Tube rocking machine for steel open caisson construction

Abstract

The utility model discloses a tube rocking machine for steel open caisson construction. The tube rocking machine comprises a fixed seat, a first center hole in the fixed seat, a lifting seat and a second center hole in the lifting seat, the plurality of lifting oil cylinders are uniformly distributed and vertically connected between the fixed seat and the lifting seat; the clamping assembly is arranged in the second center hole and fixedly arranged on the lifting seat; the annular track is horizontally arranged on the fixed seat, and the axis of the annular track coincides with the axis of the first center hole; and the welding robot and the first position sensor on the welding robot automatically walk on the annular track and are used for carrying out automatic annular welding on the butt seam of the upper section steel casing and the lower section steel casing. According to the utility model, the automatic welding, the automatic detection and the automatic repair welding of welding seams can be realized before the upper and lower sections of steel casings of the steel open caisson sink into the soil body, the welding quality and the welding efficiency can be improved, the automatic sinking of the steel casings can be realized, and the intelligent construction of the steel open caisson is realized.

Description

Technical Field

[0001] The utility model relates to the field of construction engineering machinery and equipment, in particular to a pipe shaking machine used for steel caisson construction. Background Art

[0002] The construction of steel caisson generally uses a pipe shaking machine to sink multiple sections of steel casings one by one. After the lower section of steel casing is sunk, the upper and lower sections of steel casings are aligned and welded by the pipe shaking machine. The welded upper and lower sections of steel casings continue to sink, and the welding and sinking of multiple sections of steel casings are cycled in sequence to the designed elevation. The steel casings that are sunk and welded together serve as the foundation pit retaining structure or retaining wall of the caisson. Since there is no welding equipment on the pipe shaking machine, manual welding is required after the upper and lower steel casings are aligned. The disadvantages are that, on the one hand, manual welding is slow and inefficient; on the other hand, manual welding is limited by the technical level of the welding workers, resulting in inconsistent welding quality, which may lead to the risk of leakage when the weak welding points are sunk into the soil and used as foundation pit retaining. Utility Model Content

[0003] The utility model aims to provide a pipe shaking machine for steel caisson construction to solve the problems of poor welding quality and low welding efficiency between two adjacent steel casings.

[0004] In order to solve the above technical problems, the utility model provides a technical solution: a pipe shaking machine for steel caisson construction, comprising:

[0005] A fixing seat is arranged horizontally, and has a first central hole matching the outer diameter of the steel casing of the steel caisson;

[0006] A lifting seat, parallel to the fixed seat and located above the fixed seat, the center of the lifting seat has a second center hole larger than the outer diameter of the steel casing of the steel caisson, and the axis of the second center hole coincides with the axis of the first center hole;

[0007] There are multiple lifting cylinders, evenly distributed and vertically connected between the fixed seat and the lifting seat;

[0008] A clamping assembly, arranged in the second center hole of the lifting seat and fixedly arranged on the lifting seat, used for clamping or loosening the steel casing of the steel caisson;

[0009] An annular track is horizontally arranged on the upper surface of the fixing seat, the inner diameter of the annular track is larger than the diameter of the first center hole, and the axis of the annular track coincides with the axis of the first center hole;

[0010] A welding robot automatically moves on the circular track to automatically perform circumferential welding on the butt joints of the upper and lower steel casings;

[0011] The first position sensor is arranged on the welding robot and is used for detecting the position of the welding robot on the circular track.

[0012] Furthermore, the pipe shaking machine for steel caisson construction provided by the utility model also includes:

[0013] An inspection robot automatically walks on the circular track and is used to automatically inspect the weld quality of the upper and lower steel casings;

[0014] The second position sensor is arranged on the detection robot and is used to detect the position of the detection robot on the circular track.

[0015] Furthermore, in the pipe shaking machine for steel caisson construction provided by the utility model, there are two circular tracks, and the welding robot and the detection robot both automatically walk on the two circular tracks.

[0016] Furthermore, in the pipe shaking machine for steel caisson construction provided by the utility model, the welding robot and the detection robot are arranged at 180 degrees.

[0017] Furthermore, in the pipe shaking machine for steel caisson construction provided by the utility model, the circular tracks are two, and the welding robot and the detection robot automatically walk on one of the circular tracks respectively.

[0018] Furthermore, the utility model provides a pipe shaking machine for steel caisson construction, wherein the detection robot includes an industrial mechanical arm and an ultrasonic detector arranged at the end thereof.

[0019] Furthermore, the utility model provides a pipe shaking machine for steel caisson construction, wherein the welding robot includes an industrial mechanical arm and a welding gun or welding clamp disposed at the end thereof.

[0020] Furthermore, in the pipe shaking machine for steel caisson construction provided by the utility model, the clamping assembly comprises a clamping ring with a notch, and a clamping cylinder is arranged between the notches of the clamping ring.

[0021] Furthermore, the utility model provides a pipe shaking machine for steel caisson construction, wherein the clamping assembly includes a clamping ring with a notch, the clamping ring is provided with clamping plates extending outwardly at both ends of the notch, and a clamping cylinder is provided between the clamping plates.

[0022] Compared with the prior art, the beneficial effects of the utility model are as follows:

[0023] The pipe shaking machine for steel caisson construction provided by the utility model automatically performs circumferential welding on the butt joints of the upper and lower steel casings by means of a welding robot that automatically moves along a circular track, detects whether the weld quality is qualified by means of an ultrasonic detector of a detection robot that automatically moves along a circular track, and transmits the position of the weld quality that is unqualified to the welding robot for automatic repair welding, thereby improving the welding quality and welding efficiency of the butt joints of the upper and lower steel casings of the steel caisson. The problem of poor welding quality of the butt joints of the upper and lower steel casings due to the different technical levels of the welding operators in manual welding is avoided, and the problem of shaking of the arm due to holding the welding gun for a long time during manual welding, which affects the welding quality at the butt joint, is avoided. The risk of leakage caused by the steel casing sinking into the soil is avoided by automatic repair welding.

[0024] The utility model provides a pipe shaking machine for steel caisson construction. After welding is completed, the welding robot and the inspection robot are retracted to avoid the sinking of the steel casing. The upper section of the steel casing is clamped by the clamping assembly, and the lifting seat is lowered by the lifting cylinder to drive the clamped and welded upper and lower sections of the steel casing to be pressed downward into the soil, thereby realizing the automatic sinking of the steel casing and improving the sinking efficiency of the steel caisson. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic diagram of the plan structure of a pipe shaking machine used in steel caisson construction;

[0026] Figure 2 It is a schematic diagram of the elevation structure of a pipe shaking machine used in steel caisson construction;

[0027] Figure 3 yes Figure 2 Sectional view at AA in the middle;

[0028] Figure 4 This is a schematic diagram of the vertical structure of the first section of steel casing sunk into the soil by a pipe shaking machine;

[0029] Figure 5 It is a schematic diagram of the vertical structure in which the second section of steel casing is connected to the first section of steel casing through a pipe shaking machine;

[0030] Figure 6 It is a schematic diagram of the elevation structure in which a welding robot automatically welds the butt joint between the first section and the second section of the steel casing;

[0031] Figure 7 It is a schematic diagram of the elevation structure of the inspection robot automatically inspecting the welding quality of the welds of the first section and the second section of the steel casing;

[0032] Figure 8 It is a schematic diagram of the elevation structure for automatically repairing the unqualified weld positions of the first and second sections of the steel casing;

[0033] Fig. 9 It is a schematic diagram of the vertical structure of sinking the second section of steel casing into the soil through a pipe shaking machine;

[0034] Fig.10 It is a schematic diagram of the vertical structure in which the third section of steel casing is connected to the second section of steel casing through a pipe shaking machine;

[0035] As shown in the figure:

[0036] 100. Pipe shaking machine, 110. Fixed seat, 111. First center hole, 120. Lifting cylinder, 130. Lifting seat, 140. Clamping assembly, 141. Clamping ring, 142. Clamping cylinder, 143. Clamping plate, 150. Annular track, 160. Welding robot, 161. Welding gun, 162. First position sensor, 170. Detection robot, 171. Ultrasonic detector, 172. Second position sensor, 180. Foot. DETAILED DESCRIPTION

[0037] The utility model is described in detail below in conjunction with the accompanying drawings: According to the following description, the advantages and features of the utility model will be more clearly understood. It should be noted that the accompanying drawings are all in a very simplified form and are not in precise proportions, and are only used to conveniently and clearly assist in explaining the purpose of the embodiments of the utility model.

[0038] Embodiment 1

[0039] Please refer to Figures 1 to 3 The utility model provides a pipe shaking machine 100 for steel caisson construction, including a fixing seat 110, a lifting cylinder 120, a lifting seat 130, a clamping assembly 140, a circular track 150, a welding robot 160 and a first position sensor 162, wherein:

[0040] The fixing seat 110 is arranged horizontally and has a first central hole 111 matching the outer diameter of the steel casing of the steel caisson. The fixing seat 110 can be a square or rectangular steel plate having the first central hole 111, and each corner of the fixing seat 110 has a chamfer.

[0041] The lifting seat 130 is parallel to the fixed seat 110 and is located above it. The center of the lifting seat 130 has a second center hole 131 larger than the outer diameter of the steel casing of the steel caisson. The axis of the second center hole 131 coincides with the axis of the first center hole 111. At this time, the lifting seat 130 can be a rectangular steel plate with the same specifications and matching shapes as the fixed seat 110.

[0042] There are multiple lifting cylinders 120, evenly distributed and vertically connected between the fixed base 110 and the lifting base 130. The figure illustrates four lifting cylinders 120 distributed at four corners of the fixed base 110 and the lifting base 130. The distribution position and number of the lifting cylinders 120 are not limited thereto.

[0043] The clamping assembly 140 is arranged in the second center hole 131 of the lifting seat 130 and fixedly arranged on the lifting seat 130, and is used to clamp or loosen the steel casing of the steel caisson. Through the cooperation of the clamping assembly 140, the lifting cylinder 120 and the lifting seat 130, the automatic sinking construction of the steel casing is realized.

[0044] The annular track 150 is horizontally arranged on the upper surface of the fixing seat 110, the inner diameter of the annular track 150 is larger than the diameter of the first center hole 111, and the axis of the annular track 150 coincides with the axis of the first center hole 111. The positions of the annular track 150 and the lifting cylinder 120 should be staggered.

[0045] The welding robot 160 automatically moves on the circular track 150 to automatically perform circumferential welding on the butt joints of the upper and lower steel casings. The welding robot 160 includes an industrial robot arm and a welding gun 161 or welding tongs arranged at its end. Before welding, the welding gun 161 can be manually adjusted to align with the butt joints of the upper and lower steel casings. The walking control mechanism of the welding robot 160 that automatically moves on the circular track 150 can adopt a known technology.

[0046] The first position sensor 162 is arranged on the welding robot 160, and is used to detect the position of the welding robot 160 on the circular track 150. The first position sensor 162 can be a satellite locator such as GPS, or an angle sensor. The position of the welding robot 160 on the circular track 150 is determined by the horizontal angle of the first position sensor 162 relative to the point O of the cross coordinate system of the circular track 150, and then the position of the welding robot 160 in the circumferential joint is confirmed. In order to improve the accuracy of position detection, the first position sensor 162 is horizontally arranged on the welding robot 160, for example, it can be horizontally arranged on the base of the welding robot 160.

[0047] Please refer to Figures 2 to 3 In order to automatically detect the weld quality of the upper and lower steel casings, the pipe shaking machine 100 for steel caisson construction provided in the first embodiment of the utility model may also include:

[0048] The detection robot 170 automatically walks on the circular track 150 and is used to automatically detect the weld quality of the upper and lower sections of the steel casing. The detection robot 170 includes an industrial robot arm and an ultrasonic detector 171 arranged at its end. The ultrasonic detector 171 is aimed at the weld to automatically detect the weld quality. The industrial robot arms of the welding robot 160 and the detection robot 170 are both equipped with control systems, and the first position sensor 162 and the second position sensor 172 are respectively connected to the control systems of their respective industrial robot arms, and the control systems of the welding robot 160 and the detection robot 170 can communicate with each other.

[0049] The second position sensor 172 is arranged on the detection robot 170 and is used to detect the position of the detection robot 170 on the circular track 150. The second position sensor 172 can be the same as the first position sensor 162, and its functions and positioning principles are the same. That is, the second position sensor 172 can also be a satellite locator such as GPS, an angle sensor, etc. The position of the welding robot 160 on the circular track 150 is determined by the horizontal angle of the second position sensor 172 relative to the point O of the cross coordinate system of the circular track 150, and then the position of the detection robot 160 on the circumferential weld is confirmed. The second position sensor 172 can be horizontally arranged on the base of the detection robot 170.

[0050] Please refer to Figure 2 In order to improve the stability of the welding robot 160 and the detection robot 170 when they automatically walk on the circular track 150, the pipe shaking machine 100 for steel caisson construction provided in the first embodiment of the utility model has two circular tracks 150, and the welding robot 160 and the detection robot 170 both automatically walk on the two circular tracks 150. At this time, the welding robot 160 and the detection robot 170 can be arranged at 180 degrees, that is, arranged in a straight line. In this case, before the welding robot 160 automatically walks to the initial position of the detection robot 170 for automatic welding, the detection robot 170 needs to avoid.

[0051] In order to avoid position interference between the welding robot 160 and the detection robot 170 on the circular track 150, avoid collision between the two, and overcome the problem of needing to avoid each other, the pipe shaking machine 100 for steel caisson construction provided in Example 1 of the utility model has two circular tracks 150, and the welding robot 160 and the detection robot 170 automatically walk on one of the circular tracks 150 respectively.

[0052] In order to clamp or loosen the steel casing of the steel caisson, the pipe shaking machine 100 for steel caisson construction provided in the first embodiment of the utility model, the clamping assembly 140 includes a clamping ring 141 with a notch, and a clamping oil cylinder 142 is arranged between the notches of the clamping ring 141. The clamping ring 141 is clamped or opened by the extension and contraction of the clamping oil cylinder 142, and when the clamping ring 141 is clamped, the notch becomes smaller, and when the clamping ring 141 is loosened, the notch becomes larger. In order to increase the clamping force, the inner wall of the clamping ring 141 is set to a rough surface such as a serrated surface.

[0053] Please refer to Figure 1 In order to improve the reliability of the clamping assembly 140 being arranged on the lifting seat 130, the pipe shaking machine 100 for steel caisson construction provided in the first embodiment of the utility model, the clamping assembly 140 includes a clamping ring 141 with a notch, and the clamping ring 141 is provided with clamping plates 143 extending outward at both ends of the notch, and a clamping cylinder 142 is provided between the clamping plates 143. The two ends of the clamping cylinder 142 can be vertically arranged on the lifting seat 130 through a pin shaft, so that the clamping assembly 140 is fixedly arranged on the lifting seat 130. At this time, the lifting seat 130 can be provided with a blind groove corresponding to the position of the clamping plate 143, and the lower surface of the clamping plate 143 can be contacted and arranged in the blind groove. At this time, the pin shafts at both ends of the clamping cylinder 142 can be arranged through the bottom wall of the blind groove.

[0054] Embodiment 2

[0055] Please refer to Figures 4 to 10 , and combined with Figures 1 to 3 The second embodiment of the present invention provides a steel caisson method using a pipe shaking machine 100 for steel caisson construction according to the first embodiment, which may include the following steps:

[0056] Step S201, please refer to Figure 4 , the pipe shaking machine 100 is horizontally set on the ground of the steel caisson.

[0057] Step S202, please refer to Figure 4 The welding robot 160 and the inspection robot 170 are retracted and extended outside the fixing seat 110 to avoid the movement. The purpose of avoiding the movement is to avoid affecting the lifting and lowering operation of the lifting and lowering seat 130 of the pipe shaking machine 100 by the lifting and lowering cylinder 120, so as to provide sufficient operating space for the lifting and lowering operation of the lifting and lowering seat 130.

[0058] Step S203, please refer to Figure 4, the lifting seat 130 is lifted upward by the lifting cylinder 120, the upper steel casing is extended into the clamping assembly 140 of the lifting seat 130 of the pipe shaking machine 100 and the first center hole 111 of the fixing seat 110, and the upper steel casing is clamped by the clamping assembly 140. At this time, the upper steel casing is the first steel casing, and the lifting seat 130 is lowered by the lifting cylinder 120 to press the upper steel casing part into the soil. The purpose of pressing the first steel casing into the soil is to sink the well on the one hand, and to fix the first steel casing on the other hand.

[0059] Step S204, please refer to Figures 4 to 5 , release the clamping assembly 140, lift the lifting seat 130 upwards through the lifting cylinder 120, extend the lower steel casing into the clamping assembly 140 of the lifting seat 130 of the pipe shaking machine 100 and the first center hole 111 of the fixing seat 110, align and seat it on the upper steel casing, and clamp the lower steel casing through the clamping assembly 140. At this time, the lower steel casing is the second steel casing.

[0060] Step S205, please refer to Figure 6 , align the welding gun 161 or welding tongs of the welding robot 160 at the butt joint of the upper and lower steel casings, start the welding robot 160 to automatically move along the circular track 150 to automatically weld the butt joint of the upper and lower steel casings to form a weld, that is, the welding robot 160 automatically moves around the upper and lower steel casings on the circular track 150 to automatically weld each position of the circumferential butt joint, that is, 360° all-round automatic welding. The position of the welding gun 161 or welding tongs of the welding robot 160 can be manually adjusted to align it with the butt joint of the upper and lower steel casings. In order to improve the welding quality, the automatic welding at the butt joint can adopt groove welding, that is, both ends of the upper and lower steel casings are provided with guide angles, and a groove is formed when the two are butted.

[0061] Step S206, please refer to Figure 7 , aim the ultrasonic detector 171 of the detection robot 170 at the weld of the upper and lower steel casings, start the detection robot 170 to automatically walk along the circular track 150 to automatically detect the welding quality of the weld of the upper and lower steel casings, so as to determine whether the weld quality of the upper and lower steel casings at the joint is qualified, that is, 360° all-round automatic detection, when the unqualified weld is detected, the position of the unqualified weld is recorded by the second position sensor 172 and fed back to the control system of the detection robot 170, and the detection robot 170 transmits the position of the unqualified weld to the welding robot 160 through its control system. That is, it is transmitted to the control system of the welding robot 160.

[0062] Step S207, please refer to Figures 7 and 8, start the welding robot 160 and use the first position sensor 162 thereon to automatically move along the circular track 150 to the position where the weld is unqualified and automatically repair the position where the weld is unqualified.

[0063] Step S208, please refer to Fig. 9 When the welding quality of the welds of the upper and lower sections of the steel casing is tested and qualified by the detection robot 170, the welding robot 160 and the detection robot 170 are retracted and extended to the outside of the fixing seat 110 to avoid the steel casing when it sinks.

[0064] Step S209, please refer to Fig. 9 , keep the clamping assembly 140 clamping the upper steel casing, and lower the lifting seat 130 through the lifting cylinder 120 to press the welded upper and lower steel casings into the soil and expose part of the upper steel casing. At this time, the second steel casing is partially exposed above the ground.

[0065] Step S210, please refer to Fig.10 , and steps S204 to S209 are executed cyclically until the last section of the steel casing is welded to the previous section of the steel casing and pressed into the soil. Fig.10 The example in which the third section of steel casing is aligned and seated on the second section of steel casing by the pipe shaking machine 100 is shown.

[0066] The pipe shaking machine 100 and the steel caisson method provided by the above-mentioned embodiment of the utility model for steel caisson construction automatically perform circumferential welding on the butt joints of the upper and lower steel casings by means of a welding robot 160 that automatically moves along a circular track 150, detect whether the quality of the weld is qualified by means of an ultrasonic detector 171 of a detection robot 170 that automatically moves along the circular track 150, and transmit the position of the weld with unqualified quality to the welding robot 160 for automatic repair welding, thereby improving the welding quality and welding efficiency of the butt joints of the upper and lower steel casings of the steel caisson. The problem of poor welding quality of the butt joints of the upper and lower steel casings due to the different technical levels of the welding operators in manual welding is avoided, and the problem of shaking of the arm due to holding the welding gun 161 for a long time during manual welding, which affects the welding quality at the butt joint, is avoided. The risk of leakage of the steel casing when it sinks into the soil is avoided by automatic repair welding.

[0067] The pipe shaking machine 100 and steel caisson method for steel caisson construction provided by the above-mentioned embodiment of the utility model, after welding is completed, the welding robot 160 and the detection robot 170 are retracted to avoid the sinking of the steel casing, the upper section of the steel casing is clamped by the clamping assembly 140, and the lifting seat 130 is lowered by the lifting cylinder 120 to drive the clamped and welded upper and lower sections of the steel casing to be pressed downward into the soil, thereby realizing the automatic sinking of the steel casing and improving the sinking efficiency of the steel caisson.

[0068] The pipe shaking machine 100 and the steel caisson method for steel caisson construction provided in the above-mentioned embodiment of the utility model realize the automation and intelligence of steel caisson construction through automatic welding at the joints of the upper and lower sections of steel casings, automatic detection of welds, and automatic pressing of steel casings, and have the advantages of saving time and labor and facilitating caisson construction.

[0069] The present utility model is not limited to the above-mentioned specific implementation modes. Obviously, the above-mentioned embodiments are only some embodiments of the present utility model, but not all embodiments. All other embodiments obtained by ordinary technicians in this field based on the described embodiments of the present utility model belong to the scope of protection of the present utility model. Those skilled in the art can make other levels of modifications and changes to the present utility model. In this way, if these modifications and changes of the present utility model fall within the scope of the claims of the present utility model, the present utility model is also intended to include these changes and changes.

Claims

1. A pipe shaking machine for steel caisson construction, characterized in that: include: A fixing seat is arranged horizontally, and has a first central hole matching the outer diameter of the steel casing of the steel caisson; A lifting seat, parallel to the fixed seat and located above the fixed seat, the center of the lifting seat has a second center hole larger than the outer diameter of the steel casing of the steel caisson, and the axis of the second center hole coincides with the axis of the first center hole; There are multiple lifting cylinders, evenly distributed and vertically connected between the fixed seat and the lifting seat; A clamping assembly, arranged in the second center hole of the lifting seat and fixedly arranged on the lifting seat, used for clamping or loosening the steel casing of the steel caisson; An annular track is horizontally arranged on the upper surface of the fixing seat, the inner diameter of the annular track is larger than the diameter of the first center hole, and the axis of the annular track coincides with the axis of the first center hole; A welding robot automatically moves on the circular track to automatically perform circumferential welding on the butt joints of the upper and lower steel casings; The first position sensor is arranged on the welding robot and is used to detect the position of the welding robot on the circular track.

2. The pipe shaking machine for steel caisson construction according to claim 1, characterized in that: Also includes: An inspection robot automatically walks on the circular track and is used to automatically inspect the weld quality of the upper and lower steel casings; The second position sensor is arranged on the detection robot and is used to detect the position of the detection robot on the circular track.

3. The pipe shaking machine for steel caisson construction according to claim 2, characterized in that: There are two circular tracks, and the welding robot and the detection robot both automatically walk on the two circular tracks.

4. The pipe shaking machine for steel caisson construction according to claim 3, characterized in that: The welding robot and the inspection robot are arranged at 180 degrees.

5. The pipe shaking machine for steel caisson construction according to claim 2, characterized in that: There are two circular tracks, and the welding robot and the detection robot automatically walk on one of the circular tracks respectively.

6. The pipe shaking machine for steel caisson construction according to claim 2, characterized in that: The detection robot comprises an industrial robot arm and an ultrasonic detector arranged at the end thereof.

7. The pipe shaking machine for steel caisson construction according to claim 1, characterized in that: The welding robot comprises an industrial mechanical arm and a welding gun or welding tongs arranged at the end thereof.

8. The pipe shaking machine for steel caisson construction according to claim 1, characterized in that: The clamping assembly comprises a clamping ring with notches, and a clamping cylinder is arranged between the notches of the clamping ring.

9. The pipe shaking machine for steel caisson construction according to claim 1, characterized in that: The clamping assembly comprises a clamping ring with a notch, and clamping plates are provided on both ends of the notch extending outwardly of the clamping ring, and a clamping oil cylinder is provided between the clamping plates.

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