A circular automatic welding production line for shield tunnel segment reinforcement cages

Abstract

This invention discloses a circular automatic welding production line for shield tunnel segment reinforcement cages, comprising: a frame; a feeding module for pushing the main reinforcing bars to move horizontally along an arc and inserting them into the stirrups; a main reinforcing bar welding module for positioning the stirrups and welding them to the main reinforcing bars to form the reinforcement cage; a capping bar welding module for welding capping bars at the ends of the reinforcement cage; a transfer module for removing the reinforcement cage from the frame; and a station transfer module for moving the reinforcement cage between the main reinforcing bar welding module, the capping bar welding module, and the transfer module. Compared with existing technologies, this invention solves the problems of low welding efficiency and poor welding quality of shield tunnel segment reinforcement cages.

Description

Technical Field

[0001] This invention relates to the field of welding system technology, and in particular to a circular automatic welding production line for shield tunnel segment reinforcement cages. Background Technology

[0002] Tunnel concrete segments are arc-shaped lining components that can be assembled into a complete ring structure. During tunnel construction, the concrete segments are rapidly assembled to form a complete support structure as the tunnel boring machine (TBM) advances the tunnel. The tunnel concrete segments consist of high-strength, impermeable concrete and a reinforcing cage. First, the reinforcing bars are cut to size and bent into semi-finished products. These semi-finished products are then welded together to form a three-dimensional mesh-like reinforcing cage. Finally, the reinforcing cage is filled with high-strength, impermeable concrete to form the tunnel concrete segments.

[0003] The reinforcing cage mainly consists of curved main bars, stirrups, and end bars, each welded at different work stations. Existing tunnel concrete segment reinforcing cage welding systems suffer from several drawbacks. First, the work stations are independent and geographically distant, making it inconvenient to transfer semi-finished products between stations and resulting in low welding efficiency. Second, the long transfer and dwell times between welding stations lead to untimely welding, making it difficult to control the quality of the reinforcing cage. Incomplete welding between the main bars and stirrups can easily occur, leading to a decrease in the tensile and flexural strength of the tunnel concrete segments. Summary of the Invention

[0004] The purpose of this invention is to provide a circular automatic welding production line for shield tunnel segment reinforcement cages to solve the problems of low welding efficiency and poor welding quality.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: a circular automatic welding production line for the steel cage of tunnel lining segments, comprising:

[0006] The frame includes a support frame, an annular top plate, and an annular bottom plate. The annular top plate is fixedly installed on the support frame, and the annular bottom plate is fixedly installed on the ground.

[0007] The feeding module is used to push the main reinforcing bars to move horizontally along the arc and insert them into the three stirrups;

[0008] The main reinforcement welding module is used to position the three stirrups and weld the three stirrups and the main reinforcement bars to form a steel cage.

[0009] End-cap reinforcement welding module, used for welding end-cap reinforcement bars at the ends of a steel cage;

[0010] Transfer module, used to remove the rebar cage from the frame;

[0011] The workstation transfer module is used to move the rebar cage between the main reinforcement welding module, the end reinforcement welding module, and the transfer module.

[0012] As a further description of the above technical solution:

[0013] The feeding module includes a main rib frame, a moving frame, and a pushing frame. The main rib frame is fixedly installed on the machine frame and includes a receiving frame, a lifting frame, and a first drive cylinder. The receiving frame has several layers of parallel first support frames. Each first support frame includes several support rods arranged along its length. Several parallel first guide wheel sets are installed on the support rods. Each first guide wheel set includes two parallel first guide wheels. The first guide wheels are rotatably mounted on the support rods and have a tapered structure that is narrower at the top and wider at the bottom. The main rib... The reinforcing bar is placed between the two first guide wheels of a first guide wheel group. The lifting material rack is slidably connected to the machine frame. The first drive cylinder is fixedly installed on the machine frame. The piston rod of the first drive cylinder is fixedly connected to the lifting material rack. The top of the moving frame is slidably connected to the annular top plate, and the bottom of the moving frame is slidably connected to the annular bottom plate. A second drive cylinder is provided on the moving frame. The pusher is slidably connected to the moving frame. The piston rod of the second drive cylinder is fixedly connected to the pusher. Several pusher shoes are provided on the pusher, and one pusher shoe position corresponds to one main reinforcing bar.

[0014] As a further description of the above technical solution:

[0015] The mobile frame includes a carrier plate symmetrically arranged at both ends. A drive shaft is rotatably connected to the carrier plate. One end of the drive shaft is connected to the power output end of the drive component, and the opposite end is provided with a first gear. A first arc-shaped rack that meshes with the first gear is provided on the frame.

[0016] As a further description of the above technical solution:

[0017] The main reinforcement welding module includes a first lower positioning unit, a main reinforcement outer bracket, a main reinforcement inner bracket, a first welding robot, and a second welding robot. The first lower positioning unit is fixedly mounted on the annular base plate and includes several first lower positioning components arranged along an arc. Each first lower positioning component includes a first positioning cylinder and a first contour positioning seat. The three stirrups are inserted into the first contour positioning groove on the surface of the first contour positioning seat. The main reinforcement outer bracket includes a support column, a bracket body, a lifting plate, a first pneumatic gripper, and a second opening cylinder. The bracket body is slidably connected to the support column. The first opening cylinder is fixedly mounted on the support column, and the piston rod of the first opening cylinder is fixedly mounted on the bracket body. The bracket body is equipped with... There is a vertical rod perpendicular to the direction of the annular base plate. The two ends of the vertical rod are symmetrically arranged lifting plates. The lifting plates are slidably connected to the vertical rod. The second opening cylinder is fixedly installed on the bracket body. The piston rod of the second opening cylinder is fixedly connected to the lifting plate. The lifting plate is provided with several parallel first pneumatic grippers. One first pneumatic gripper corresponds to one main reinforcing bar. The annular base plate is provided with several first sensors arranged along the length direction of the outer main reinforcing bar bracket. One first sensor position corresponds to one first pneumatic gripper. The outer main reinforcing bar bracket and the inner main reinforcing bar bracket are respectively set on both sides of the first lower positioning unit. The first welding robot is set on one side of the outer main reinforcing bar bracket, and the second welding robot is set on one side of the inner main reinforcing bar bracket.

[0018] As a further description of the above technical solution:

[0019] The workstation transfer module includes a movable base plate, a second drive motor, an upper positioning unit, a first rebar cage lifting device, and a second rebar cage lifting device. The movable base plate is slidably connected to the annular top plate. A transmission rack is provided on the upper surface of the movable base plate. The second drive motor is fixedly installed on the upper surface of the annular top plate. The motor shaft of the second drive motor passes through the annular top plate and connects to a second gear. The second gear meshes with the transmission rack. A first hanging part and a second hanging part are arranged sequentially on the lower surface of the movable base plate. The first hanging part includes an upper positioning unit and several first rebar cage lifting devices. The upper positioning unit includes several upper positioning components arranged along an arc. The first rebar cage lifting devices are located between two adjacent upper positioning components. The second hanging part includes several second rebar cage lifting devices.

[0020] As a further description of the above technical solution:

[0021] The end cap welding module includes a second lower positioning unit, a third welding robot, and a fourth welding robot. The second lower positioning unit is fixedly installed on the annular base plate. Several second lower positioning components are arranged along the arc of the second lower positioning unit. The third welding robot and the fourth welding robot are respectively set on the inner and outer sides of the second lower positioning unit.

[0022] As a further description of the above technical solution:

[0023] The transfer module includes linear modules and roller conveyors. Several linear modules are arranged in parallel. One end of each linear module extends to the upper side of the annular base plate, and the opposite end extends into the roller conveyor. The conveyor support of the roller conveyor has notches corresponding to the linear modules. Each linear module is equipped with a slide table. A lifting cylinder is fixedly installed on the slide table. The piston rod of the lifting cylinder passes through the slide table and connects to the support plate.

[0024] As a further description of the above technical solution:

[0025] Several guide rods are provided on the back of the support plate, and the guide rods pass through the slide table.

[0026] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0027] 1. In this invention, the circular automatic welding production line not only achieves a compact closed-loop layout, saving space, but also effectively adapts to the arc-shaped steel cage structure of tunnel concrete segments, facilitating precise control of the positional movement accuracy of the arc-shaped steel cage, and making it easier for welding robots to weld the arc-shaped steel cage, thereby improving the welding quality of the steel cage.

[0028] 2. In this invention, in the automatic welding production line, the feeding module accurately feeds the main reinforcing bars into the three stirrups positioned by the main reinforcing bar welding module. In the main reinforcing bar welding module, the main reinforcing bars are spread apart in the horizontal and vertical directions, effectively ensuring that the main reinforcing bars contact and fit with the three stirrups, ensuring the welding quality between the main reinforcing bars and the three stirrups, so that the reinforcing cage does not form a solid whole, and improving the tensile and bending resistance of the tunnel concrete segments.

[0029] 3. In this invention, the main reinforcement welding module, the end reinforcement welding module, and the transfer module move and clamp the reinforcement cage through the workstation transfer module. The workstation transfer module synchronously transfers the reinforcement cage between two adjacent workstations, which simplifies the reinforcement cage moving and handling device and effectively realizes the coordination between different workstations, thereby improving the welding efficiency of the welding system. Attached Figure Description

[0030] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0031] Figure 1 A schematic diagram of a circular automatic welding production line for shield tunnel segment reinforcement cages. Figure 1 .

[0032] Figure 2A schematic diagram of a circular automatic welding production line for shield tunnel segment reinforcement cages. Figure 2 .

[0033] Figure 3 A schematic diagram of a circular automatic welding production line for shield tunnel segment reinforcement cages. Figure 3 .

[0034] Figure 4 This is a schematic diagram of the main reinforcement rack in a circular automatic welding production line for shield tunnel segment reinforcement cages.

[0035] Figure 5 for Figure 4 A magnified view of a portion of point A in the middle.

[0036] Figure 6 This is a schematic diagram of the moving frame in a circular automatic welding production line for shield tunnel segment reinforcement cages.

[0037] Figure 7 This is a schematic diagram of the main reinforcement welding module in a circular automatic welding production line for shield tunnel segment reinforcement cages. Figure 1 .

[0038] Figure 8 This is a schematic diagram of the main reinforcement welding module in a circular automatic welding production line for shield tunnel segment reinforcement cages. Figure 2 .

[0039] Figure 9 This is a schematic diagram of the first lower positioning component in a circular automatic welding production line for shield tunnel segment reinforcement cages.

[0040] Figure 10 This is a schematic diagram of the main reinforcement outer support frame in a circular automatic welding production line for shield tunnel segment reinforcement cages.

[0041] Figure 11 This is a schematic diagram of the lifting plate in a circular automatic welding production line for shield tunnel segment reinforcement cages.

[0042] Figure 12 This is a schematic diagram of the workstation transfer module in a circular automatic welding production line for shield tunnel segment reinforcement cages. Figure 1 .

[0043] Figure 13 This is a schematic diagram of the workstation transfer module in a circular automatic welding production line for shield tunnel segment reinforcement cages. Figure 2 .

[0044] Figure 14 This is a schematic diagram of the linear module in a circular automatic welding production line for shield tunnel segment reinforcement cages.

[0045] Legend:

[0046] 1. Frame; 11. Support frame; 12. Annular top plate; 13. Annular bottom plate;

[0047] 2. Feeding module; 21. Main rib support frame; 211. Receiving frame; 2112. First guide wheel; 2111. Support rod; 212. Lifting frame; 213. First drive cylinder; 22. Moving frame; 221. Second drive cylinder; 222. Carrier plate; 223. Drive shaft; 224. Drive component; 225. First gear; 23 / Pusher frame; 231. Pusher shoe;

[0048] 3. Main rib welding module; 31. First lower positioning component; 311. First positioning cylinder; 312. First contour positioning seat; 32. Main rib outer bracket; 321. Support column; 3211. First opening cylinder; 322. Bracket body; 3221. Vertical rod; 323. Lifting plate; 324. First pneumatic gripper; 325. Second opening cylinder; 33. Main rib inner bracket; 34. First welding robot;

[0049] 4. End cap welding module; 41. Second lower positioning component; 42. Third welding robot;

[0050] 5. Transfer module; 51. Linear module; 511. Slide table; 512. Lifting cylinder; 52. Roller conveyor; 513. Support plate; 514. Guide rod;

[0051] 6. Workstation transfer module; 61. Movable base plate; 611. Transmission rack; 62. Second drive motor; 63. Upper positioning component; 64. First rebar cage lifting device; 65. Second rebar cage lifting device;

[0052] 9. Reinforcing cage; 91. Main reinforcing bars; 92. Three stirrups. Detailed Implementation

[0053] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, 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. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0054] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0055] Example 1

[0056] Please see Figure 1-14 This invention provides a technical solution: a circular automatic welding production line for the steel cage of a tunnel segment, comprising:

[0057] The frame 1 includes a support frame 11, an annular top plate 12 and an annular bottom plate 13. The annular top plate 12 is fixedly installed on the support frame 11 and the annular bottom plate 13 is fixedly installed on the ground.

[0058] The feeding module 2 is used to push the main reinforcing bar 91 to move horizontally along the arc and pass through the three stirrups 92;

[0059] The main reinforcement welding module 3 is used to position the three stirrups 92 and weld the three stirrups 92 and the main reinforcement 91 to obtain the reinforcement cage 9;

[0060] End-cap reinforcement welding module 4, which is used to weld end-cap reinforcement bars at the ends of the steel cage 9;

[0061] Transfer module 5 is used to remove the steel cage 9 from the frame 1 to realize material unloading;

[0062] The workstation transfer module 6 is used to move the steel cage 9 between the main reinforcement welding module 3, the end reinforcement welding module 4, and the transfer module 5.

[0063] The circular automated welding production line not only achieves a compact closed-loop layout, saving space, but also effectively adapts to the arc-shaped steel cage structure of tunnel concrete segments, facilitating precise control of the positional movement accuracy of the arc-shaped steel cage. At the same time, it facilitates welding robots to weld the arc-shaped steel cage, improving the welding quality of the steel cage.

[0064] The feeding module 2 includes a main reinforcement frame 21, a moving frame 22, and a pushing frame 23. The main reinforcement frame 21 is fixedly installed on the frame 1. The main reinforcement frame 21 includes a receiving frame 211, a lifting frame 212, and a first drive cylinder 213. The receiving frame 211 is provided with several layers of parallel first support frames. Each first support frame includes several support rods 2111 arranged along its own length. Each support rod 2111 is provided with several parallel first guide wheel sets. Each first guide wheel set includes two parallel first guide wheels 2112. The first guide wheels 2112 are rotatably mounted on the support rods 2111. The first guide wheels 2112 have a tapered structure that is narrower at the top and wider at the bottom. 91 is placed between two first guide wheels 2112 of a first guide wheel group. The lifting frame 212 is slidably connected to the frame 1. The first drive cylinder 213 is fixedly installed on the frame 1. The piston rod of the first drive cylinder 213 is fixedly connected to the lifting frame 212. The top of the moving frame 22 is slidably connected to the annular top plate 12, and the bottom of the moving frame 22 is slidably connected to the annular bottom plate 13. The moving frame 22 is provided with a second drive cylinder 221. The pusher frame 23 is slidably connected to the moving frame 22. The piston rod of the second drive cylinder 221 is fixedly connected to the pusher frame 23. The pusher frame 23 is provided with a number of pusher shoes 231. One pusher shoe 231 corresponds to one main reinforcing bar 91.

[0065] During the feeding process of the main reinforcing bar 91, the main reinforcing bar 91 is placed on the receiving rack 211 of the main reinforcing bar material rack 21 by a main reinforcing bar feeding robot or manually. The receiving rack 211 is arc-shaped and its shape matches the main reinforcing bar 91. The main reinforcing bar 91 is positioned between the two first guide wheels 2112 of the first guide wheel group on the support rod 2111. Then, the moving frame 22 and the pushing frame 23 on the frame 1 move along the arc, so that one end of the main reinforcing bar 91 is inserted into the pushing shoe 231. Then, the second drive cylinder 221 on the moving frame 22 drives the pushing frame 23 to move upward and lift one end of the main reinforcing bar 91. After that, the moving frame 22 moves along... The frame 1 moves in an arc. When the other end of the main reinforcing bar 91 passes through the lifting material rack 212 and is detected by the first sensor at the main reinforcing bar welding module 3, the piston rod of the first drive cylinder 213 retracts, driving the lifting material rack 212 to decrease in height. This lowers the height of the other end of the main reinforcing bar 91, preventing collision when the main reinforcing bar 91 passes through the three stirrups 92 at the main reinforcing bar welding module 3. After the moving frame 22 moves and pushes the main reinforcing bar 91 into place at the main reinforcing bar welding module 3, the moving frame 22 retracts to reset, and the lifting material rack 212 moves upward to reset, making the height of the lifting material rack 212 consistent with that of the receiving frame 211. The lifting material rack 212 and the receiving frame 211 have the same structure.

[0066] The mobile frame 22 includes a carrier plate 222 symmetrically arranged at both ends. A drive shaft 223 is rotatably connected to the carrier plate 222. One end of the drive shaft 223 is connected to the power output end of the drive component 224, and the other end is provided with a first gear 225. A first arc-shaped rack that meshes with the first gear 225 is provided on the frame 1.

[0067] The carrier plates 222 at the upper and lower ends of the movable frame 22 are slidably connected to the slide rails on the annular top plate 12 and the annular bottom plate 13, respectively. At the same time, the driving component 224 drives the driving shaft 223 to rotate, causing the first gear 225 on the driving shaft 223 to move along the meshing first arc-shaped rack. This allows the movable frame 22 to move precisely along an arc on the frame 1, accurately controlling the movement distance and ensuring the feeding accuracy of the main reinforcing steel bars 91. The driving component 224 can specifically consist of a motor and a reducer, which drives the driving shaft 223 to rotate through the output end of the reducer.

[0068] The main reinforcement welding module 3 includes a first lower positioning unit, a main reinforcement outer bracket 32, a main reinforcement inner bracket 33, a first welding robot 34, and a second welding robot. The first lower positioning unit is fixedly installed on the annular base plate 13. The first lower positioning unit includes several first lower positioning components 31 arranged along an arc. Each first lower positioning component 31 includes a first positioning cylinder 311 and a first contour positioning seat 312. The three stirrups 92 are inserted into the first contour positioning groove on the surface of the first contour positioning seat 312. The main reinforcement outer bracket 32 ​​includes a support column 321, a bracket body 322, a lifting plate 323, a first pneumatic gripper 324, and a second opening cylinder 325. The bracket body 322 is slidably connected to the support column 321. The first opening cylinder 3211 is fixedly installed on the support column 321. The piston rod of the first opening cylinder 3211 is fixedly installed on the bracket body 322. A vertical rod 3221 perpendicular to the direction of the annular base plate 13 is provided. A lifting plate 323 is symmetrically arranged at both ends of the vertical rod 3221. The lifting plate 323 is slidably connected to the vertical rod 3221. A second opening cylinder 325 is fixedly installed on the bracket body 322. The piston rod of the second opening cylinder 325 is fixedly connected to the lifting plate 323. Several parallel first pneumatic grippers 324 are provided on the lifting plate 323. One first pneumatic gripper 324 corresponds to one main reinforcing bar 91. Several first sensors are arranged along the length direction of the main reinforcing bar outer bracket 32 ​​on the annular base plate 13. One first sensor position corresponds to one first pneumatic gripper 324. The main reinforcing bar outer bracket 32 ​​and the main reinforcing bar inner bracket 33 are respectively set on both sides of the first lower positioning unit. The first welding robot 34 is set on one side of the main reinforcing bar outer bracket 32, and the second welding robot is set on one side of the main reinforcing bar inner bracket 33.

[0069] When welding at the main reinforcement welding module 3, the piston rod of the first positioning cylinder 311 of the first lower positioning component 31 extends, so that the first contour positioning seat 312 is in the lifting state. First, the three-stirrup 92 is inserted into several first lower positioning components 31 by a robot or manually. Then, during the process of the feeding module 2 inserting the main reinforcement 91 into the three-stirrup 92, the end of the main reinforcement 91 moves to the first sensor detection point corresponding to a first pneumatic gripper 324 and is detected. The open gripper of the first pneumatic gripper 324 is converted to the clamping state.

[0070] After the main reinforcing bar 91 is fully inserted into the stirrup 92, the outer main reinforcing bar bracket 32 ​​and the inner main reinforcing bar bracket 33 simultaneously clamp the main reinforcing bar 91 and move it horizontally away from the first lower positioning unit, while simultaneously clamping the main reinforcing bar 91 and moving it longitudinally, so that the main reinforcing bar 91 is in close contact with the stirrup 92, so as to ensure the welding quality of the contact between the main reinforcing bar 91 and the stirrup 92 by the first welding robot 34 and the second welding robot on the inner and outer sides of the first lower positioning unit.

[0071] The working principles of the main reinforcement outer bracket 32 ​​and the main reinforcement inner bracket 33 are the same. Taking the main reinforcement outer bracket 32 ​​as an example, when the main reinforcement outer bracket 32 ​​opens the main reinforcement 91, the first opening cylinder 3211 of the main reinforcement outer bracket 32 ​​drives the bracket body 322 to move horizontally, moving the main reinforcement 91 laterally. At the same time, the second opening cylinder 325 drives the lifting plate 323 to move along the vertical rod 3221, so that the main reinforcement 91 held by the first pneumatic gripper 324 on it moves vertically.

[0072] After welding, the outer support 32 and inner support 33 of the main reinforcement release the main reinforcement 91 and move laterally away from the reinforcement cage 9 on the first lower positioning unit. After the first reinforcement cage lifting device 64 of the workstation transfer module 6 clamps the reinforcement cage 9, the piston rod of the first positioning cylinder 311 of the first lower positioning component 31 retracts, and the first contour positioning seat 312 moves downward and disengages from the three stirrups 92, so that the workstation transfer module 6 can clamp the reinforcement cage 9 at the main reinforcement welding module 3 to the end reinforcement welding module 4.

[0073] The workstation transfer module 6 includes a movable base plate 61, a second drive motor 62, an upper positioning unit, a first rebar cage lifting device 64, and a second rebar cage lifting device 65. The movable base plate 61 is slidably connected to the annular top plate 12. A transmission rack 611 is provided on the upper surface of the movable base plate 61. The second drive motor 62 is fixedly installed on the upper surface of the annular top plate 12. The motor shaft of the second drive motor 62 passes through the annular top plate 12 and is connected to a second gear. The second gear meshes with the transmission rack 611. A first hanging part and a second hanging part are arranged sequentially on the lower surface of the movable base plate 61. The first hanging part includes an upper positioning unit and several first rebar cage lifting devices 64. The upper positioning unit includes several upper positioning components 63 arranged along an arc. The first rebar cage lifting devices 64 are arranged between two adjacent upper positioning components 63. The second hanging part includes several second rebar cage lifting devices 65. The upper positioning component 63 has the same structure as the first lower positioning component 31, the difference being the installation position and positioning direction. The upper positioning component 63 is installed on the top of the frame 1, facing downwards.

[0074] When welding at the main rib welding module 3, the first hanging part of the workstation transfer module 6 is located at the main rib welding module 3, and the upper positioning unit fixed at the bottom of the movable base plate 61 positions the upper end of the three stirrups 92 through the upper positioning part 63, so as to control the welding quality.

[0075] After the welding of the steel cage 9 is completed, the first steel cage lifting tool 64 of the first hanging part clamps the steel cage 9 at the main reinforcement welding module 3, and the second steel cage lifting tool 65 of the second hanging part clamps the steel cage 9 at the end reinforcement welding module 4 to complete the end reinforcement welding.

[0076] The movable base plate 61 moves counterclockwise, and the steel cage 9 at the main reinforcement welding module 3 is clamped to the end reinforcement welding module 4. The steel cage 9 at the end reinforcement welding module 4, after the end reinforcement welding is completed, is clamped to the transfer module 5 and discharged.

[0077] After the first steel cage lifting device 64 and the second steel cage lifting device 65 of the movable base plate 61 release the steel cage 9, the movable base plate 61 rotates clockwise back to its original position.

[0078] The end-cap welding module 4 includes a second lower positioning unit, a third welding robot 42, and a fourth welding robot. The second lower positioning unit is fixedly mounted on the annular base plate 13. Several second lower positioning components 41 are arranged along the arc of the second lower positioning unit. The third welding robot 42 and the fourth welding robot are respectively located on the inner and outer sides of the second lower positioning unit. The second lower positioning components 41 have the same structure and working principle as the first lower positioning component 31.

[0079] When the workstation transfer module 6 clamps and transports the steel cage 9 to the end bar welding module 4, the second contour positioning seat of the second lower positioning component 41 is similarly in the lifting state first. After the first steel cage lifting device 64 releases the steel cage 9, the three stirrups 92 supporting the positioning steel cage 9 are used.

[0080] Then, the robot places the end-capping steel bars at the end of the main reinforcing steel bars 91 in the steel cage 9 and keeps them in position. After that, the third welding robot 42 and the fourth welding robot on both sides of the second lower positioning unit weld and fix the end-capping steel bars and the main reinforcing steel bars 91. This process is repeated multiple times to complete the welding and fixing of several end-capping steel bars.

[0081] After welding, the second steel cage lifting device 65 of the second hanging part on the lower side of the movable base plate 61 clamps the steel cage 9, the second contour positioning seat of the second lower positioning member 41 moves down and disengages from the steel cage 9, and finally the steel cage 9 is clamped to the transfer module 5 and discharged by the counterclockwise rotation of the movable base plate 61.

[0082] The transfer module 5 includes a linear module 51 and a roller conveyor line 52. Several linear modules 51 are arranged in parallel. One end of the linear module 51 extends to the upper side of the annular base plate 13, and the opposite end extends into the roller conveyor line 52. The conveyor line support of the roller conveyor line 52 is provided with notches corresponding to the linear modules 51. A slide table 511 is provided on the linear module 51. A lifting cylinder 512 is fixedly installed on the slide table 511. The piston rod of the lifting cylinder 512 passes through the slide table 511 and connects to the support plate 513.

[0083] The linear module 51 is perpendicular to the roller conveyor line 52, with one end extending between the rollers of the roller conveyor line 52. When the rebar cage 9 is clamped to the transfer module 5, the second rebar cage lifting device 65 releases the rebar cage 9 and places it on the support plate 513. Then, the slides 511 on the multiple linear modules 51 move the support plate 513 and the rebar cage 9 to the roller conveyor line 52. After that, the piston rod of the lifting cylinder 512 retracts, and the rebar cage 9 on the support plate 513 is placed on the roller of the roller conveyor line 52, so that the rebar cage 9 is output.

[0084] After the steel cage 9 is output, the support plate 513 moves back to the annular base plate 13 and is lifted again to support the steel cage 9 again.

[0085] Working Principle: In the automated welding production line, the feeding module 2 precisely feeds the main reinforcing bar 91 into the three stirrups 92 positioned in the main reinforcing bar welding module 3. Within the main reinforcing bar welding module 3, the main reinforcing bar 91 is spread horizontally and vertically, effectively ensuring contact and fit between the main reinforcing bar 91 and the three stirrups 92. This ensures the welding quality between the main reinforcing bar 91 and the three stirrups 92, resulting in a solid reinforcing cage and improving the tensile and bending resistance of the tunnel concrete segments. The main reinforcing bar welding module 3, the end-reinforcing bar welding module 4, and the transfer module 5 are connected by a station transfer module 6, which moves and clamps the reinforcing cage 9. The station transfer module 6 simultaneously transfers the reinforcing cage 9 between adjacent stations, simplifying the movement and handling of the reinforcing cage 9 and effectively achieving coordination between different stations, thus improving the welding efficiency of the welding system.

[0086] Example 2

[0087] Based on the above embodiments, this embodiment further improves upon the following technical solution: a plurality of guide rods 514 are provided on the back of the support plate 513, and the guide rods 514 pass through the slide table 511.

[0088] The guide rod 514 improves the smoothness of the movement of the support plate 513, prevents the support plate 513 from tilting and deforming, and ensures the smooth transport of the steel cage 9.

[0089] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A circular automatic welding production line for the steel cage of a tunnel boring machine segment, characterized in that, include: The frame includes a support frame, an annular top plate, and an annular bottom plate, wherein the annular top plate is fixedly installed on the support frame, and the annular bottom plate is fixedly installed on the ground; The feeding module is used to push the main reinforcing bars to move horizontally along the arc and insert them into the three stirrups; A main reinforcement welding module is used to position the three stirrups and weld the three stirrups and the main reinforcement bars to obtain a steel cage. A welding module for welding end bars at the ends of the steel cage; Transfer module, used to remove the rebar cage from the frame; The workstation transfer module is used to move the rebar cage between the main rebar welding module, the end rebar welding module, and the transfer module. The main reinforcement welding module includes a first lower positioning unit, a main reinforcement outer bracket, a main reinforcement inner bracket, a first welding robot, and a second welding robot. The first lower positioning unit is fixedly installed on the annular base plate and includes several first lower positioning components arranged along an arc. Each first lower positioning component includes a first positioning cylinder and a first contour positioning seat. The three stirrups are inserted into the first contour positioning groove on the surface of the first contour positioning seat. The main reinforcement outer bracket includes a support column, a bracket body, a lifting plate, a first pneumatic gripper, and a second opening cylinder. The bracket body is slidably connected to the support column, and the first opening cylinder is fixedly installed on the support column. The piston rod of the first opening cylinder is fixedly installed on the bracket body. The bracket body is provided with a section perpendicular to the annular base plate. A vertical rod is provided in the direction of the support. The vertical rod is provided with symmetrically arranged lifting plates at both ends. The lifting plates are slidably connected to the vertical rod. The second opening cylinder is fixedly installed on the bracket body. The piston rod of the second opening cylinder is fixedly connected to the lifting plate. The lifting plate is provided with a plurality of parallel arranged first pneumatic grippers. One first pneumatic gripper corresponds to one main reinforcing bar. The annular base plate is provided with a plurality of first sensors arranged along the length direction of the outer main reinforcing bar bracket. One first sensor position corresponds to one first pneumatic gripper. The outer main reinforcing bar bracket and the inner main reinforcing bar bracket are respectively provided on both sides of the first lower positioning unit. The first welding robot is provided on one side of the outer main reinforcing bar bracket. The second welding robot is provided on one side of the inner main reinforcing bar bracket. The workstation transfer module includes a movable base plate, a second drive motor, an upper positioning unit, a first rebar cage lifting device, and a second rebar cage lifting device. The movable base plate is slidably connected to the annular top plate. A transmission rack is provided on the upper surface of the movable base plate. The second drive motor is fixedly installed on the upper surface of the annular top plate. The motor shaft of the second drive motor passes through the annular top plate and is connected to a second gear. The second gear meshes with the transmission rack. A first hanging part and a second hanging part are arranged sequentially on the lower surface of the movable base plate. The first hanging part includes an upper positioning unit and several first rebar cage lifting devices. The upper positioning unit includes several upper positioning components arranged along an arc. The first rebar cage lifting devices are disposed between two adjacent upper positioning components. The second hanging part includes several second rebar cage lifting devices.

2. The ring-shaped automatic welding production line for shield tunnel segment reinforcement cages according to claim 1, characterized in that, The feeding module includes a main reinforcement frame, a moving frame, and a pushing frame. The main reinforcement frame is fixedly installed on the machine frame. The main reinforcement frame includes a receiving frame, a lifting frame, and a first drive cylinder. The receiving frame is provided with several layers of parallel first support frames. Each first support frame includes several support rods arranged along its own length. Each support rod is provided with several parallel first guide wheel sets. Each first guide wheel set includes two parallel first guide wheels. The first guide wheels are rotatably mounted on the support rods. The first guide wheels have a tapered structure that is narrower at the top and wider at the bottom. The main reinforcement bars are placed on a... Between the two first guide wheels of the first guide wheel group, the lifting material rack is slidably connected to the machine frame. The first drive cylinder is fixedly installed on the machine frame, and the piston rod of the first drive cylinder is fixedly connected to the lifting material rack. The top end of the moving frame is slidably connected to the annular top plate, and the bottom end of the moving frame is slidably connected to the annular bottom plate. A second drive cylinder is provided on the moving frame, and the pushing frame is slidably connected to the moving frame. The piston rod of the second drive cylinder is fixedly connected to the pushing frame. A plurality of pushing shoes are provided on the pushing frame, and one pushing shoe position corresponds to one main reinforcing bar.

3. The circular automatic welding production line for shield tunnel segment reinforcement cages according to claim 2, characterized in that, The mobile frame includes a carrier plate symmetrically arranged at both ends. A drive shaft is rotatably connected to the carrier plate. One end of the drive shaft is connected to the power output end of the drive component, and the opposite end is provided with a first gear. A first arc-shaped rack that meshes with the first gear is provided on the frame.

4. The ring-shaped automatic welding production line for shield tunnel segment reinforcement cages according to claim 1, characterized in that, The end cap welding module includes a second lower positioning unit, a third welding robot, and a fourth welding robot. The second lower positioning unit is fixedly installed on the annular base plate. The second lower positioning unit has several second lower positioning components arranged along an arc. The third welding robot and the fourth welding robot are respectively located on the inner and outer sides of the second lower positioning unit.

5. The ring-shaped automatic welding production line for shield tunnel segment reinforcement cages according to claim 1, characterized in that, The transfer module includes a linear module and a roller conveyor line. Several linear modules are arranged in parallel. One end of the linear module extends to the upper side of the annular base plate, and the opposite end extends into the roller conveyor line. The conveyor line support of the roller conveyor line is provided with a notch corresponding to the linear module. A slide table is provided on the linear module, and a lifting cylinder is fixedly installed on the slide table. The piston rod of the lifting cylinder passes through the slide table and is connected to a support plate.

6. The ring-shaped automatic welding production line for shield tunnel segment reinforcement cages according to claim 5, characterized in that, The back of the support plate is provided with several guide rods, which pass through the slide table.

Images