Profile steel follow-welding module and follow-welding process

Abstract

The invention provides a profile steel follow-welding module and a follow-welding process, the profile steel follow-welding module is used for welding a seam of first profile steel and second profile steel advancing in a third direction, and the profile steel follow-welding module comprises a first follow-welding moving seat, a second follow-welding moving seat and a third follow-welding moving seat, and the first follow-welding moving seat comprises a hydraulic fixed seat and drives the seam of the first profile steel and the second profile steel to be aligned in a first direction and a second direction; the follow-up fixing assembly comprises a first fixing assembly, a second fixing assembly and a first connecting piece which stretches across and is fixedly connected with the first fixing assembly and the second fixing assembly, and the follow-up fixing assembly has a first state and a second state; in the first state, the hydraulic fixing base is connected with the first fixing assembly and the second fixing assembly in a pressing mode and locked on the first profile steel and the second profile steel. And in the second state, in the follow-up welding process of the first follow-up welding moving seat, the follow-up fixing assembly moves along with the first profile steel and the second profile steel, the first connecting piece is a rigid connecting piece, and the relative position of the first fixing assembly and the second fixing assembly is kept unchanged. By means of the profile steel follow-welding module, profile steel alignment in the follow-welding process can be achieved.

Description

Technical Field

[0001] This application relates to the field of welding, and more specifically, to a steel section welding module and welding process. Background Technology

[0002] During tunnel construction, the arch frame is a core supporting component that ensures tunnel construction safety and maintains the stability of the surrounding rock. It is mainly composed of multiple sections of steel spliced ​​and welded together. After the steel sections are spliced, they need to undergo subsequent processing such as cold bending and cutting to adapt to the tunnel arch profile requirements.

[0003] Currently, the splicing and welding of steel sections for tunnel arch frames generally adopts the traditional static welding mode, which involves first aligning and fixing the two sections of steel to be spliced, completing the full welding operation at the joint using welding equipment, and then waiting for the weld to cool completely to the preset temperature before proceeding with subsequent cold bending and cutting. Summary of the Invention

[0004] This application provides a steel section welding module and welding process, which can realize steel section alignment during welding and welding process.

[0005] Specifically, this application is implemented through the following technical solution: One aspect of this application provides a steel section welding module for welding the joint between a first steel section and a second steel section advancing in a third direction, comprising: The first welding movable seat includes a hydraulic fixed seat for driving the joint of the first steel section and the second steel section to align in a first direction and a second direction; A follower-fixing component includes a first fixing component, a second fixing component, and a first connector that spans and fixes the first fixing component and the second fixing component, wherein the follower-fixing component includes a first state and a second state. In the first state, the hydraulic fixing seat presses against the first fixing component and the second fixing component to lock onto the first steel section and the second steel section; In the second state, during the welding process of the first welding moving seat, the follow-up fixing component moves with the first steel section and the second steel section, and the first connecting member is a rigid connecting member, keeping the relative position of the first fixing component and the second fixing component unchanged.

[0006] Optionally, the first fixing component includes four corner parts respectively provided at the four corners of the first steel section, and the first fixing component has a separated state and a locked state; Each of the corner components is provided with a guide portion extending along the first direction and the second direction, and any two opposite guide portions are provided with opposite telescopic holes; A connecting limiting assembly is provided between two adjacent corner components. The connecting limiting assembly includes a connecting push rod, the two ends of which can be slidably inserted into or withdrawn from the telescopic holes of the corner components on both sides. The telescopic hole is provided with a telescopic limiting pin on its wall. During the transition from the separated state to the locked state, the hydraulic fixing seat drives the four corner components to move closer to each other, causing the end of the connecting push rod to extend into the telescopic hole. When the push rod moves to the preset position, the limiting pin engages in the corresponding push rod groove on the connecting push rod, thereby locking the relative position between two adjacent corner components and forming a circumferential fastening to the first profile in the first and second directions.

[0007] Optionally, the second fixing component also includes the four corner parts and the connecting limiting component; The first connector comprises four members, which are fixedly connected between the corner members corresponding to the third-party upward positions in the first fixing assembly and the second fixing assembly via the first connectors, and each of the first connectors is configured to protrude outward toward the outside of the first steel section and the second steel section to avoid the welding path.

[0008] Optionally, it may also include a second support for supporting the second steel section; A first compression spring and a sliding plate are connected to the wall of the telescopic hole. The limiting pin is connected to the sliding plate through the first compression spring. The first compression spring always applies a pushing force toward the inside of the telescopic hole to the limiting pin. The side of the limiting pin facing the opening of the telescopic hole is inclined, which is used to push the first compression spring back by the connecting push rod. The telescopic hole is also provided with a guide groove on its wall. The extension direction of the guide groove intersects with the axial direction of the telescopic hole. The sliding plate is slidably engaged with the guide groove. The push rod groove has an opening in the radial direction of the telescopic hole for the limiting pin to be engaged, and an opening in the extension direction of the guide groove for the limiting pin to be slid out. The limiting pin is configured to engage with the push rod groove under the thrust of the first compression spring; the limiting pin extends from the guide portion along the extension direction of the guide groove and has a push rod extending from it. The push rod is used to be pushed by the second support seat when the first welding moving seat moves to contact the second support seat, thereby causing the sliding plate connected to the limiting pin to disengage from the push rod groove along the guide groove. When the first welding moving seat moves to contact the second support seat, the following fixing component separates from the first steel section and the second steel section, and the first welding moving seat moves back to process the joint of the next set of steel sections.

[0009] Optionally, a second compression spring is provided between the two opposing corner components. The second compression spring is sleeved on the connecting push rod, and its two ends abut against the surfaces of the two opposing guide portions, respectively, for pushing the two opposing corner components to separate from each other after the limiting pin is dislodged from the push rod groove. A third compression spring is sleeved on the outer periphery of the push rod. The two ends of the third compression spring abut against the sides of the push rod and the guide portion, respectively, and are used to drive the limiting pin to reset to the initial position along the guide groove after the connecting push rod is withdrawn.

[0010] Optionally, the follower fixing component is connected to the hydraulic fixing seat via a traction rope; the traction rope is configured to pull the follower fixing component back to the hydraulic fixing seat after the opposing corner components separate from each other, causing the follower fixing component to detach from the first steel and the second steel.

[0011] Optionally, it also includes a cold bending device, which is located on the side of the second support base away from the first welding movable base; The cold bending device includes a pushing component and a first support point and a second support point respectively disposed on both sides of the pushing component. The second support point is disposed on the side close to the second support base. The pushing component is located on the inner side of the bend of the second steel section, and the first support point and the second support point are located on the outer side of the bend of the second steel section. The pushing component is used to push the second steel section in a first direction to perform cold bending, so that the second steel section generates an offset force in the same direction as the bending direction at the joint with the first steel section around the second fulcrum. The first follower seat extends toward the second support seat and is provided with a first follower seat, and the distance between the first follower seat and the first follower seat remains fixed; Two active compensation actuators are installed on the first follower seat. The two active compensation actuators are located inside the second steel section and are used to apply reverse compensation forces on both sides of the joint according to the magnitude and direction of the offset force, so as to counteract the offset force transmitted to the joint by the cold bending.

[0012] Another aspect of this application provides a welding process in which the joint between the first steel section and the second steel section is welded using the steel section welding module described in any of the above claims. The first welding moving base includes a welding robotic arm, and the welding process includes the following steps: Push the joint between the first steel section and the second steel section into the hydraulic fixing seat; The hydraulic fixing seat presses and locks the follower fixing component onto the first steel profile and the second steel profile, while aligning the first steel profile and the second steel profile. The welding robotic arm is controlled to pre-weld the joint between the first steel section and the second steel section; Drive the first steel section to push the second steel section along a third direction, so that the joint is moved out of the hydraulic fixing seat; The first welding moving seat moves synchronously with the first steel section and the second steel section along a third direction. During the welding process, the welding robot arm remains relatively stationary with respect to the joint and performs full welding at the joint. During the welding process, the follow-up fixing component moves synchronously with the first steel section and the second steel section, and keeps the relative position of the first fixing component and the second fixing component unchanged through the first connecting member, thereby constraining the relative displacement of the first steel section and the second steel section in the first direction and the second direction.

[0013] Optionally, the steel section welding module further includes a cold bending device, which is located on the side of the second support base away from the first welding movable base; The cold bending device includes a pushing component and a first support point and a second support point respectively disposed on both sides of the pushing component. The second support point is disposed on the side close to the second support base. The pushing component is located on the inner side of the bend of the second steel section, and the first support point and the second support point are located on the outer side of the bend of the second steel section. The pushing component is used to push the second steel section in a first direction to perform cold bending, so that the second steel section generates an offset force in the same direction as the bending direction at the joint with the first steel section around the second fulcrum. The first welding moving seat extends toward the second support seat and is provided with a first follower seat. The distance between the first follower seat and the first welding moving seat is kept fixed, and it is directly opposite the welding robot arm located in the second working position. Two active compensation actuators are installed on the first follower seat. The two active compensation actuators are located inside the second steel section and are used to apply reverse compensation forces on both sides of the joint according to the magnitude and direction of the offset force to counteract the offset force transmitted to the joint by the cold bending. The welding process includes: The control of the welding robotic arm to perform full welding at the joint includes: The active compensation actuator needs to apply a reverse compensation force F2=F1. L1 / L2; where F1 is the thrust of the pushing component, L1 is the distance from the pushing component to the second fulcrum, and L2 is the distance from the active compensation actuator to the second fulcrum.

[0014] This application provides a steel section welding module and welding process. The follow-up fixing component includes a first fixing component, a second fixing component, and a first connecting member that spans and fixes the two components. The first connecting member is a rigid connecting member. In the first state, the follow-up fixing component is pressed and locked onto the first and second steel sections by a hydraulic fixing seat to complete the pre-welding operation. After entering the second state, the follow-up fixing component moves synchronously with the first and second steel sections along a third direction, and the relative position of the two steel sections remains unchanged through the rigid first connecting member. The rigid first connecting member firmly fixes the first and second steel sections at the joint, effectively constraining their relative displacement in the first and second directions, avoiding sagging and displacement caused by overhang, ensuring that the joint remains aligned during the welding process, and further guaranteeing the welding quality. Attached Figure Description

[0015] Figure 1 This is a top view of a steel profile processing structure shown in an exemplary embodiment of this application; Figure 2 This is a simplified diagram of a steel profile processing structure shown in an exemplary embodiment of this application; Figure 3 This is a top view of the soldering module shown in an exemplary embodiment of this application; Figure 4 This is a top view of the follower fixing component and the first follower seat shown in an exemplary embodiment of this application; Figure 5 This is a schematic diagram of a follower fixing component and a first follower seat shown in an exemplary embodiment of this application. Figure 1 ; Figure 6 This is a schematic diagram illustrating the deployment of a follower fixing component in an exemplary embodiment of this application; Figure 7 yes Figure 6 A magnified view of a portion of the image; Figure 8 This is a schematic diagram of a follower fixing component and a first follower seat shown in an exemplary embodiment of this application. Figure 2 ; Figure 9 This is a side view of the follower fixing assembly and the first follower seat shown in an exemplary embodiment of this application. Figure 10 This is a schematic diagram of a limiting pin shown in an exemplary embodiment of this application; Figure 11 This is a cross-sectional schematic diagram of the guide portion shown in an exemplary embodiment of this application. Figure 12This is a schematic diagram of the operation of a welding robotic arm shown in an exemplary embodiment of this application. Figure 1 ; Figure 13 This is a schematic diagram of the operation of a welding robotic arm shown in an exemplary embodiment of this application. Figure 2 ; Figure 14 This is a front view schematic diagram of the follower fixing component and the first follower seat shown in an exemplary embodiment of this application; Figure 15 yes Figure 14 A magnified view of a portion of the image; Figure 16 This is a partial schematic diagram of the second support base shown in an exemplary embodiment of this application; Figure 17 This is a partial schematic diagram illustrating the second support base perpendicular to a third direction, as shown in an exemplary embodiment of this application.

[0016] Wherein: A, first type of steel; B, second type of steel; x1, first direction; x2, second direction; x3, third direction; 100, first moving seat for welding; 110, hydraulic fixed seat; 120, welding robotic arm; 111, hydraulic cylinder; 112, support; 113, support rod; 114, extrusion plate; 200, follow-up fixed assembly; 210, first fixed assembly; 211, corner component; 212, guide part; 213, telescopic hole; 213a, guide groove; 220, second fixed assembly; 230, first connecting piece; 3 00. Connecting limit assembly; 310. Connecting push rod; 311. Push rod groove; 320. Second compression spring; 321. Dust cover; 400. Limiting pin; 410. First compression spring; 420. Sliding plate; 430. Push rod; 431. Third compression spring; 500. Second support seat; 510. Stop block; 600. Cold bending device; 610. Pushing assembly; 620. First fulcrum; 630. Second fulcrum; 700. First follower seat; 710. Active compensator; 711. Transmission plate; 720. Connecting frame. Detailed Implementation

[0017] The technical solutions in the embodiments (or "implementations") of this application will be clearly and completely described herein with reference to the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements.

[0018] If the embodiments of this application contain terms relating to directional indications or positional relationships (such as up, down, left, right, front, back, inside, outside, top, bottom, center, vertical, horizontal, longitudinal, transverse, length, width, counterclockwise, clockwise, axial, radial, circumferential, etc.), such terms are only used to explain the relative positional relationships and movement of the components in a specific posture (as shown in the attached figures); if the specific posture changes, the directional indications or positional relationships will also change accordingly. Furthermore, the terms "first" and "second" used in the embodiments of this application are only for descriptive convenience and should not be construed as indicating or implying relative importance.

[0019] refer to Figure 1 , Figure 3 , Figure 4 and Figure 5 This application provides a steel section welding module for welding the joint of a first steel section A and a second steel section B, comprising: a first welding movable seat 100, a welding robotic arm 120, and a follow-up fixing assembly 200. The first welding movable seat 100 includes a hydraulic fixing seat 110 and a welding robotic arm 120. The hydraulic fixing seat 110 is provided with a plurality of hydraulic cylinders 111 for aligning the first steel section A and the second steel section B in a first direction x1 and a second direction x2, wherein the first direction x1 is the width direction of the steel section and the second direction x2 is the vertical height direction. The welding robotic arm 120 includes a first working position facing the hydraulic fixing seat 110 and a second working position at a preset distance from the hydraulic fixing seat 110. The follow-up fixing assembly 200 includes a first fixing assembly 210, a second fixing assembly 220, and a first connecting member 230 that spans and fixes the first fixing assembly 210 and the second fixing assembly 220.

[0020] The follow-up fixing component 200 includes a first state and a second state. In the first state, the first steel A and the second steel B are located on the hydraulic fixing seat 110 and aligned. The first fixing component 210 and the second fixing component 220 are respectively pressed and locked onto the first steel A and the second steel B by the hydraulic fixing seat 110. The welding robot arm 120 is controlled in the first working position to perform pre-welding on the joint of the first steel A and the second steel B. Here, the pre-welding is a spot welding performed by the welding robot arm 120 on the top of the joint. In the second state, the first steel A pushes the second steel B forward along the third direction x3 and moves out of the hydraulic fixing seat 110. The follow-up fixing component 200 moves with the first steel A and the second steel B. The first connecting member 230 is a rigid connecting member that keeps the relative position of the first fixing component 210 and the second fixing component 220 unchanged. Here, the third direction x3 is the length direction of the steel.

[0021] In the second state, the first welding moving seat 100 moves synchronously along the third direction x3. The welding robotic arm 120 in the second working position is relatively stationary at the joint between the first steel section A and the second steel section B. The welding robotic arm 120 is controlled to perform full welding on the joint between the first steel section A and the second steel section B. Here, full welding means welding all around the joint. The first welding moving seat 100 is equipped with a servo motor or hydraulic traction. A track adapted to the first welding moving seat 100 can be designed along the third direction x3, so that the first welding moving seat 100 drives itself to move at the same speed as the steel section, thereby keeping the position of the first welding moving seat 100 synchronized with the joint between the first steel section A and the second steel section B.

[0022] The steel section welding module provided in this application is primarily adapted for the splicing and welding of steel sections used in tunnel arch frames. The hydraulic fixing seat 110 may include a support 112, which has a hollow structure, allowing the first steel section A and the second steel section B to pass horizontally through. An opening is provided above the support 112, directly opposite the first working position of the welding robotic arm 120, providing operating space for pre-welding operations at the joint, avoiding structural interference, and ensuring smooth pre-welding. In the first direction x1, i.e., the width direction of the steel section, four support rods 113 are fixedly connected between the two side walls of the support 112. The four support rods 113 are symmetrically distributed, and two opposing extrusion plates 114 are fitted onto each of the four support rods 113. Each extrusion plate 114 is fixedly connected to two hydraulic cylinders 111. The extension and retraction of the hydraulic cylinders 111 drive the two extrusion plates 114 to move closer or further apart, thereby pushing the first steel section A and the second steel section B to precisely align in the first direction x1, ensuring no offset or misalignment in the width direction of the two steel sections, laying the foundation for welding quality.

[0023] On the third direction x3, that is, the length direction of the steel section, there are two sets of hydraulic cylinders 111 that extend and retract along the second direction x2, that is, the vertical height direction. The two sets of hydraulic cylinders 111 are located on both sides of the joint. When working, the hydraulic cylinders 111 press down along the second direction x2, tightly abutting the first steel section A and the second steel section B against the bottom wall of the support 112, thereby achieving the flush alignment of the two steel sections in the second direction x2, completely avoiding welding deviation caused by height difference, and further improving the alignment accuracy.

[0024] It should be noted that the alignment action of the hydraulic fixing seat 110 and the fixing action of the follower fixing component 200 involve the operation of multiple hydraulic cylinders 111. During the process of pushing the follower fixing component 200 to press against the steel section, the follower fixing component 200 simultaneously pushes the first steel section A and the second steel section B, simultaneously completing bidirectional alignment in the first direction x1 and the second direction x2. The alignment action can be performed simultaneously with the pressing and locking of the follower fixing component 200, which not only further shortens the process time but also ensures the relative position stability of the two steel sections after alignment, avoiding welding deviations caused by displacement after alignment. This effectively avoids defects such as weld misalignment, incomplete penetration, and weld deviation, ensuring that the weld strength meets the standards.

[0025] In this application, the transmission power of the steel section comes from the pushing force of the subsequent steel section, that is, the subsequent steel section pushes the first steel section A and the second steel section B to move along the third direction x3.

[0026] This application also includes cold bending and cutting in the post-welding process. In the first working state, the first steel section A and the second steel section B remain in the hydraulic fixing seat 110. During the entire process of alignment and pre-welding, the subsequent cutting process can be carried out simultaneously on the process line, realizing parallel operation of pre-welding and cutting, effectively saving process time. At the same time, during the follow-up full welding process, the weld is completed simultaneously as the steel section moves. The welding process is combined with the steel section transportation process, eliminating the need to wait for the entire welding to be completed before separate transportation, shortening the steel section processing time, and greatly improving the overall processing efficiency of the arch frame.

[0027] The follow-up fixing component 200 includes a first fixing component 210, a second fixing component 220, and a first connecting member 230 that spans and fixes the two. The first connecting member 230 is a rigid connecting member. In the first state, the follow-up fixing component 200 is pressed and locked onto the first steel section A and the second steel section B by the hydraulic fixing seat 110 to complete the pre-welding operation. After entering the second state, the follow-up fixing component 200 moves synchronously along the third direction x3 with the first steel section A and the second steel section B, and the relative position of the two steel sections remains unchanged through the rigid first connecting member 230. In the actual processing scenario, a fixed support seat is located in front of the third direction x3. The second support seat 500 mentioned later can support the second steel section B. As the welding operation progresses, the portion of the second steel section B suspended outside the second support seat 500 will gradually shorten, while the portion of the first steel section A suspended outside the hydraulic fixing seat 110 is at a preset fixed distance. Here, the hydraulic fixing seat 110 also has a support function. The difference and dynamic changes in the overhang lengths of the two sections will cause different downward forces and downward offset distances at the joint, which can easily lead to weld deformation and affect welding quality. The follow-up fixing component 200 of this application firmly fixes the first steel section A and the second steel section B at the joint through the rigid first connector 230, effectively restraining the relative displacement of the two in the first direction x1 and the second direction x2, avoiding downward offset caused by overhang, ensuring that the joint remains aligned during the welding process, and further guaranteeing welding quality.

[0028] refer to Figure 5 , Figure 6 and Figure 7 In one embodiment, the first fixing component 210 includes four corner components 211 respectively corresponding to the four corners of the first steel section A. The first fixing component 210 has a separated state and a locked state. Each corner component 211 is provided with a guide portion 212 extending along the first direction x1 and the second direction x2. Any two opposite guide portions 212 are provided with opposite telescopic holes 213. A connecting limiting component 300 is provided between two adjacent corner components 211. The connecting limiting component 300 includes a connecting push rod 310. The two ends of the connecting push rod 310 can slide into or out of the telescopic holes 213 of the corner components 211 on both sides. A telescopic limiting pin 400 is provided on the hole wall of the telescopic hole 213. During the transition from the separated state to the locked state, the hydraulic fixing seat 110 drives the four corner components 211 to move closer to each other, causing the end of the connecting push rod 310 to extend into the telescopic hole 213. When it moves to the preset position, the limiting pin 400 is engaged in the corresponding push rod groove 311 on the connecting push rod 310, thereby locking the relative position between two adjacent corner components 211 and forming a circumferential fastening to the first steel A in the first direction x1 and the second direction x2.

[0029] The switching between the separation and locking states relies on the limiting pin 400, which is simple and reliable to implement. For example, a spring-triggered method can be used: a spring is installed in the telescopic hole 213, and the limiting pin 400 is connected to the spring. In the natural state, the spring pushes the limiting pin 400 to extend, and the connecting push rod 310 automatically engages and locks when it is in place. When separating, the limiting pin 400 is retracted by external pulling force and unlocked by disengaging from the push rod groove 311. The four corner parts 211 can be flexibly opened when separated, facilitating the quick insertion of the steel profile. When locking, the hydraulic fixing seat 110 drives the corner parts 211 to move closer, the connecting push rod 310 extends and retracts to adapt to the size of the steel profile, and the limiting pin 400 engages with the push rod groove 311 to lock the relative positions of the corner parts 211, forming a circumferential fastening. This design, featuring separate corner blocks and internal limiting pins 400, eliminates the need for complex clamping and enables rapid positioning of the steel profile. Simultaneously, the corner components 211 provide a wrapping fixation to the four corners of the steel profile, constraining its bidirectional displacement and ensuring positioning accuracy during welding. Furthermore, the structure is simple and highly adaptable.

[0030] Combination Figure 5 , Figure 8 and Figure 9 In one embodiment, the second fixing assembly also includes four corner members 211; the first connecting member 230 includes four members, which are fixedly connected between the corner members 211 at corresponding positions in the third direction x3 in the first fixing assembly 210 and the second fixing assembly 220 via the first connecting member 230, and the first connecting member 230 is configured to protrude outward toward the outside of the first steel A and the second steel B to avoid the welding path of the welding robot arm 120. Figure 12 and Figure 13 When the welding robotic arm 120 performs full welding operations, it needs to complete the welding work on the upper surface, lower surface, and both sides of the joint separately. The first connecting piece 230 is designed to protrude outwards to avoid the working trajectory of the welding robotic arm 120 and prevent structural interference. The protrusion can be triangular or arc-shaped, and its specific shape and protrusion distance can be precisely designed according to the actual working stroke of the welding robotic arm 120 to ensure that the welding robotic arm 120 can operate smoothly when welding from the top, bottom, and sides. At the same time, the four first connecting pieces 230 are connected to the corner parts 211 of the two sets of fixed components, which not only ensures the overall rigidity of the follow-up fixed components 200, but also takes into account the welding avoidance requirements through the protruding design, ensuring the efficiency and quality of full welding.

[0031] refer to Figure 1 and Figure 2 In one embodiment, it further includes a second support base 500 for supporting the second steel section B; combined with Figure 8 , Figure 9 , Figure 10 and Figure 11A first compression spring 410 and a sliding plate 420 are connected to the wall of the telescopic hole 213. The limiting pin 400 is connected to the sliding plate 420 through the first compression spring 410. The first compression spring 410 always applies a thrust toward the inside of the telescopic hole 213 to the limiting pin 400. The side of the limiting pin 400 facing the opening of the telescopic hole 213 is inclined, which is used to push the first compression spring 410 back by the connecting push rod 310. The wall of the telescopic hole 213 is also provided with a guide groove 213a. The extending direction of the guide groove 213a intersects the axial direction of the telescopic hole 213. The sliding plate 420 slides in cooperation with the guide groove 213a. The push rod groove 311 has an opening in the radial direction of the telescopic hole 213 for the limiting pin 400 to be inserted, and an opening in the extending direction of the guide groove 213a for the limiting pin 400 to slide out. The limiting pin 400 is configured to be pushed in the first compression spring 213. The spring 410 is engaged in the push rod groove 311 under the thrust of the spring; the limiting pin 400 extends from the side of the guide part 212 along the extension direction of the guide groove 213a and has a push rod 430. The push rod 430 is used to push the second support seat 500 when the first welding moving seat 100 moves to contact the second support seat 500. This pushes the sliding plate 420 connected to the limiting pin 400 out of the push rod groove 311 along the guide groove 213a, that is, to make the limiting pin 400 leave the axial direction of the connecting push rod 310, so that the axial limitation can be released, and the connecting push rod 310 can freely extend or retract in the telescopic hole 213; when the first welding moving seat 100 moves to contact the second support seat 500, the following fixing component 200 separates from the first steel A and the second steel B, and the first welding moving seat 100 moves back to process the joint of the next set of steel sections.

[0032] When the hydraulic cylinder 111 of the hydraulic fixing seat 110 pushes the four corner components 211 closer to each other, the end of the connecting push rod 310 extends into the telescopic hole 213 and contacts the inclined surface of the limit pin 400, which will generate a thrust on the inclined surface, forcing the limit pin 400 to compress the first compression spring 410 and retract. When the connecting push rod 310 moves to the preset position and the push rod groove 311 aligns with the limit pin 400, the thrust of the first compression spring 410 pushes the limit pin 400 to engage with the push rod groove 311, thereby achieving automatic locking between the corner components 211 and the connecting push rod 310, and thus completing the circumferential fastening of the steel section without additional manual locking, which is suitable for the automation requirements of welding.

[0033] In this embodiment, the extension direction of the guide groove 213a is not parallel to or coincides with the axis of the telescopic hole 213, thus ensuring that the extension direction of the push rod 430, which is provided along the extension direction of the guide groove 213a, is also not parallel to or coincides with the axis of the telescopic hole 213. When the first welding moving seat 100 drives the follower fixing component 200 to move to contact the second support seat 500, the push rod 430 can form an effective pushing engagement with the second support seat 500, combining... Figure 16 and Figure 17 Here, the second support 500 is designed to adapt to the extension direction of the push rod 430. For example, it can be pushed by the vertical surface of the stop 510 or the end slope of the stop 510 can be used to change the pushing direction to adapt to the push rod 430, thereby pushing the push rod 430 to retract along the extension direction of the guide groove 213a. On the second support 500, the design of the stop 510 corresponds to the position design of the push rod 430 on the follower fixing component 200. During the welding process, the first welding moving seat 100 moves synchronously along the third direction x3, driving the following fixed component 200 and the steel section to move together. The second support seat 500 is fixed in position and continuously supports the second steel section B. When the following fixed component 200 moves to contact the second support seat 500, the push rod 430 is pushed by the second support seat 500, causing the sliding plate 420 to slide along the guide groove 213a, thereby pushing the limiting pin 400 out of the opening in the extension direction of the guide groove 213a of the push rod groove 311, that is, leaving the axis of the connecting push rod 310, that is, the telescopic hole 213, and releasing the lock on the connecting push rod 310. After the lock is released, the follow-up fixing component 200 separates from the steel section and is no longer locked. The follow-up fixing component 200 is blocked by the second support seat 500. At this time, the pushing force of the subsequent steel section can drive the first steel section A and the second steel section B to continue to move forward and enter the subsequent cold bending and cutting processes. Meanwhile, the first welding moving seat 100 moves back and can connect to the next set of steel sections to be welded, realizing continuous welding operation and further improving processing efficiency.

[0034] Combination Figure 5 and Figure 11 In one embodiment, a second compression spring 320 is provided between the two opposing corner components 211. The second compression spring 320 is sleeved on the connecting push rod 310, and its two ends abut against the surfaces of the two opposing guide portions 212, respectively. It is used to push the two opposing corner components 211 apart after the limiting pin 400 is disengaged from the push rod groove 311. A third compression spring 431 is sleeved on the outer periphery of the push rod 430. The two ends of the third compression spring 431 abut against the sides of the push rod 430 and the guide portion 212, respectively. It is used to drive the limiting pin 400 to return to its initial position along the guide groove 213a after the connecting push rod 310 is withdrawn. A deformable dust cover 321 may also be sleeved on the outer circumferential side of the second compression spring 320.

[0035] The second compression spring 320 is sleeved on the connecting push rod 310. The limiting pin 400 disengages from the push rod groove 311. After the lock is released, its own elastic restoring force will actively push the two opposing corner parts 211 away from each other, allowing the follower fixing component 200 to quickly and smoothly separate from the steel profile, avoiding jamming caused by incomplete separation, ensuring that the steel profile can move forward smoothly, and ensuring smooth connection of subsequent processes. At the same time, when the push rod 430 is pushed by the second support seat 500, it will compress the third compression spring 431. When the first welding moving seat 100 moves back, the push rod 430 disengages from the second support seat 500, and the connecting push rod 310 exits from the telescopic hole 213, the elastic restoring force of the third compression spring 431 will drive the push rod 430 to reset, thereby driving the sliding plate 420 to slide along the guide groove 213a, so that the limiting pin 400 returns to its initial position along the guide groove 213a, accurately aligning with the opening of the telescopic hole 213. In this way, when the next set of steel sections enters the hydraulic fixing seat 110 and the connecting push rod 310 is pushed into the telescopic hole 213 again, the limit pin 400 can be directly locked into the push rod groove 311 under the action of the first compression spring 410, without the need for manual reset, ensuring that the next locking action is accurate and efficient, and supporting the continuous welding operation of the equipment.

[0036] refer to Figure 6 In one embodiment, in the first fixing component 210, at least one of the two sets of corner components 211 parallel along the first direction x1 is connected by the connecting limiting component 300; at least one of the two sets of corner components 211 parallel along the second direction x2 is connected by the connecting limiting component 300.

[0037] The connecting limiting component 300 of the first fixing component 210 includes a limiting pin 400, a push rod groove 311, a push rod 430, a compression spring, and other structures, enabling active locking and separation. On the side without the connecting limiting component 300, only the telescopic hole 213 and the connecting push rod 310 are retained, allowing only follow-up engagement. Specifically, in the first fixing component 210, on two opposite sides along the first direction x1 or the second direction x2, one side is provided with a complete connecting limiting component 300, which can actively lock when the hydraulic fixing seat 110 drives the angle component 211 to approach, through the engagement of the limiting pin 400 and the push rod groove 311, and actively unlock and separate when the push rod 430 is pushed. The other side does not have active structures such as the limiting pin 400 and the push rod 430, and only achieves follow-up engagement through the sliding engagement of the telescopic hole 213 and the connecting push rod 310. When the active side is locked, the connecting push rod 310 on the follower side can extend and retract flexibly with the movement of the corner component 211 to adapt to the steel profile size and assist in achieving circumferential fastening; when the active side is unlocked and separated, the connecting push rod 310 on the follower side can exit the telescopic hole 213 synchronously with the separation of the corner component 211 without the need for additional unlocking action.

[0038] In conjunction with the design that the direction of the push rod 430 intersects with the axis of the telescopic hole 213, to ensure that the push rod 430 and the second support seat 500 effectively cooperate and trigger unlocking, specifically, in the third direction x3, the second fixing component 220 is located at the end close to the second support seat 500. Therefore, the push rod 430 on the second fixing component 220 can extend directly along the third direction x3. When the first welding moving seat 100 drives the following fixing component 200 to move to contact the second support seat 500, the push rod 430 can directly contact the second support seat 500. The third direction x3 thrust applied by the second support seat 500 can directly push the push rod 430 to retract along the guide groove 213a, thereby driving the limit pin 400 to disengage from the push rod groove 311, realizing the unlocking of the second fixing component 220.

[0039] For the push rod 430 on the first fixing component 210, in order to ensure that it can effectively receive the pushing force of the third direction x3 and convert it into the unlocking force in the corresponding direction, the push rod 430 is located at the lower part of the corner component 211 set along the first direction x1 and extends downward along the second direction x2. The extended end of the push rod 430 is provided with a slope. This slope can convert the pushing force of the third direction x3 applied by the second support seat 500 into a pushing force along the second direction x2, pushing the push rod 430 to move along the guide groove 213a, so as to realize the disengagement of the limit pin 400. On the corner component 211 set along the second direction x2, the push rod 430 extends outward along the first direction x1, and its end is also provided with a slope. This slope can convert the pushing force of the third direction x3 into a pushing force along the first direction x1, driving the push rod 430 and the limit pin 400 to move, thus completing the unlocking.

[0040] In one embodiment, the follower fixing component 200 is connected to the hydraulic fixing seat 110 by a traction rope (not shown in the figure); the traction rope is configured to pull the follower fixing component 200 back to the hydraulic fixing seat 110 after the opposing corner components 211 separate from each other, causing the follower fixing component 200 to disengage from the first steel A and the second steel B.

[0041] In this embodiment, the traction rope connects the follower fixing component 200 and the hydraulic fixing seat 110. After the follower fixing component 200 is unlocked and separated, the traction rope can actively pull the follower fixing component 200 back to the hydraulic fixing seat 110 using an active winding device. To ensure that the follower fixing component 200 can accurately align with the next welding operation after retraction, a stop can be installed on the hydraulic fixing seat 110. When the follower fixing component 200 is pulled to a preset position, the stop can block the follower fixing component 200, restricting its continued movement, thereby ensuring that the follower fixing component 200, after being pulled back, is directly aligned with the hydraulic cylinder 111 of the hydraulic fixing seat 110. In this way, the hydraulic cylinder 111 of the hydraulic fixing seat 110 can directly drive the follower fixing component 200 to move closer, quickly completing the locking and alignment of the next set of steel sections.

[0042] Combination Figure 1 and Figure 2 In one embodiment, a cold bending device 600 is further included. The cold bending device 600 is located on the side of the second support 500 away from the first welding movable seat 100. The cold bending device 600 includes a pushing assembly 610 and a first fulcrum 620 and a second fulcrum 630 respectively disposed on both sides of the pushing assembly 610. The second fulcrum 630 is located on the side closer to the second support 500. The pushing assembly 610 is located on the inner side of the bend of the second steel section B, and the first fulcrum 620 and the second fulcrum 630 are located on the outer side of the bend of the second steel section B. The pushing assembly 610 is used to push the second steel section B in a first direction x1 for cold bending, so that the second steel section B generates an offset force in the same direction as the bending direction at the joint with the first steel section A around the second fulcrum 630. Figure 14 and Figure 15 A first follower seat 700 extends from the first welding moving seat 100 toward the second support seat 500. The distance between the first follower seat 700 and the first welding moving seat 100 is kept fixed, and it is directly opposite the welding robot arm 120 located in the second working position. Two active compensation actuators are installed on the first follower seat 700. The two active compensation actuators are located inside the second steel section B and are used to apply reverse compensation forces on both sides of the joint according to the magnitude and direction of the offset force to counteract the offset force transmitted to the joint by cold bending. Here, the first follower seat 700 and the first welding moving seat 100 are on the same linear guide rail and are fixedly limited by the guide rail in the first direction x1.

[0043] Two active compensation actuators on either side of the joint apply matching but opposite compensation forces corresponding to the direction of the offset force, forming a reverse constraint force to counteract the offset tendency caused by cold bending. In practical operations, the offset force generated by cold bending acts on the joint, causing implicit stress deformation. Especially during welding, when the weld is not fully formed, this stress deformation directly affects the weld formation accuracy and connection strength, thus impacting the support stability of the tunnel arch frame. Therefore, the active compensation actuators can prevent implicit deformation and ensure weld quality.

[0044] In addition to the functions described above, the first follower seat 700 also provides support for the follower fixed component 200 below. The first follower seat 700 is not directly connected to the first welding moving seat 100, but is fixedly connected to it via a fixed-length connecting frame 720. This fixed-length design ensures that the relative position between the first follower seat 700 and the first welding moving seat 100 remains constant, thereby enabling them to move synchronously along the third direction x3, ensuring that the active compensation actuator is always aligned with both sides of the weld seam. Furthermore, the first follower seat 700 has a clearance structure on its side in the first direction x1. This clearance structure avoids the working stroke of the welding robot arm 120, preventing structural interference between the first follower seat 700 and the welding robot arm 120, ensuring smooth welding operations. On the other hand, the clearance groove reduces the overall weight of the first follower seat 700, achieving a weight reduction effect, reducing energy consumption when the first welding moving seat 100 moves synchronously with it, while also reducing the overall load on the equipment, improving the stability and service life of the equipment, and adapting to the needs of long-term continuous welding operations.

[0045] Combination Figure 14 and Figure 15 The active compensation actuator can specifically employ a servo electric push rod, which can adjust the output thrust in real time according to the changes in offset force generated by cold bending. It also features a compact structure, facilitating installation on the first follower seat 700. A transmission plate 711 can also be added, configured as two corner components 211 spanning the second direction x2. Specifically, the transmission plate 711 extends along the second direction x2, with its ends respectively abutting against the two corner components 211 in the follower fixing assembly 200 opposite to the second direction x2. In this way, the output end of the active compensation actuator abuts against the transmission plate 711, synchronously transmitting the reverse compensation force to the two corner components 211 through the transmission plate 711, thus uniformly acting on the steel profile.

[0046] This application also provides a welding process, which uses the steel section welding module described in any of the above claims to weld the joint between the first steel section A and the second steel section B, including the following steps: Push the joint between the first steel section A and the second steel section B into the hydraulic fixing seat 110; The hydraulic fixing seat 110 presses and locks the follower fixing component 200 onto the first steel A and the second steel B, while aligning the first steel A and the second steel B. The robotic welding arm 120 is controlled to perform pre-welding at the joint of the first steel section A and the second steel section B in the first working position. Drive the first steel section A to push the second steel section B along the third direction x3, so that the joint is moved out of the hydraulic fixing seat 110; The first welding moving seat 100 moves synchronously with the first steel A and the second steel B along the third direction x3, and the welding robot arm 120 located in the second working position remains relatively stationary with the joint. During the welding process, the follow-up fixing component 200 moves synchronously with the first steel section A and the second steel section B, and the relative position of the first fixing component 210 and the second fixing component 220 remains unchanged through the first connecting member 230, thereby constraining the relative displacement of the first steel section A and the second steel section B in the first direction x1 and the second direction x2.

[0047] The above-described process saves time during welding, and the accompanying fixing component 200 ensures the relative position of the first steel section A and the second steel section B is fixed during welding, protecting the welding quality. In addition, it includes a reset process: when the accompanying fixing component 200 moves to contact the second support seat 500, the push rod 430 is pushed by the second support seat 500, causing the limit pin 400 to disengage from the push rod groove 311. The second compression spring 320 pushes the angle component 211 to separate, and the accompanying fixing component 200 disengages from the steel section. The traction rope pulls the accompanying fixing component 200 back to the hydraulic fixing seat 110; simultaneously, the third compression spring 431 drives the limit pin 400 to reset to its initial position, and the first welding moving seat 100 moves back, completing the reset and preparing to process the next set of steel section joints.

[0048] In one embodiment, the steel section welding module further includes a cold bending device 600, which is located on the side of the second support 500 away from the first welding movable seat 100.

[0049] The cold bending device 600 includes a pushing component 610 and a first fulcrum 620 and a second fulcrum 630 respectively disposed on both sides of the pushing component 610. The second fulcrum 630 is disposed on the side close to the second support seat 500. The pushing component 610 is located on the inner side of the bend of the second steel section B, and the first fulcrum 620 and the second fulcrum 630 are located on the outer side of the bend of the second steel section B.

[0050] The pushing component 610 is used to push the second steel section B in the first direction x1 for cold bending, so that the second steel section B generates an offset force in the same direction as the bending direction at the joint with the first steel section A around the second fulcrum 630.

[0051] The first welding moving seat 100 extends toward the second support seat 500 and is provided with a first follower seat 700. The distance between the first follower seat 700 and the first welding moving seat 100 is kept fixed, and it is directly opposite the welding robot arm 120 located in the second working position.

[0052] Two active compensation actuators are installed on the first follower seat 700. The two active compensation actuators are located inside the second steel section B and are used to apply reverse compensation forces on both sides of the joint according to the magnitude and direction of the offset force to counteract the offset force transmitted to the joint by cold bending.

[0053] Welding process: Controlling the welding robotic arm 120 to perform full welding at the joint in the second working position includes: The active compensation actuator needs to apply a reverse compensation force F2=F1. L1 / L2; where F1 is the thrust of the pushing component 610, L1 is the distance from the pushing component 610 to the second fulcrum 630, and L2 is the real-time distance from the active compensation actuator to the second fulcrum 630.

[0054] For the thrust F1 of the driving component 610, accurate acquisition is achieved by integrating a pressure sensor at the output end of the driving component 610. The pressure sensor is electrically connected to the equipment control system and can collect the thrust data applied by the driving component 610 to the second steel section B in real time, which not only ensures the accuracy of the data, but also realizes automated acquisition.

[0055] For distance L1, which is the fixed distance from the push component 610 to the second fulcrum 630, it can be directly measured during the equipment installation and commissioning stage and the value preset to the control system. L2, on the other hand, is the real-time distance from the active compensation actuator to the second fulcrum 630. Considering the process characteristic of the first welding moving seat 100 moving uniformly along the third direction x3, by calibrating the correspondence between the movement time and displacement of the first welding moving seat 100, the control system automatically calculates the actual value of L2 during the welding operation based on the real-time movement time of the first welding moving seat 100 and the calibrated displacement parameters, eliminating the need for manual re-measurement. Based on the real-time acquired F1 and the automatically calculated L2, combined with the fixed L1 parameter, the control system performs real-time calculations on the reverse compensation force F2 and sends the calculation results to the active compensation actuator, achieving dynamic and precise adjustment of the compensation force.

[0056] It should be noted that the technical solutions or features described in the above embodiments can be combined or supplemented with each other without conflict. The scope of protection of this application is not limited to the precise structures described in the above embodiments and shown in the accompanying drawings; all modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A type of steel section welding module, characterized in that, For welding the joint of the first steel section (A) and the second steel section (B) moving forward along a third direction, including: The first welding movable seat (100) includes a hydraulic fixed seat (110) for driving the joints of the first steel section (A) and the second steel section (B) to align in a first direction (x1) and a second direction (x2); The follow-up fixing component (200) includes a first fixing component (210), a second fixing component (220), and a first connector (230) that spans and fixes the first fixing component (210) and the second fixing component (220). The follow-up fixing component (200) includes a first state and a second state. In the first state, the hydraulic fixing seat (110) presses against the first fixing component (210) and the second fixing component (220) to lock onto the first steel section (A) and the second steel section (B); In the second state, during the welding process of the first welding moving seat (100), the follow-up fixing component (200) moves with the first steel section (A) and the second steel section (B), and the first connecting member (230) is a rigid connecting member, keeping the relative positions of the first fixing component (210) and the second fixing component (220) unchanged.

2. The steel section welding module as described in claim 1, characterized in that, The first fixing component (210) includes four corner parts (211) respectively provided at the four corners of the first steel section (A), and the first fixing component (210) has a separated state and a locked state; Each of the corner components (211) is provided with a guide portion (212) extending along the first direction (x1) and the second direction (x2), and any two opposite guide portions (212) are provided with opposite telescopic holes (213). A connecting limiting assembly (300) is provided between two adjacent corner components (211). The connecting limiting assembly (300) includes a connecting push rod (310). The two ends of the connecting push rod (310) can be slidably inserted into or withdrawn from the telescopic holes (213) of the corner components (211) on both sides. The telescopic hole (213) is provided with a telescopic limiting pin (400) on its hole wall. During the transition from the separated state to the locked state, the hydraulic fixing seat (110) drives the four corner components (211) to move closer to each other, so that the end of the connecting push rod (310) extends into the telescopic hole (213). When it moves to the preset position, the limiting pin (400) engages in the corresponding push rod groove (311) on the connecting push rod (310), thereby locking the relative position between two adjacent corner components (211) and forming a circumferential fastening to the first steel section (A) in the first direction (x1) and the second direction (x2).

3. The steel section welding module as described in claim 2, characterized in that, The second fixing component (220) also includes the four corner parts (211) and the connection limiting component (300); The first connector (230) comprises four, which are fixedly connected between the corner members (211) corresponding in the third direction (x3) of the first fixing assembly (210) and the second fixing assembly (220), and the first connector (230) is configured to protrude outward toward the first steel section (A) and the second steel section (B) to avoid the welding path.

4. The steel section welding module as described in claim 3, characterized in that, It also includes a second support base (500) for supporting the second steel section (B); A first compression spring (410) and a sliding plate (420) are connected to the wall of the telescopic hole (213). The limiting pin (400) is connected to the sliding plate (420) through the first compression spring (410). The first compression spring (410) always applies a pushing force toward the inside of the telescopic hole (213) to the limiting pin (400). The side of the limiting pin (400) facing the opening of the telescopic hole (213) is a slope, which is used to push the first compression spring (410) back by the connecting push rod (310). The telescopic hole (213) is also provided with a guide groove (213a) on its hole wall. The extension direction of the guide groove (213a) intersects the axial direction of the telescopic hole (213). The sliding plate (420) is slidably engaged with the guide groove (213a). The push rod groove (311) has an opening in the radial direction of the telescopic hole (213) for the limit pin (400) to be inserted, and an opening in the extension direction of the guide groove (213a) for the limit pin (400) to slide out. The limiting pin (400) is configured to engage with the push rod groove (311) under the thrust of the first compression spring (410); the limiting pin (400) extends from the guide portion (212) along the extension direction of the guide groove (213a) with a push rod (430), the push rod (430) being pushed by the second support seat (500) when the first welding moving seat (100) moves to contact the second support seat (500), causing the sliding plate (420) connected to the limiting pin (400) to disengage from the push rod groove (311) along the guide groove (213a); When the first welding moving seat (100) moves to contact the second support seat (500), the follow-up fixing component (200) separates from the first steel section (A) and the second steel section (B), and the first welding moving seat (100) moves back to process the joint of the next set of steel sections.

5. The steel section welding module as described in claim 4, characterized in that, A second compression spring (320) is provided between the two opposing corner components (211). The second compression spring (320) is sleeved on the connecting push rod (310), and its two ends abut against the surfaces of the two opposing guide portions (212), for pushing the two opposing corner components (211) to separate from each other after the limiting pin (400) is dislodged from the push rod groove (311); A third compression spring (431) is sleeved on the outer periphery of the push rod (430). The two ends of the third compression spring (431) abut against the sides of the push rod (430) and the guide part (212), respectively, and are used to drive the limiting pin (400) to reset to the initial position along the guide groove (213a) after the connecting push rod (310) is withdrawn.

6. The steel section welding module as described in claim 5, characterized in that, The follower fixing assembly (200) is connected to the hydraulic fixing seat (110) by a traction rope; the traction rope is configured to pull the follower fixing assembly (200) back to the hydraulic fixing seat (110) after the opposing corner parts (211) separate from each other, causing the follower fixing assembly (200) to disengage from the first steel section (A) and the second steel section (B).

7. The steel section welding module as described in claim 4, characterized in that, It also includes a cold bending device (600), which is located on the side of the second support (500) away from the first welding movable seat (100); The cold bending device (600) includes a pushing assembly (610) and a first fulcrum (620) and a second fulcrum (630) respectively disposed on both sides of the pushing assembly (610). The second fulcrum (630) is disposed on the side close to the second support base (500). The pushing assembly (610) is located on the inner side of the bend of the second steel section (B), and the first fulcrum (620) and the second fulcrum (630) are located on the outer side of the bend of the second steel section (B). The pushing component (610) is used to push the second steel section (B) in the first direction (x1) for cold bending, so that the second steel section (B) generates an offset force in the same direction as the bending direction at the joint with the first steel section (A) around the second fulcrum (630); The first welding moving seat (100) extends toward the second support seat (500) and is provided with a first follower seat (700), and the distance between the first follower seat (700) and the first welding moving seat (100) remains fixed; Two active compensation actuators are installed on the first follower seat (700). The two active compensation actuators are located inside the second steel section (B) and are used to apply reverse compensation forces on both sides of the joint according to the magnitude and direction of the offset force to counteract the offset force transmitted to the joint by the cold bending.

8. A welding process, characterized in that, The joint between the first steel section (A) and the second steel section (B) is welded using the steel section welding module according to any one of claims 1 to 7, wherein the first welding moving seat (100) includes a welding robotic arm (120), and the welding process includes the following steps: The joint between the first steel section (A) and the second steel section (B) is pushed into the hydraulic fixing seat (110); The hydraulic fixing seat (110) presses and locks the follower fixing component (200) onto the first steel section (A) and the second steel section (B), while aligning the first steel section (A) and the second steel section (B). The welding robotic arm (120) is controlled to pre-weld the joint between the first steel section (A) and the second steel section (B); Drive the first steel section (A) to push the second steel section (B) along the third direction (x3) so that the joint moves out of the hydraulic fixing seat (110); The first welding moving seat (100) moves synchronously with the first steel section (A) and the second steel section (B) along the third direction (x3). During the welding process, the welding robot arm (120) remains relatively stationary with the joint and performs full welding at the joint. During the welding process, the follow-up fixing component (200) moves synchronously with the first steel section (A) and the second steel section (B), and the relative positions of the first fixing component (210) and the second fixing component (220) remain unchanged through the first connector (230), thereby constraining the relative displacement of the first steel section (A) and the second steel section (B) in the first direction (x1) and the second direction (x2).

9. The welding process as described in claim 8, characterized in that, The steel section welding module also includes a cold bending device (600), which is located on the side of the second support (500) away from the first welding movable seat (100); The cold bending device (600) includes a pushing assembly (610) and a first fulcrum (620) and a second fulcrum (630) respectively disposed on both sides of the pushing assembly (610). The second fulcrum (630) is disposed on the side close to the second support base (500). The pushing assembly (610) is located on the inner side of the bend of the second steel section (B), and the first fulcrum (620) and the second fulcrum (630) are located on the outer side of the bend of the second steel section (B). The pushing component (610) is used to push the second steel section (B) in the first direction (x1) for cold bending, so that the second steel section (B) generates an offset force in the same direction as the bending direction at the joint with the first steel section (A) around the second fulcrum (630); The first welding moving seat (100) extends toward the second support seat (500) and is provided with a first follower seat (700). The distance between the first follower seat (700) and the first welding moving seat (100) is kept fixed, and it is directly opposite the welding robot arm (120) located in the second working position. Two active compensation actuators are installed on the first follower seat (700). The two active compensation actuators are located inside the second steel section (B) and are used to apply reverse compensation forces on both sides of the joint according to the magnitude and direction of the offset force to counteract the offset force transmitted to the joint by the cold bending. The welding process includes: The control of the welding robotic arm (120) to perform full welding at the joint includes: The active compensation actuator needs to apply a reverse compensation force F2=F1. L1 / L2; where F1 is the thrust of the pushing component (610), L1 is the distance from the pushing component (610) to the second fulcrum (630), and L2 is the distance from the active compensation actuator to the second fulcrum (630).

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