion-welding integrated device and welding method for a steel sheet cofferdam

Abstract

The application discloses an insertion and welding integrated equipment for a steel plate cofferdam and a welding method, relates to the technical field of welding, and comprises a multi-shaft mechanical arm, a welding manipulator is installed at the tail end of the multi-shaft mechanical arm, the welding manipulator comprises a mounting plate fixedly connected to the tail end of the multi-shaft mechanical arm, an elastic positioning assembly installed at the bottom of the mounting plate, a cleaning box driven by the elastic positioning assembly, a cleaning assembly installed outside the cleaning box and a welding assembly installed outside the mounting plate, positioning between a horn plate and a supporting cylinder, outside cleaning and drying of the supporting cylinder and an electrode, insertion between the horn plate and the supporting cylinder, welding and fixation of two supporting cylinders and the horn plate and other work are completed, insertion and welding work between multiple horn plates and a water-retaining cofferdam is completed in a semi-automatic manner through cooperation of a vehicle, the multi-shaft mechanical arm, the welding manipulator and other structures, physical labor input of workers is reduced, and workers do not need to work inside the preliminarily formed water-retaining cofferdam.

Description

Technical Field

[0001] This invention relates to the field of welding technology, specifically to an integrated insertion welding device and welding method for steel plate cofferdams. Background Technology

[0002] A steel sheet cofferdam is a temporary water-retaining and soil-retaining structure that uses specially designed steel sheet piles connected together and driven into the soil to form a closed retaining structure. This creates a suitable construction environment for underwater or soft soil foundations. Simply put, a steel sheet cofferdam is like a temporary "steel swimming pool." Construction workers build and seal this "swimming pool" in water or soft soil, then pump out the water, allowing foundation construction to proceed in a dry environment. Once the internal structure is completed and reaches its strength, the steel sheet piles are removed and recycled. Steel sheet cofferdam technology is widely used in bridge piers, port terminals, water conservancy projects, pumping stations, and deep foundation pits for high-rise buildings.

[0003] During the construction of steel sheet cofferdams, after the initial installation of steel sheet piles is completed, multiple horn plates need to be welded and fixed inside the steel sheet cofferdam as installation support points for the walers. However, workers need to go inside the initially formed steel sheet cofferdam to carry out the construction, and the construction position is relatively high. Workers need to perform operations such as positioning, limiting, and welding of the horn plates at a high position, which poses certain safety hazards. In addition, workers need to support the limiting horn plates with one hand and operate the welding equipment with the other hand, which requires a lot of physical exertion. Summary of the Invention

[0004] The purpose of this invention is to provide an integrated insertion and welding device and welding method for steel plate cofferdams, so as to solve the problems raised in the prior art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: an integrated insertion and welding device for steel plate cofferdams, comprising a multi-axis robotic arm, wherein a welding manipulator is mounted at the end of the multi-axis robotic arm, the welding manipulator comprising a mounting plate fixedly connected to the end of the multi-axis robotic arm, an elastic positioning component mounted at the bottom of the mounting plate, a cleaning tank driven by the elastic positioning component, a cleaning component mounted on the outside of the cleaning tank, and a welding component mounted on the outside of the mounting plate, wherein a pneumatic cylinder and a telescopic rod are fixedly inserted through the mounting plate, a clamping component is mounted between the piston ends of the pneumatic cylinder and the telescopic rod, and a pressure sensor is slidably connected to the bottom of the cleaning tank.

[0006] Preferably, the multi-axis robotic arm is equipped with a vehicle, the bottom of the vehicle is provided with a steel trestle, and one side of the steel trestle is provided with multiple steel plate columns, one of which is fixedly connected to two supporting columns, and one end of the supporting columns is fixedly connected with a welding rod.

[0007] Preferably, a material rack is fixedly installed on the top of the vehicle, a water tank is fixedly connected to the rear side of the top of the vehicle, a water pump is fixedly connected to the side of the water tank near the multi-axis robotic arm, a guide pipe is fixedly connected to the outlet of the water pump, and multiple horn plates are provided on the outside of the steel trestle, one of which is clamped and fixed by a clamping component, and the remaining horn plates are all located inside the material rack.

[0008] Preferably, the clamping assembly includes a liquid storage tank fixedly connected between a pneumatic cylinder and the piston end of a telescopic rod, a hydraulic cylinder fixedly connected inside the liquid storage tank, a piston fixedly connected to the piston end of the hydraulic cylinder, and a guide pipe fixedly connected to the outside of the liquid storage tank. An expansion member is fixedly connected to the outside of the guide pipe, and the expansion member is disposed inside an adjacent horn plate.

[0009] Preferably, the welding assembly includes a second pneumatic cylinder fixedly connected to the side of the mounting plate near the liquid storage tank, a first mounting frame fixedly connected to the piston end of the second pneumatic cylinder, a third pneumatic cylinder fixedly connected inside the first mounting frame, a fuel tank fixedly connected to the piston end of the third pneumatic cylinder, and a welding torch fixedly connected to the fuel tank. A second telescopic rod is fixedly connected to the outside of the mounting plate, the piston end of the second telescopic rod is fixedly connected to the first mounting frame, and a third telescopic rod is fixedly connected inside the first mounting frame, the piston end of the third telescopic rod is fixedly connected to the fuel tank.

[0010] Preferably, the elastic positioning component includes a forward and reverse motor fixedly connected to the bottom of the mounting plate, a drive shaft fixedly connected to the output end of the forward and reverse motor, and a second mounting bracket fixedly sleeved on the outside of the drive shaft. A brake is sleeved on the outside of the drive shaft, and the brake is fixedly installed on the bottom of the mounting plate. An inclined groove is opened on one side of the mounting plate.

[0011] Preferably, four dampers are fixedly connected inside the mounting bracket 2. A mounting rod is fixedly connected to the piston end of each damper. One end of the mounting rod is fixedly connected to the cleaning tank. A rubber pad is fixedly connected to the side of the cleaning tank away from the mounting plate. Two spring telescopic rods are fixedly connected to the bottom of the cleaning tank. The piston end of each spring telescopic rod is fixedly connected to a pressure sensor. A hydraulic sensor is fixedly installed on the outside of one of the dampers.

[0012] Preferably, the cleaning assembly includes two mounting brackets three fixedly connected between four mounting rods, a storage box fixedly connected between the two mounting brackets three, and a hot air blower and a water pump two fixedly connected to the outside of the storage box. A solenoid valve is fixedly connected to the outlet end of the water pump two. A guide pipe three is fixedly connected between the solenoid valve and the cleaning box. An impeller is rotatably connected to the side of the cleaning box near the storage box. Two L-shaped plates are fixedly connected to the outside of the cleaning box. A drive motor is fixedly connected between the two L-shaped plates. The output end of the drive motor is fixedly connected to the impeller. A one-way valve is fixedly connected to the outside of the storage box. The one-way valve is fixedly connected to a guide pipe five.

[0013] Preferably, both L-shaped plates are fixedly connected to a fixed short plate, and a flow guide box is fixedly connected between the two fixed short plates. The flow guide box is rotatably connected to the impeller. An electric push rod is installed inside the flow guide box. The electric push rod is fixedly connected to the impeller. A mounting bracket four is fixedly connected to the piston end of the electric push rod. Multiple blocking rods are fixedly connected to the outside of the mounting bracket four. Multiple exhaust holes are opened on one side of the impeller. The blocking rods correspond one-to-one with the exhaust holes. A flow guide pipe four is fixedly connected between the air outlet end of the hot air blower and the flow guide box.

[0014] The welding method includes the following steps: Step 1: Place multiple horn-shaped plates inside the material rack and fill the water storage tank with water; Step 2: The multi-axis robotic arm works, the mounting plate moves, the expansion component is inserted into the horn plate, the hydraulic cylinder works, the expansion component expands, the friction between the expansion component and the outer horn plate increases, and the clamping component of the welding robotic arm clamps the horn plate. Step 3: The multi-axis robotic arm drives the welding robot to move, and the fifth guide pipe moves to insert into the water pump. The water pump works to draw water from the water tank and then transports it to the storage tank through the first guide pipe, the fifth guide pipe and the one-way valve, completing the water replenishment work inside the storage tank. Step 4: The multi-axis robotic arm operates, causing the welding robot to move. The forward and reverse motors operate, and the cleaning tank rotates to the bottom of the mounting plate, entering a state parallel to the mounting plate. The cleaning tank moves towards the steel plate column. The hydraulic sensor detects the change in hydraulic pressure inside the damper. The human-machine interface device receiving feedback from the hydraulic sensor controls the multi-axis robotic arm to stop working and drive the cleaning tank to move towards the steel plate column. It controls the welding robot to move vertically downward. After the pressure sensor moves down and contacts the supporting column, the pressure sensor detects the change in pressure. The human-machine interface device receiving feedback from the pressure sensor controls the multi-axis robotic arm to pause working. Step 5: Water pump 2 starts working, supplying water into the cleaning chamber, and the drive motor drives the impeller to rotate. The impeller rotates and agitates the water inside the cleaning tank. Step Six: Make the cleaning box and rubber pad and steel plate column form the cleaning chamber again. Control the electric push rod to push the mounting bracket to move. The blocking rod leaves the inside of the exhaust hole. The hot air blower delivers high-temperature gas into the box through the guide pipe. The exhaust hole pressurizes the high-temperature gas. The drive motor drives the impeller to rotate, so that the high-temperature gas forms a high-speed vortex inside the cleaning chamber. Step 7: The multi-axis robotic arm drives the welding robot to move vertically downwards, and the pneumatic cylinder 1 works to push the liquid storage tank towards the steel plate column, and the horn plate is fitted onto the outside of the two supporting cylinders; Step 8: The second pressure cylinder moves the first mounting frame, fuel tank and welding torch downwards. The third control cylinder pushes the welding torch closer to the welding rod. The welding torch melts the welding rod. The first hydraulic cylinder retracts, and the welding robot is removed from the horn plate. The forward and reverse motors rotate the second mounting frame, storage box, hot air blower, cleaning box and other structures to an angle above the mounting plate. The welding robot moves upwards. The multi-axis robotic arm and the welding robot work together to drive the welding torch to melt the welding rod fixed to another supporting cylinder, completing the welding and fixing work between the horn plate and the steel plate column. Step 9: The multi-axis robotic arm drives the welding robot arm to move upward, and the welding robot arm returns to its initial state. Step 10: Repeat steps 2, 3, 4, 5, 6, 7, 8, and 9.

[0015] Compared with the prior art, the beneficial effects of the present invention are: 1. When this application is used, by installing a structurally designed welding robot at the end of a multi-axis robotic arm, the positioning between the horn plate and the supporting column, the cleaning and drying of the outside of the supporting column and the welding rod, the insertion of the horn plate and the supporting column, and the welding and fixing of the two supporting columns and the horn plate can be completed quickly. Through the cooperation of vehicles, multi-axis robotic arms, welding robots and other structures, the insertion and welding of multiple horn plates and water-retaining cofferdams can be completed in a semi-automatic manner. There is no need for workers to hold the limiting horn plate with one hand and operate the welding equipment with the other hand to weld and fix the horn plate, which reduces the physical labor input of workers and eliminates the need for workers to carry out construction inside the initially formed water-retaining cofferdam.

[0016] 2. When using this application, the welding robot maintains its current state and completes the automatic positioning between the welding robot and the supporting column. At this time, the steel plate column, cleaning box, and rubber pad cooperate to form a cleaning chamber that seals the supporting column and welding rod. The impeller rotation causes the water inside the cleaning chamber to move at high speed, which has the effect of cleaning the outside of the supporting column and welding rod. During the welding process of the welding robot fixing the horn plate to the steel plate column, the position where the horn plate is installed on the steel plate column, the outside of the supporting column, and the outside of the welding rod are cleaned to prevent dust and dirt on the steel plate column, supporting column, and outside of the welding rod from affecting the welding effect. After the drive motor has been working for a period of time, it controls the multi-axis robotic arm to move the welding robot away from the steel plate column, and the water inside the cleaning chamber is discharged, completing one cleaning operation. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a schematic diagram of the welding robot of the present invention; Figure 3 for Figure 2 Enlarged view of the structure at point C; Figure 4 for Figure 2Enlarged view of the structure at point B; Figure 5 This is a schematic diagram of the mounting plate of the present invention; Figure 6 for Figure 5 Enlarged view of the structure at point A; Figure 7 This is a schematic diagram of the storage box of the present invention; Figure 8 This is a cross-sectional view of the liquid storage tank of the present invention; Figure 9 This is a schematic diagram of the cleaning tank of the present invention; Figure 10 This is a schematic diagram of the structure of the fuel tank of the present invention; Figure 11 This is a schematic diagram of the structure of the flow guide tube four of the present invention; Figure 12 This is a schematic diagram of the flow guide box of the present invention; Figure 13 This is a schematic diagram of the separation structure of the guide box and the impeller of the present invention.

[0018] Numbered in the diagram: 1. Steel trestle; 2. Vehicle; 3. Loading rack; 4. Horn plate; 5. Water tank; 6. Water pump 1; 7. Flow guide pipe 1; 8. Multi-axis robotic arm; 9. Welding robot; 91. Mounting plate; 92. Pneumatic cylinder 1; 93. Telescopic rod 1; 94. Liquid storage tank; 95. Hydraulic cylinder 1; 96. Piston; 97. Flow guide pipe 2; 98. Expansion component; 99. Pneumatic cylinder 2; 910. Telescopic rod 2; 911. Mounting frame 1; 912. Pneumatic cylinder 3; 913. Telescopic rod 3; 914. Fuel tank; 915. Welding torch; 916. Inclined chute; 917. Forward and reverse motor; 918. Drive shaft; 919. Brake; 920. Mounting frame 2; 921. Damping. 922. Cleaning tank; 923. Impeller; 924. L-shaped plate; 925. Drive motor; 926. Rubber pad; 927. Pressure sensor; 928. Spring telescopic rod; 929. Mounting rod; 930. Mounting bracket three; 931. Storage tank; 932. Water pump two; 933. Solenoid valve; 934. Guide pipe three; 935. Hot air blower; 936. Guide pipe four; 937. Guide box; 938. Mounting bracket four; 939. Blocking rod; 940. Electric push rod; 941. Exhaust port; 942. Fixing short plate; 943. Check valve; 944. Guide pipe five; 945. Hydraulic sensor; 10. Steel plate column; 11. Supporting column; 12. Welding rod. Detailed Implementation

[0019] 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.

[0020] Example: Figures 1-13 As shown, this invention provides a technical solution for an integrated insertion welding device for steel plate cofferdams. A vehicle 2 is installed on the top of a steel trestle 1, and a multi-axis robotic arm 8 is mounted on the top of the vehicle 2. A welding robot 9 is installed at the end of the multi-axis robotic arm 8. The welding robot 9 includes a mounting plate 91 fixedly connected to the end of the multi-axis robotic arm 8, an elastic positioning component mounted at the bottom of the mounting plate 91, a cleaning tank 922 driven by the elastic positioning component, a cleaning component mounted on the outside of the cleaning tank 922, and a welding component mounted on the outside of the mounting plate 91. A pneumatic cylinder 92 and a telescopic rod 93 are fixedly inserted through the mounting plate 91. A clamping component is installed between the piston ends of the pneumatic cylinder 92 and the telescopic rod 93. A pressure sensor 927 is slidably connected to the bottom of the cleaning tank 922. The integrated insertion welding device is composed of the vehicle 2, the multi-axis robotic arm 8, and the welding robot 9. Connecting the integrated insertion welding device to a human-machine interface to control its operation is an existing technology and will not be described in detail here.

[0021] According to the requirements of the waler construction, some steel plate columns 10 are formed with two supporting columns 11. One end of the supporting column 11 is fixedly connected with a welding rod 12. Multiple steel plate columns 10 are constructed and installed in the water area in advance to form a water-retaining cofferdam.

[0022] Multiple horn-shaped plates 4 were welded inside the water-retaining cofferdam using an integrated insertion welding device. The welding method is as follows: Step 1: Place multiple horn plates 4 inside the material rack 3 fixedly installed on the top of vehicle 2. The number of material racks 3 and horn plates 4 is set according to construction needs. A water storage tank 5 is fixedly connected to the rear of the top of vehicle 2. A water inlet valve is fixedly installed on the top of the water storage tank 5. Water is stored in the water storage tank 5 through the water inlet valve. The preparation work for welding horn plates 4 is completed. The staff drives vehicle 2 to transport the integrated welding equipment to one side of a steel plate column 10 that needs to be welded with horn plates 4.

[0023] Step 2: Control the multi-axis robotic arm 8 to work. The multi-axis robotic arm 8 drives the mounting plate 91, which is fixedly connected to the execution end, to move. The piston ends of the pneumatic cylinder 92 and the telescopic rod 93, which are fixedly installed on the mounting plate 91, are both fixedly connected to the liquid storage tank 94 in the clamping assembly. An expansion member 98 is fixedly connected to the outside of the guide pipe 97, which is fixedly connected to one end of the liquid storage tank 94. The multi-axis robotic arm 8 controls the movement of the clamping assembly in the welding robot 9. When the expansion member 98 is aligned with the inside of a horn plate 4, the multi-axis robotic arm 8 controls the movement of the guide pipe 97 to insert the expansion member 98 into the horn plate. 4. Inside; then, the hydraulic cylinder 95 fixedly connected inside the liquid storage tank 94 is operated. The piston 96 fixedly connected to the piston end of the hydraulic cylinder 95 moves inside the liquid storage tank 94. The hydraulic pressure inside the liquid storage tank 94 and the guide pipe 97 connected to the liquid storage tank 94, as well as the expansion member 98 fixedly connected to the outside of the guide pipe 97, increases. The expansion member 98 expands. As the expansion member 98 expands, the friction between the expansion member 98 and the outer horn plate 4 increases. After the hydraulic cylinder 95 finishes working, the clamping and fixing work of the clamping component in the welding robot 9 on a horn plate 4 is completed.

[0024] Step 3: Control the multi-axis robotic arm 8 to drive the welding robot 9 to move. This causes the one-way valve 943, which is fixedly connected to the outside of the storage tank 931 in the welding robot 9, to move towards the water tank 5. The guide pipe 944, which is fixedly connected to the one-way valve 943, moves towards the water tank 5. A water pump 6 is fixedly connected to the side of the water tank 5 near the multi-axis robotic arm 8. A guide pipe 7 is fixedly connected to the outlet of the water pump 6. After the guide pipe 944 moves and inserts into the water pump 6, the multi-axis robotic arm 8 stops working. The water pump 6 then draws water from the water tank 5 and delivers it to the storage tank 931 through the guide pipe 7, the guide pipe 944, and the one-way valve 943, completing the water replenishment work inside the storage tank 931. Due to the one-way conduction characteristic of the one-way valve 943, the water inside the storage tank 931 will not flow out during the operation of the welding robot 9.

[0025] Step Four: After controlling the multi-axis robotic arm 8 to move the welding robot 9 to the side of the steel plate column 10 away from the vehicle 2, the forward and reverse motor 917, which is fixedly installed at the bottom of the mounting plate 91 in the elastic positioning assembly, is controlled to operate. The transmission shaft 918 fixedly connected to the output end of the forward and reverse motor 917 and the mounting bracket 920 fixedly sleeved on the outside of the transmission shaft 918 rotate. The four dampers 921 fixedly connected inside the mounting bracket 920 rotate. The four mounting rods 929 fixedly connected to the piston ends of the four dampers 921 and the cleaning tank 922 fixedly connected between the four mounting rods 929 rotate, causing the cleaning tank 922 to rotate to the bottom of the mounting plate 91. The cleaning tank 922 enters a state parallel to the mounting plate 91, such as... Figure 2 As shown.

[0026] After the cleaning box 922 is adjusted, the brake 919 sleeved on the outside of the control drive shaft 918 is activated. The brake 919, which is fixedly installed at the bottom of the mounting plate 91, brakes the drive shaft 918, and the mounting bracket 920 is braked.

[0027] Subsequently, the multi-axis robotic arm 8 controls the welding robot 9 to move, and the cleaning box 922 moves towards the steel plate column 10. When the rubber pad 926 fixedly connected to the side of the cleaning box 922 away from the mounting plate 91 is pressed against the steel plate column 10, as the cleaning box 922 is subjected to force, the cleaning box 922 transmits the force to the damper 921 through the mounting rod 929. The damper 921 contracts. A hydraulic sensor 945 is fixedly installed on the outside of one of the dampers 921. The hydraulic sensor 945 detects the change in hydraulic pressure inside the damper 921. The human-machine interface device that receives the feedback from the hydraulic sensor 945 controls the multi-axis robotic arm 8 to stop working and drive the cleaning box 922 to move towards the steel plate column 10. At this time, the multi-axis robotic arm 8 controls the welding robot 9 to move vertically downward. Furthermore, since two spring telescopic rods 928 are fixedly connected to the bottom of the cleaning tank 922, and a pressure sensor 927 is fixedly connected between the piston ends of the two spring telescopic rods 928, the pressure sensor 927 can move away from the steel plate column 10 after being subjected to force during the movement of the cleaning tank 922 toward the steel plate column 10, and the operation of the pressure sensor 927 will not be obstructed by the steel plate column 10.

[0028] During the vertical downward movement of the cleaning tank 922, the pressure sensor 927 is located at the bottom. After the pressure sensor 927 moves down and contacts the support cylinder 11, the pressure sensor 927 detects the pressure change. The human-machine interface device that receives the feedback from the pressure sensor 927 controls the multi-axis robotic arm 8 to pause its work and automatically completes the initial positioning work between the welding robot 9 and the support cylinder 11.

[0029] Subsequently, the multi-axis robotic arm 8 first controls the welding robot 9 to move the cleaning tank 922 away from the steel plate column 10. After the pressure sensor 927 is no longer blocked by the supporting column 11, the multi-axis robotic arm 8 then controls the welding robot 9 to move down a certain distance, and the cleaning tank 922 to move down a certain distance. Then, the multi-axis robotic arm 8 controls the welding robot 9 to move towards the steel plate column 10, and the cleaning tank 922 moves towards the steel plate column 10 to cover the two supporting columns 11. The deformation of the rubber pad 926 ensures the sealing between the cleaning tank 922 and the steel plate column 10. When the hydraulic pressure fed back by the hydraulic sensor 945 reaches the preset value, the human-machine interface device controls the multi-axis robotic arm 8 to stop working, and the welding robot 9 maintains its current state, completing the automatic positioning work between the welding robot 9 and the supporting column 11. At this time, the steel plate column 10, the cleaning tank 922, and the rubber pad 926 cooperate to form a cleaning chamber that seals the supporting column 11 and the welding rod 12.

[0030] Step 5: Two mounting brackets 930 are fixedly connected between the four mounting rods 929. The relative positions of the storage box 931 and the cleaning box 922, which are fixedly connected between the two mounting brackets 930, remain unchanged. The relative positions of the water pump 932 and the cleaning box 922 also remain unchanged.

[0031] The second water pump 932 in the control cleaning assembly operates, drawing water from the storage tank 931, which is fixedly connected to one side. Since a guide pipe 934 is fixedly connected between the solenoid valve 933, which is fixedly connected to the outlet of the second water pump 932, and the cleaning tank 922, the second water pump 932 supplies water to the cleaning chamber through the solenoid valve 933 and the guide pipe 934. After the second water pump 932 has been operating for a period of time, the drive motor 925, which is fixedly connected to the outside of the cleaning tank 922 via two L-shaped plates 924, is activated. An impeller 923 is rotatably connected to the side of the cleaning tank 922 closest to the storage tank 931. The output end of the drive motor 925 is fixedly connected to the impeller 923, so the drive motor 925 drives the impeller... The impeller 923 rotates and agitates the water inside the cleaning tank 922. The rotation of the impeller 923 causes the water inside the cleaning chamber to move at high speed, effectively cleaning the outer side of the supporting cylinder 11 and the welding rod 12. During the welding robot 9's welding and fixing of the horn plate 4 to the steel plate column 10, the position where the horn plate 4 is installed on the steel plate column 10, the outer side of the supporting cylinder 11, and the outer side of the welding rod 12 are cleaned to prevent dust and sludge from affecting the welding effect on the steel plate column 10, the supporting cylinder 11, and the outer side of the welding rod 12. After the drive motor 925 has been working for a period of time, it controls the multi-axis robotic arm 8 to move the welding robot 9 away from the steel plate column 10, and the water inside the cleaning chamber is discharged, completing one cleaning operation.

[0032] After performing multiple cleaning operations using the above method, the preparation work for welding the horn plate 4 is completed.

[0033] Step Six: After the final cleaning operation is completed, the multi-axis robotic arm 8 is controlled to push the welding robot 9 so that the cleaning box 922, rubber pad 926, and steel plate column 10 re-form the cleaning chamber; and both L-shaped plates 924 are fixedly connected to fixed short plates 942, and the guide box 937 fixedly connected between the two fixed short plates 942 is rotatably connected to the impeller 923. The electric push rod 940 set inside the guide box 937 is fixedly connected to the impeller 923, and the axis of the guide box 937 and the axis of the impeller 923 are both... Since they are on the same horizontal line, the impeller 923 and the electric push rod 940 fixedly connected to the impeller 923 rotate synchronously without being affected by the guide box 937. Multiple blocking rods 939 are fixedly connected to the outside of the mounting bracket 938 fixedly connected to the piston end of the electric push rod 940. Multiple exhaust holes 941 are opened on one side of the impeller 923. The blocking rods 939 and exhaust holes 941 correspond one-to-one, and one end of the blocking rod 939 is inserted into the exhaust hole 941. Therefore, the cleaning chamber remains sealed when the blocking rods 939 are not moving.

[0034] After the cleaning chamber 922 and rubber pad 926 re-form the cleaning chamber with the steel plate column 10, the electric push rod 940 is controlled to push the mounting bracket 938 to move away from the impeller 923 inside the guide box 937. After the blocking rod 939 leaves the exhaust port 941, the cleaning chamber and the inside of the guide box 937 are connected through multiple exhaust ports 941. Then, the hot air blower 935 fixedly connected to the outside of the storage box 931 is controlled to work. The hot air blower 935 and the guide box 937 are fixedly connected by a guide pipe 936. The hot air blower 935 delivers high-temperature gas into the guide box 937 through the guide pipe 936. Since the combined area of ​​the inner diameter cross-sections of the multiple exhaust ports 941 is much smaller than the cross-sectional area of ​​the connection between the guide pipe 936 and the guide box 937, the hot air blower 935 delivers high-temperature gas into the guide box 937. Therefore, during the process of multiple exhaust holes 941 guiding air into the cleaning chamber, the exhaust holes 941 play a role in pressurizing the high-temperature gas. As the high-temperature airflow enters the cleaning chamber, the drive motor 925 drives the impeller 923 to rotate, causing the high-temperature gas to form a high-speed vortex inside the cleaning chamber, which dries the outer side of the support cylinder 11 and the welding rod 12. After a period of time, the multi-axis robotic arm 8 works to drive the welding robot 9 to move horizontally, moving the cleaning box 922 away from the steel plate column 10. The moisture inside the cleaning box 922 is discharged, and the hot air blower 935 works to send air into the cleaning box 922, accelerating the removal speed of moisture inside the cleaning box 922, moisture on the outer side of the support cylinder 11, and moisture on the outer side of the welding rod 12, thus completing one drying operation of the support cylinder 11 and the welding rod 12.

[0035] The outer sides of the supporting column 11 and the welding rod 12 are dried repeatedly using the above method to prevent water droplets from remaining on the outer side of the welding rod 12, ensuring the effect of the welding rod 12 after melting and solidification, and ensuring the firmness of the welding fixation between the horn plate 4 and the steel plate column 10.

[0036] Step 7: The relative positions of the pressure sensor 927 and the clamped horn plate 4 in the vertical direction remain unchanged, and the relative positions of the cleaning tank 922 and the clamped horn plate 4 in the vertical direction remain unchanged. Therefore, when the automatic positioning work between the welding robot 9 and the supporting cylinder 11 in step 4 is completed, the automatic positioning work between the horn plate 4 and the supporting cylinder 11 is completed.

[0037] After the drying work on the outside of the supporting cylinder 11 and the welding rod 12 is completed, the multi-axis robotic arm 8 drives the welding robot 9 to move vertically downward. When the horn plate 4 is aligned with the two supporting cylinders 11, the control pneumatic cylinder 92 is activated to push the liquid storage tank 94 toward the steel plate column 10. The horn plate 4 moves toward the outside of the two supporting cylinders 11. After the horn plate 4 is fitted onto the outside of the two supporting cylinders 11, the movement of the horn plate 4 is blocked by the steel plate column 10. According to the change in the internal pressure of the pneumatic cylinder 92, the human-machine interface device controls the pneumatic cylinder 92 to stop working, completing the insertion work of the horn plate 4 and the steel plate column 10, and inserting the horn plate 4 into the welding position.

[0038] Step 8: Control the operation of the welding assembly. The liquid storage tank 94 in the welding assembly is fixedly installed on the mounting plate 91 near the liquid storage tank 94. A telescopic rod 910 is fixedly connected to the outside of the mounting plate 91. A mounting bracket 911 is fixedly connected between the piston end of the pneumatic cylinder 99 and the piston end of the telescopic rod 910. The mounting bracket 911 is controlled by the pneumatic cylinder 99 to move up and down. A pneumatic cylinder 912 and a telescopic rod 913 are fixedly connected inside the mounting bracket 911. The piston ends of both the pneumatic cylinder 912 and the telescopic rod 913 are fixedly connected to the fuel tank 914 to store fuel. The fuel tank 914 can move horizontally, and the welding torch 915, which is fixedly connected to the fuel tank 914, moves synchronously. The control cylinder 2 99 works to drive the mounting bracket 1 911, the fuel tank 914 and the welding torch 915 to move down. Since the relative position between the welding torch 915 and the liquid storage tank 94 is preset, after the welding torch 915 moves down, it aligns with one of the welding rods 12. Then, the control cylinder 3 912 works to push the welding torch 915 to work closer to the welding rod 12. The welding torch 915 melts the welding rod 12. After the welding rod 12 solidifies, it fixes the support cylinder 11 and the horn plate 4 together. Subsequently, hydraulic cylinder 95 retracts, piston 96 moves away from guide pipe 97, hydraulic pressure inside guide pipe 97 decreases, expansion component 98 retracts, and welding robot 9 is removed from the fixing between the horn plate 4 and the expansion joint 98. Then, the forward and reverse motor 917 is controlled to reverse, and a slanted groove 916 is provided on one side of the mounting plate 91 to provide space for the movement of mounting frame 920. The forward and reverse motor 917 rotates the mounting frame 920, storage box 931, hot air blower 935, cleaning box 922 and other structures to the upper side of the mounting plate 91. At this time, the vertical movement path of cleaning box 922 and storage box 931 is offset from the position of horn plate 4. At this time, the multi-axis robotic arm 8 is controlled to drive the welding robot 9 to move upward, so that expansion component 98 leaves the inside of horn plate 4. Then, the welding torch 915 is driven by the multi-axis robotic arm 8 and welding robot 9 to melt the welding rod 12 fixedly installed on another supporting cylinder 11, thus completing the welding and fixing work between horn plate 4 and steel plate column 10.

[0039] Step 9: The multi-axis robotic arm 8 drives the welding robot 9 to move upward, and the welding robot 9 returns to its initial working state.

[0040] Step 10: Repeat steps 2, 3, 4, 5, 6, 7, 8, and 9. Semi-automatically, multiple horn-shaped plates 4 supporting the walers are welded and fixed inside the cofferdam composed of multiple steel plate columns 10. By installing a structurally designed welding robot 9 at the end of the multi-axis robotic arm 8, the work of positioning the horn-shaped plates 4 between the horn-shaped plates 4 and the supporting columns 11, cleaning and drying the outer sides of the supporting columns 11 and welding rods 12, inserting the horn-shaped plates 4 into the supporting columns 11, and welding and fixing the two supporting columns 11 to the horn-shaped plates 4 can be completed quickly. Through the coordinated structure of the vehicle 2, the multi-axis robotic arm 8, and the welding robot 9, the insertion and welding of multiple horn-shaped plates 4 into the cofferdam is completed semi-automatically. This eliminates the need for workers to support and limit the horn-shaped plates 4 with one hand while operating the welding equipment with the other, reducing physical exertion and eliminating the need for workers to work inside the initially formed cofferdam, thus reducing safety hazards.

[0041] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. An integrated insertion and welding device for steel plate cofferdams, comprising a multi-axis robotic arm (8), characterized in that: The multi-axis robotic arm (8) is equipped with a welding manipulator (9) at its end. The welding manipulator (9) includes a mounting plate (91) fixedly connected to the end of the multi-axis robotic arm (8), an elastic positioning component installed at the bottom of the mounting plate (91), a cleaning tank (922) driven by the elastic positioning component, a cleaning component installed on the outside of the cleaning tank (922), and a welding component installed on the outside of the mounting plate (91). A pneumatic cylinder (92) and a telescopic rod (93) are fixedly inserted on the mounting plate (91). A clamping component is installed between the piston ends of the pneumatic cylinder (92) and the telescopic rod (93). A pressure sensor (927) is slidably connected to the bottom of the cleaning tank (922). The elastic positioning assembly includes a forward and reverse motor (917) fixedly connected to the bottom of the mounting plate (91), a transmission shaft (918) fixedly connected to the output end of the forward and reverse motor (917), and a second mounting bracket (920) fixedly sleeved on the outside of the transmission shaft (918). A brake (919) is sleeved on the outside of the transmission shaft (918). The brake (919) is fixedly installed on the bottom of the mounting plate (91). A slanted groove (916) is opened on one side of the mounting plate (91). The mounting bracket 2 (920) has four dampers (921) fixedly connected inside. The piston end of the damper (921) is fixedly connected to a mounting rod (929). One end of the mounting rod (929) is fixedly connected to the cleaning tank (922). A rubber pad (926) is fixedly connected to the side of the cleaning tank (922) away from the mounting plate (91). Two spring telescopic rods (928) are fixedly connected to the bottom of the cleaning tank (922). The piston end of the spring telescopic rod (928) is fixedly connected to a pressure sensor (927). A hydraulic sensor (945) is fixedly installed on the outside of one of the dampers (921). The cleaning assembly includes two mounting brackets (930) fixedly connected between four mounting rods (929), a storage tank (931) fixedly connected between the two mounting brackets (930), and a hot air blower (935) and a water pump (932) fixedly connected to the outside of the storage tank (931). A solenoid valve (933) is fixedly connected to the outlet of the water pump (932), and a guide pipe (934) is fixedly connected between the solenoid valve (933) and the cleaning tank (922). An impeller (923) is rotatably connected to the side of the cleaning tank (922) near the storage tank (931). Two L-shaped plates (924) are fixedly connected to the outside of the cleaning tank (922). A drive motor (925) is fixedly connected between the two L-shaped plates (924). The output end of the drive motor (925) is fixedly connected to the impeller (923). A one-way valve (943) is fixedly connected to the outside of the storage tank (931). The one-way valve (943) is fixedly connected to a guide pipe (944). Both L-shaped plates (924) are fixedly connected to fixed short plates (942), and a flow guide box (937) is fixedly connected between the two fixed short plates (942). The flow guide box (937) is rotatably connected to the impeller (923). An electric push rod (940) is provided inside the flow guide box (937). The electric push rod (940) is fixedly connected to the impeller (923). A mounting bracket four (938) is fixedly connected to the piston end of the electric push rod (940). Multiple blocking rods (939) are fixedly connected to the outside of the mounting bracket four (938). Multiple exhaust holes (941) are opened on one side of the impeller (923). The blocking rods (939) and exhaust holes (941) correspond one-to-one. A flow guide pipe four (936) is fixedly connected between the air outlet end of the hot air blower (935) and the flow guide box (937).

2. The integrated insertion and welding equipment for steel plate cofferdams according to claim 1, characterized in that: The multi-axis robotic arm (8) is equipped with a vehicle (2), and a steel trestle (1) is provided at the bottom of the vehicle (2). Multiple steel plate columns (10) are provided on one side of the steel trestle (1), and two supporting columns (11) are fixedly connected to one side of one of the steel plate columns (10). A welding rod (12) is fixedly connected to one end of the supporting column (11).

3. The integrated insertion and welding equipment for steel plate cofferdams according to claim 2, characterized in that: The vehicle (2) is fixedly equipped with a material rack (3) on the top. A water tank (5) is fixedly connected to the rear side of the top of the vehicle (2). A water pump (6) is fixedly connected to the side of the water tank (5) near the multi-axis robotic arm (8). A guide pipe (7) is fixedly connected to the outlet end of the water pump (6). Multiple horn plates (4) are provided on the outside of the steel trestle (1). One of the horn plates (4) is clamped and fixed by a clamping component. The remaining horn plates (4) are all located inside the material rack (3).

4. The integrated insertion and welding equipment for steel plate cofferdams according to claim 1, characterized in that: The clamping assembly includes a liquid storage tank (94) fixedly connected between the piston end of a pneumatic cylinder (92) and a telescopic rod (93), a hydraulic cylinder (95) fixedly connected inside the liquid storage tank (94), a piston (96) fixedly connected to the piston end of the hydraulic cylinder (95), and a guide pipe (97) fixedly connected to the outside of the liquid storage tank (94). An expansion member (98) is fixedly connected to the outside of the guide pipe (97), and the expansion member (98) is disposed inside an adjacent horn plate (4).

5. The integrated insertion and welding equipment for steel plate cofferdams according to claim 1, characterized in that: The welding assembly includes a second pneumatic cylinder (99) fixedly connected to the side of the mounting plate (91) near the liquid storage tank (94), a first mounting bracket (911) fixedly connected to the piston end of the second pneumatic cylinder (99), a third pneumatic cylinder (912) fixedly connected inside the first mounting bracket (911), a fuel tank (914) fixedly connected to the piston end of the third pneumatic cylinder (912), and a welding torch (915) fixedly connected to the fuel tank (914). A second telescopic rod (910) is fixedly connected to the outside of the mounting plate (91), the piston end of the second telescopic rod (910) is fixedly connected to the first mounting bracket (911), a third telescopic rod (913) is fixedly connected inside the first mounting bracket (911), and the piston end of the third telescopic rod (913) is fixedly connected to the fuel tank (914).

6. A welding method applicable to an integrated insertion welding device for steel plate cofferdams as described in any one of claims 1-5, characterized in that: Includes the following steps: Step 1: Place multiple horn-shaped plates (4) inside the material rack (3) and fill the water tank (5) with water; Step 2: The multi-axis robotic arm (8) works, the mounting plate (91) moves, the expansion component (98) is inserted into the inside of the horn plate (4), the hydraulic cylinder (95) works, the expansion component (98) expands, the friction between the expansion component (98) and the outer horn plate (4) increases, and the clamping component in the welding robot (9) clamps and fixes a horn plate (4) to the outside. Step 3: The multi-axis robotic arm (8) drives the welding robot (9) to move, and the guide pipe five (944) moves to insert into the water pump one (6). The water pump one (6) works to draw water from the water storage tank (5) and then transports it to the storage tank (931) through the guide pipe one (7), the guide pipe five (944) and the one-way valve (943), thus completing the water replenishment work inside the storage tank (931). Step 4: The multi-axis robotic arm (8) works, causing the welding robot (9) to move. The forward and reverse motors (917) work, and the cleaning tank (922) rotates to the bottom of the mounting plate (91). The cleaning tank (922) enters a state parallel to the mounting plate (91). The cleaning tank (922) moves towards the steel plate column (10). The hydraulic sensor (945) detects the hydraulic change inside the damper (921). The human-machine interface device that receives feedback from the hydraulic sensor (945) controls the multi-axis robotic arm (8) to stop working and drive the cleaning tank (922) to move towards the steel plate column (10). The welding robot (9) is controlled to move vertically downward. After the pressure sensor (927) moves down and contacts the supporting cylinder (11), the pressure sensor (927) detects the pressure change. The human-machine interface device that receives feedback from the pressure sensor (927) controls the multi-axis robotic arm (8) to pause working. Step 5: Water pump 2 (932) works to supply water into the cleaning chamber, and drive motor (925) drives impeller (923) to rotate. The impeller (923) rotates and agitates the water inside the cleaning tank (922). Step 6: Make the cleaning box (922) and rubber pad (926) and steel plate column (10) form the cleaning chamber again. Control the electric push rod (940) to push the four mounting brackets (938) to move. The blocking rod (939) leaves the inside of the exhaust hole (941). The hot air blower (935) delivers high-temperature gas to the inside of the flow box (937) through the four guide pipes (936). The exhaust hole (941) plays a role in pressurizing the high-temperature gas. The drive motor (925) drives the impeller (923) to rotate, so that the high-temperature gas forms a high-speed vortex inside the cleaning chamber. Step 7: The multi-axis robotic arm (8) drives the welding robot (9) to move vertically downward, the pneumatic cylinder (92) works to push the liquid storage tank (94) to move towards the steel plate column (10), and the horn plate (4) is fitted onto the outside of the two supporting cylinders (11); Step 8: The second pressure cylinder (99) moves the first mounting frame (911), fuel tank (914) and welding torch (915) downwards. The third control cylinder (912) pushes the welding torch (915) closer to the welding rod (12). The welding torch (915) melts the welding rod (12). The first hydraulic cylinder (95) retracts. The welding robot (9) is removed from the fixed position between the horn plate (4). The forward and reverse motor (917) rotates the second mounting frame (920), storage box (931), hot air blower (935), cleaning box (922) and other structures to the upper side of the mounting plate (91). The welding robot (9) moves upwards. The multi-axis robot arm (8) and the welding robot (9) work together to drive the welding torch (915) to melt the welding rod (12) fixedly installed on another support cylinder (11), completing the welding and fixing work between the horn plate (4) and the steel plate column (10). Step 9: The multi-axis robotic arm (8) drives the welding robot (9) to move upward, and the welding robot (9) returns to its initial working state; Step 10: Repeat steps 2, 3, 4, 5, 6, 7, 8, and 9.

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