CN118060812A

CN118060812A - Head-tail joint welding mechanism and control system in profile steel arch raw material advancing process

Info

Publication number: CN118060812A
Application number: CN202410497536.2A
Authority: CN
Inventors: 张颖; 郭锋
Original assignee: Beijing Yingfeng Xiangyu Intelligent Equipment Co ltd
Current assignee: Beijing Yingfeng Xiangyu Intelligent Equipment Co ltd
Priority date: 2024-04-24
Filing date: 2024-04-24
Publication date: 2024-05-24
Anticipated expiration: 2044-04-24
Also published as: CN118060812B

Abstract

The invention belongs to the technical field of end-to-end joint welding of tunnel type steel arch raw materials, and discloses an end-to-end joint welding mechanism and a control system in the process of advancing of the type steel arch raw materials. The invention has the functions of automatic detection, beveling, welding position correction, follow-up welding and the like, and the most core follow-up welding mechanism uses five servo shafts, two follow-up drives and three groups of clamping alignment mechanisms, and realizes the automatic detection of continuous welding positions, correction, welding position adjustment, follow-up welding and the like of the head-tail continuous connection of the tunnel steel arch raw materials through reasonable transmission layout, so that the welding efficiency is high, and the welding effect is good.

Description

Head-tail joint welding mechanism and control system in profile steel arch raw material advancing process

Technical Field

The invention belongs to the technical field of end-to-end joint welding of tunnel steel arch raw materials, and particularly relates to an end-to-end joint welding mechanism and a control system in the process of advancing of steel arch raw materials.

Background

In the tunnel, the specification, radius and length of the section steel arch are different, the length of each section steel arch raw material is 12 meters, the length of the section steel arch arc can not be divided by 12, in order to avoid material waste, the section steel arch raw material is welded in an end-to-end mode, the section steel arch raw material is made into a raw material section bar with continuous infinite length, and even if the processed section steel arch arc length can not be divided by 12, the section steel arch can be cut according to the specified arc length size, and the material waste can not be caused.

For example, chinese patent publication No. CN217452659U discloses a welding device for a section steel arch, which includes two alignment mechanisms disposed at two ends of the section steel arch, and a turnover mechanism disposed between the two alignment mechanisms; the turnover mechanism is used for executing turnover action on the steel arch; the alignment mechanism comprises an index plate and an alignment frame arranged on the index plate, the alignment frame is provided with a clamping space for clamping the end part of the section steel arch, and the index plate is configured to drive the alignment frame to be close to or far away from the end part of the section steel arch. The device is through tilting mechanism upset shaped steel bow member behind the front welding, then carries out the reverse side welding again, has promoted welding efficiency.

At present, two types of steel arch raw materials are welded end to end: firstly, a mature welding robot is used for being applied to a section steel arch production line for splicing, and secondly, manual splicing is adopted;

When the welding robot is adopted, the raw materials can only be connected in a head-to-tail mode at a fixed position, the whole line of the continuous connection process stops running, the continuous connection completion mode can carry out flowing, the production line stops running for 2.5 minutes every time, if the overbending fracture needs to be repaired in a half hour, the production efficiency of the section steel arch is directly affected, the existing welding robot is used for completing the continuous connection of the section steel arch production line, a groove mechanism is basically not arranged due to the cost problem, and the continuous connection failure rate of the raw materials of the large-size section steel arch is 100%.

When manual splicing is adopted, the requirement on welding workers is high, and the welding workers with abundant experience are required to be subjected to bending after splicing so as not to break; the continuous time is overlong, and for the condition that the reinforcing plate is not required to be welded at the joint in the head and tail continuous welding of the small-specification raw material section steel, the excessive bending can be ensured not to be broken only by welding for 3 minutes, and if the large-specification raw material section steel is continuously connected, the reinforcing plate is additionally required to be welded, so that the time is longer.

At present, the end-to-end welding of the raw materials of the section steel arch by using a mature welding robot or a manual splicing mode has a plurality of defects, and improvement is needed.

Disclosure of Invention

The invention aims to provide a head-tail joint welding mechanism and a control system for a section steel arch raw material in the advancing process, which are used for solving the technical problems in the prior art.

In order to achieve the above purpose, the present invention adopts the following technical scheme: an end-to-end joint welding mechanism in the travelling of profile steel arch raw materials, comprising: a cold bending mechanism; the driven steel arch frame raw material roller conveying line is arranged at one side of the cold bending mechanism; the following type splicing mechanism is transversely arranged on the driven steel arch raw material roller conveying line; the profile steel raw material conveying line is symmetrically arranged at one side of the driven profile steel arch frame raw material roller conveying line; the section steel raw material transfer conveying line is embedded in the driven section steel arch raw material roller conveying line and is positioned at the tail part of the section steel raw material conveying line; raw material alignment mechanisms are respectively arranged in the middle and on two sides of the section steel raw material conveying line; groove mechanisms are respectively arranged beside the raw material alignment mechanisms at two sides of the profile steel raw material conveying line; and the cutting supporting mechanism is arranged on the section steel raw material conveying line.

Preferably, the follow-up type continuous connection mechanism comprises a walking track, a follow-up type continuous connection mechanism main frame body is arranged above the walking track, a moving structure is arranged on the follow-up type continuous connection mechanism main frame body, and a welding wire feeder, a welding machine and a first hydraulic station are hung outside the follow-up type continuous connection mechanism main frame body and are used for assisting welding and positioning and clamping; the follow-up continuous mechanism main frame body top is equipped with the floating frame, be equipped with first follow-up clamping assembly and vertical propelling movement structure on the floating frame, be connected with the second follow-up clamping assembly on the vertical propelling movement structure, follow-up continuous mechanism main frame body top is installed and is reset the structure for realize the floating frame and reset.

Preferably, the first follow-up clamping assembly comprises a first follow-up clamping frame body, a first follow-up clamping pressing-down drive and a first follow-up pressing-down guide are installed on the first follow-up clamping frame body, a first follow-up clamping connecting plate is installed at the end part of the first follow-up pressing-down guide, the first follow-up clamping pressing-down drive is connected with the first follow-up clamping connecting plate, a first follow-up clamping positioning plate, a first follow-up clamping drive and a first follow-up clamping guide are installed on the first follow-up clamping connecting plate, a first follow-up clamping plate is installed at the end part of the first follow-up clamping guide, and the first follow-up clamping drive is connected with the first follow-up clamping plate; the second follow-up clamping assembly is identical to the first follow-up clamping assembly in structure.

Preferably, the walking track of follow-up continuous mechanism is inside to be equipped with two sets of initial positioning mechanism, initial positioning mechanism includes initial positioning machine framework, install initial positioning lift drive and initial positioning lift direction on the initial positioning machine framework, initial positioning lift bottom plate is installed to initial positioning lift direction tip, initial positioning lift drive links to each other with initial positioning lift bottom plate, install two sets of initial positioning clamp drive mounting frames on the initial positioning lift bottom plate, two sets of initial positioning clamp drive mounting frames are last to install first initial positioning clamp drive, first initial positioning clamp direction, second initial positioning clamp drive and second initial positioning clamp direction respectively, first initial positioning clamp direction and the tip of second initial positioning clamp direction all install initial positioning splint, and two sets of initial positioning splint clamp drive and second initial positioning clamp drive link to each other respectively.

Preferably, the follow-up type continuous welding mechanism main frame body is further provided with a continuous welding five-axis mechanism, the continuous welding five-axis mechanism is provided with a welding gun, the continuous welding five-axis mechanism comprises an X-axis mechanism, a Y-axis mechanism, a Z-axis mechanism, a B-axis mechanism and a Z-axis mechanism, the X-axis mechanism, the Y-axis mechanism, the Z-axis mechanism, the B-axis mechanism and the A-axis mechanism are sequentially connected, and the X-axis mechanism, the Y-axis mechanism, the Z-axis mechanism, the B-axis mechanism and the A-axis mechanism are mutually matched to move the welding gun to an actual welding position and swing an angle to perform accurate continuous welding work.

Preferably, the A-axis mechanism is further provided with a detection assembly, the detection assembly comprises a detection mechanism connecting plate, a detection mechanism sliding block and a detection mechanism telescopic drive are arranged on the detection mechanism connecting plate, a detection mechanism sliding rail is arranged on the detection mechanism sliding block, one end of the detection mechanism sliding rail is provided with a sensor mounting frame, and a welding position detector is arranged on the sensor mounting frame.

Preferably, the groove mechanism comprises a mechanism base, an X-axis driving mechanism is arranged on the mechanism base, a movable frame is arranged on the X-axis driving mechanism, a second hydraulic station is arranged on the movable frame, a waste groove is arranged on one side of the second hydraulic station, a sawing adjustment seat is arranged on one side of the upper part of the movable frame, a clamping structure is further arranged on the movable frame, a sawing lifting hydraulic cylinder and a sawing machine base are arranged on the sawing adjustment seat, a high-speed sawing machine is arranged on the sawing machine base, and a cutting saw disc is arranged on the high-speed sawing machine.

Preferably, the raw and other materials are aligned the mechanism and are included aligning the mechanism base, install on the mechanism base and align the mechanism jacking drive, it is equipped with push clamp structure to align mechanism jacking drive one side, push clamp structure is including pushing down the clamp slide rail, be equipped with push clamp slider on the push clamp slide rail, be connected with push clamp slider on the push clamp slide rail, push clamp slider one side is connected with push clamp and turns over the board, push clamp is turned over board one side and is equipped with and turns over the board dog, it is in to turn over the board dog setting on the push clamp slide rail, push clamp slide rail one end is connected with push clamp cylinder, push clamp cylinder's output with push clamp slider is connected.

Preferably, the alignment mechanism base is further provided with a positioning structure, the positioning structure comprises a positioning rod sliding rail, a positioning rod sliding block is arranged on the positioning rod sliding rail, a positioning rod piece is connected to the positioning rod sliding block, one end of the positioning rod sliding rail is provided with a positioning rod lifting cylinder, and an output shaft of the positioning rod lifting cylinder is connected with the positioning rod sliding block.

The control system of the head-to-tail joint welding mechanism in the process of travelling the profile steel arch raw materials comprises the head-to-tail joint welding mechanism in the process of travelling the profile steel arch raw materials and a control unit, wherein the control unit comprises:

The first data acquisition module is used for acquiring a historical data set of the steel arch raw material welding mechanism, wherein the historical data set comprises first comprehensive data information and displacement data, the first comprehensive data information comprises the specification, the width, the thickness and the groove size of the steel arch raw material, and the displacement data is displacement data of a continuous welding five-axis mechanism;

The model training module is used for training a machine learning model for predicting displacement data based on the historical data set;

the second data acquisition module is used for acquiring real-time first comprehensive data information, inputting the real-time first comprehensive data information into a machine learning model after training to predict displacement data, and marking the predicted displacement data as a theoretical welding position;

The correction module is used for controlling the continuous welding five-axis mechanism to carry out position adjustment according to the predicted displacement data, moving the continuous welding five-axis mechanism to the corresponding position, detecting and obtaining the actual welding position of the continuous welding five-axis mechanism by using a welding position detector, correcting according to the theoretical welding position and the actual welding position, and determining the final welding position;

And the control module is used for controlling the continuous welding five-axis mechanism to carry out position adjustment according to the final welding position, and carrying out continuous welding after moving to the corresponding position.

Preferably, the machine learning model for predicting displacement data is trained as follows:

Converting the first comprehensive data information into feature vectors, converting displacement data corresponding to each group of the first comprehensive data information into labels, taking the first comprehensive data information as input of a machine learning model, taking the displacement data corresponding to the first comprehensive data information as output of the machine learning model, taking the displacement data corresponding to each group of the feature vectors as a prediction target, taking the minimized machine learning model loss function value as a training target, and stopping training when the machine learning model loss function value is smaller than or equal to a preset target loss value.

Preferably, correction is performed according to the theoretical welding position and the actual welding position, and the final welding position is determined as follows:

；

In the method, in the process of the invention, Expressed as final weld position,/>Expressed as theoretical welding position,/>Represented as the actual welding position.

In summary, due to the adoption of the technical scheme, the beneficial effects of the invention are as follows:

1. the invention has the functions of automatic detection, beveling, welding position correction, follow-up welding and the like, and the most core follow-up welding mechanism uses five servo shafts (X-axis, Y-axis, Z-axis, A-axis and B-axis), two follow-up driving and three groups of clamping alignment mechanisms, and realizes the automatic detection of continuous welding positions, correction, welding position adjustment, follow-up welding and other processing operations of the head-tail continuous connection of the tunnel steel arch raw materials through reasonable transmission layout, so that the welding efficiency is high and the welding effect is good.

2. The invention also develops a matched control system, a model training module is arranged to train a machine learning model for predicting displacement data, so that the continuous welding mechanism can automatically detect actual welding position data immediately and calibrate with a theoretical value as long as the specification of the profile steel arch is input according to a drawing without manually adjusting the machine position in a time-consuming manner, then automatically moves to the position automatically calibrated by the special machine control system to start automatic follow-up type continuous connection, the whole process does not need manual intervention, the operation process of the mechanism and cold bending conveying of the cold bending mechanism are synchronously carried out, the production time of the whole production line is not occupied, the line body is not required to be stopped, the continuous welding efficiency is high, and the continuous welding mechanism is convenient to use.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 shows a schematic overall structure of the present invention;

FIG. 2 illustrates a front view of the follow-up splicing mechanism of the present invention;

FIG. 3 illustrates a rear view of the follow-up splicing mechanism of the present invention;

FIG. 4 shows a schematic diagram of the mobile structure of the present invention;

FIG. 5 shows a schematic top view of the follow-up splicing mechanism of the present invention;

FIG. 6 shows a schematic view of the primary positioning mechanism of the present invention;

FIG. 7 shows a schematic diagram of the overall structure of the continuous welding five-axis mechanism of the invention;

FIG. 8 shows a schematic diagram of the X-axis mechanism and Y-axis mechanism of the present invention;

FIG. 9 shows a schematic of the A-axis mechanism of the present invention;

FIG. 10 shows a schematic view of the B-axis mechanism of the present invention;

FIG. 11 is a schematic view showing the overall structure of the beveling mechanism of the present invention;

fig. 12 shows a front view of the beveling mechanism of the present invention;

FIG. 13 shows a schematic illustration of the push clamp structure of the present invention;

Fig. 14 shows a schematic view of the positioning structure of the present invention.

Reference numerals: 100. a cold bending mechanism; 200. driven steel arch raw material roller conveying line; 300. a follow-up splicing mechanism; 301. a walking rail; 302. a main frame body of the follow-up splicing mechanism; 303. a moving structure; 303a, a follow-up drive rack; 303b, a walking guide wheel set; 303c, follow-up driving; 303d, a follow-up driving gear; 304. welding wire feeder; 305. welding machine; 306. a first hydraulic station; 307. a floating frame; 307a, a frame; 307b, floating slide rails; 307c, a floating slider; 308. a first follower clamping assembly; 308a, a first follow-up clamping frame; 308b, a first follow-up clamping and pressing down drive; 308c, first following push-down guide; 308d, a first follow-up clamping connection plate; 308e, a first follow-up clamping positioning plate; 308f, a first follow-up clamping drive; 308g, a first follow-up clamping guide; 308h, a first follow-up clamping plate; 309. a longitudinal pushing structure; 309a, a longitudinal pushing rail; 309b, longitudinal pushing slide; 309c, a longitudinal push drive; 310. a second follow-up clamping assembly; 310a, a second follow-up clamping frame body; 310b, second follow-up clamping and pushing-down driving; 310c, second following push-down guide; 310d, a second follow-up clamping connecting plate; 310e, a second follow-up clamping positioning plate; 310f, a second follow-up clamping drive; 310g, second follow-up clamping guide; 310h, a second follow-up clamping plate; 311. a homing structure; 311a, a first positioning block; 311b, a second positioning block; 311c, homing the driving bracket; 311d, homing driving member; 312. a primary positioning mechanism; 312a, a primary positioning machine frame; 312b, initial positioning lifting driving; 312c, initial positioning lifting guide; 312d, initially positioning the lifting base plate; 312e, initially positioning and clamping the driving installation frame; 312f, first initial positioning clamping driving; 312g, first initial positioning clamping guide; 312h, a second initial positioning clamping drive; 312i, second initial positioning clamping guide; 312j, primary positioning splints; 313. a five-axis continuous welding mechanism; 313a, X-axis mechanism; 313a-1, X-axis connection plate; 313a-2, X-axis lead screw set; 313a-3, X-axis slide rail; 313a-4, X-axis slide; 313a-5, X-axis slide; 313a-6, X-axis drive; 313a-7, X-axis mount; 313b, Y axis mechanism; 313b-1, Y-axis connection plates; 313b-2, Y-axis mount; 313b-3, Y-axis lead screw set; 313b-4, Y-axis slide rail; 313b-5, Y-axis slide; 313b-6, Y-axis carriage; 313b-7, Y-axis drive; 313c, Z-axis mechanism; 313c-1, Z-axis connection support; 313c-2, Z-axis mount; 313c-3, Z-axis lead screw set; 313c-4, Z-axis slide rail; 313c-5, Z-axis slide; 313c-6, Z-axis slide; 313c-7, Z-axis drive; 313d, B axis mechanism; 313d-1, B-axis driven gear; 313d-2, B axis drive; 313d-3, B-axis drive gear; 313e, a-axis mechanism; 313e-1, a-axis support; 313e-2, a-axis driven gear; 313e-3, A axis drive; 313e-4, a-axis drive gear; 313e-5, a connecting flange; 314. a detection assembly; 314a, a detection mechanism connecting plate; 314b, detection mechanism slider; 314c, the detection mechanism is driven in a telescopic manner; 314d, detection mechanism slide rails; 314e, sensor mount; 314f, welding position detector; 315. a welding gun; 400. a section steel raw material conveying line; 500. a section steel raw material transfer conveyor line; 600. a raw material alignment mechanism; 601. a base of the alignment mechanism; 602. lifting and driving the alignment mechanism; 603. pushing the clamping structure; 603a, pushing the clamping slide rail; 603b, pushing the clamping slide block; 603c, pushing and clamping a sliding seat; 603d, pushing and clamping the turning plate; 603e, a flap stop; 603f, pushing the clamping cylinder; 604. a positioning structure; 604a, positioning rod slide rails; 604b, a positioning rod slide; 604c, positioning the rod; 604d, a positioning rod lifting cylinder; 700. a groove mechanism; 701. a mechanism base; 702. an X-axis driving mechanism; 702a, a second X-axis lead screw set; 702b, a second X-axis slide rail; 702c, a second X-axis slider; 702d, second X-axis drive; 703. a moving rack; 704. a second hydraulic station; 705. a waste tank; 706. sawing the adjusting seat; 707. a clamping structure; 707a, clamping the fixed base; 707b, clamping the press plate; 707c, clamping hydraulic cylinders; 707d, clamping the guide rod; 708. sawing lifting hydraulic cylinder; 709. a sawing machine base; 710. a high-speed sawing machine; 711. cutting a saw disc; 800. and a cutting support mechanism.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

Example 1

Referring to fig. 1, a welding mechanism for head-to-tail joint in the travelling process of a steel arch raw material comprises: the device comprises a cold bending mechanism 100, a driven steel arch raw material roller conveying line 200 and a follow-up splicing mechanism 300, wherein the cold bending mechanism 100 is used for bending a profile; the driven steel arch raw material roller conveying line 200 is arranged at one side of the cold bending mechanism 100 and is used for conveying steel arch raw materials; the follow-up type splicing mechanism 300 is arranged on the driven steel arch raw material roller conveying line 200 in a crossing manner and is used for splicing the steel arch raw materials.

Specifically, referring to fig. 2 and 4, the follow-up splicing mechanism 300 includes a walking track 301, a follow-up splicing mechanism main frame 302 is disposed above the walking track 301, a moving structure 303 is disposed on the follow-up splicing mechanism main frame 302, the moving structure 303 includes a follow-up driving gear 303d and a walking guide wheel set 303b, the follow-up driving gear 303d and the walking guide wheel set 303b are both disposed on the walking track 301, the walking guide wheel set 303b is connected with the follow-up splicing mechanism main frame 302, a follow-up driving gear 303c is mounted on the follow-up splicing mechanism main frame 302, an output shaft of the follow-up driving gear 303c is connected with the follow-up driving gear 303d, the follow-up driving gear 303d is meshed with a follow-up driving rack 303a, wherein the follow-up driving gear 303c is a motor, and the follow-up splicing mechanism main frame 302 can be moved leftwards and rightwards along the walking track 301 by utilizing the forward rotation or reverse rotation of the motor 303d to mesh with the follow-up driving rack 303 a;

Further, referring to fig. 2, 3 and 5, a welding wire feeder 304, a welding machine 305 and a first hydraulic station 306 are hung on the outer wall of the main frame 302 of the follow-up splicing mechanism, so as to assist in welding, positioning and clamping; a floating frame 307 is arranged above the following type splicing mechanism main frame 302, the floating frame 307 comprises a frame 307a, a floating sliding rail 307b and a floating sliding block 307c, wherein the floating sliding rail 307b is arranged at the top end of the following type splicing mechanism main frame 302, and the floating sliding block 307c is slidably arranged on the floating sliding rail 307 b; the floating frame 307 is provided with a first follow-up clamping assembly 308 and a longitudinal pushing structure 309, the longitudinal pushing structure 309 comprises a longitudinal pushing guide rail 309a, the longitudinal pushing guide rail 309a is provided with a longitudinal pushing slide block 309b, the lower end of the longitudinal pushing slide block 309b is connected with a second follow-up clamping assembly 310, the side surface of the floating frame 307 is provided with a longitudinal pushing drive 309c, the longitudinal pushing drive 309c can be an electric push rod or a telescopic cylinder, and the second follow-up clamping assembly 310 and all mechanisms borne on the second follow-up clamping assembly can longitudinally slide along the longitudinal pushing guide rail 309a through the telescopic action of the longitudinal pushing drive 309 c; a homing structure 311 is installed at the top of the main frame 302 of the follow-up splicing mechanism, and is used for realizing homing of the floating frame 307; the homing structure 311 comprises a first positioning block 311a, a second positioning block 311b and two groups of homing drive brackets 311c, wherein homing drive pieces 311d are respectively arranged on the homing drive brackets 311c, and the homing drive pieces 311d respectively push against the first positioning block 311a and the second positioning block 311b when extending so as to realize homing of the floating frame 307.

Specifically, referring to fig. 2, the first follow-up clamping assembly 308 includes a first follow-up clamping frame 308a, a first follow-up clamping pressing-down driving unit 308b and a first follow-up pressing-down guide 308c are installed on the first follow-up clamping frame 308a, a first follow-up clamping connecting plate 308d is installed at an end of the first follow-up pressing-down guide 308c, the first follow-up clamping pressing-down driving unit 308b is connected with the first follow-up clamping connecting plate 308d, the first follow-up clamping pressing-down driving unit 308b may be an electric push rod or a telescopic cylinder, and all structures carried on the first follow-up clamping connecting plate 308d and all structures carried on the first follow-up pressing-down guide 308c may be moved up and down by the first follow-up clamping pressing-down driving unit 308 b; the first follow-up clamping connecting plate 308d is provided with a first follow-up clamping locating plate 308e, a first follow-up clamping drive 308f and a first follow-up clamping guide 308g, the end part of the first follow-up clamping guide 308g is provided with a first follow-up clamping plate 308h, and the first follow-up clamping drive 308f is connected with the first follow-up clamping plate 308 h; the first follow-up clamping driving device 308f may be an electric push rod or a telescopic cylinder, and the first follow-up clamping plate 308h moves transversely along the first follow-up clamping guide 308g through the telescopic action of the first follow-up clamping driving device 308f, so as to realize the clamping and releasing functions; the second follower clamp assembly 310 is identical in construction to the first follower clamp assembly 308.

Specifically, referring to fig. 3, the second follow-up clamping assembly 310 includes a second follow-up clamping frame 310a, a second follow-up clamping pressing-down driving device 310b and a second follow-up pressing-down guide 310c are installed on the second follow-up clamping frame 310a, a second follow-up clamping connecting plate 310d is installed at an end of the second follow-up pressing-down guide 310c, the second follow-up clamping pressing-down driving device 310b is connected with the second follow-up clamping connecting plate 310d, the second follow-up clamping pressing-down driving device 310b may be an electric push rod or a telescopic cylinder, and the second follow-up clamping connecting plate 310d and all structures carried thereon move up and down along the second follow-up pressing-down guide 310c through the telescopic action of the second follow-up clamping pressing-down driving device 310 b;

The second follow-up clamping connecting plate 310d is provided with a second follow-up clamping locating plate 310e, a second follow-up clamping drive 310f and a second follow-up clamping guide 310g, the end part of the second follow-up clamping guide 310g is provided with a second follow-up clamping plate 310h, the second follow-up clamping drive 310f is connected with the second follow-up clamping plate 310h, the second follow-up clamping drive 310f can be an electric push rod or a telescopic cylinder, and the second follow-up clamping plate 310h moves transversely along the second follow-up clamping guide 310g through the telescopic action of the second follow-up clamping drive 310f, so that the clamping and releasing functions are realized.

Specifically, referring to fig. 6, two groups of initial positioning mechanisms 312 are disposed inside the traveling track 301 of the follow-up splicing mechanism 300, the initial positioning mechanisms 312 include an initial positioning mechanism frame 312a, an initial positioning lifting drive 312b and an initial positioning lifting guide 312c are mounted on the initial positioning mechanism frame 312a, an initial positioning lifting base plate 312d is mounted at the end of the initial positioning lifting guide 312c, the initial positioning lifting drive 312b is connected with the initial positioning lifting base plate 312d, the initial positioning lifting drive 312b can be an electric push rod or a telescopic cylinder, and the initial positioning lifting base plate 312d and all structures carried thereon can move up and down along the initial positioning lifting guide 312c by telescopic operation of the initial positioning lifting drive 312 b;

The primary positioning lifting bottom plate 312d is provided with two groups of primary positioning clamping driving installation frames 312e, the two groups of primary positioning clamping driving installation frames 312e are respectively provided with a first primary positioning clamping driving 312f, a first primary positioning clamping guide 312g, a second primary positioning clamping driving 312h and a second primary positioning clamping guide 312i, the ends of the first primary positioning clamping guide 312g and the second primary positioning clamping guide 312i are respectively provided with a primary positioning clamping plate 312j, and the two groups of primary positioning clamping plates 312j are respectively connected with the first primary positioning clamping driving 312f and the second primary positioning clamping driving 312 h; the first initial positioning clamping drive 312f and the second initial positioning clamping drive 312h may be electric push rods or telescopic cylinders, and the initial positioning clamping plates 312j respectively move transversely along the first initial positioning clamping guide 312g and the second initial positioning clamping guide 312i through the telescopic operation of the first initial positioning clamping drive 312f and the second initial positioning clamping drive 312h, so that the clamping and loosening functions are realized.

Further, referring to fig. 2 and 7, the follow-up type continuous welding mechanism main frame 302 is further provided with a continuous welding five-axis mechanism 313, the continuous welding five-axis mechanism 313 is provided with a welding gun 315, the continuous welding five-axis mechanism 313 includes an X-axis mechanism 313a, a Y-axis mechanism 313B, a Z-axis mechanism 313c, a B-axis mechanism 313d and an a-axis mechanism 313e, the X-axis mechanism 313a, the Y-axis mechanism 313B, the Z-axis mechanism 313c, the B-axis mechanism 313d and the a-axis mechanism 313e are sequentially connected, and the X-axis mechanism 313a, the Y-axis mechanism 313B, the Z-axis mechanism 313c, the B-axis mechanism 313d and the a-axis mechanism 313e are mutually matched to move the welding gun 315 to an actual welding position and swing an angle to perform accurate continuous welding.

Specifically, referring to fig. 7 and 8, the X-axis mechanism 313a includes an X-axis connection plate 313a-1, the X-axis connection plate 313a-1 is fixedly mounted on the top of the following splicing mechanism main frame 302, an X-axis base 313a-7 is mounted on the X-axis connection plate 313a-1, an X-axis screw group 313a-2 and an X-axis sliding rail 313a-3 are mounted on the X-axis base 313a-7, an X-axis sliding block 313a-4 is mounted on the X-axis sliding rail 313a-3, an X-axis sliding seat 313a-5 is fixedly connected to one side of the X-axis sliding block 313a-4, an X-axis driving 313a-6 is disposed at one end of the X-axis sliding rail 313a-3, and the X-axis driving 313a-6 is connected to the X-axis screw group 313 a-2; wherein, the X-axis driving 313a-6 can be a motor, and the X-axis sliding seat 313a-5 and all the structures carried thereon can move left and right along the X-axis sliding rail 313a-3 by the positive and negative rotation of the X-axis driving 313 a-6;

Specifically, referring to fig. 8, the Y-axis mechanism 313b includes a Y-axis connection plate 313b-1, the Y-axis connection plate 313b-1 is disposed on the X-axis sliding base 313a-5, a Y-axis base 313b-2 is mounted on the Y-axis connection plate 313b-1, a Y-axis screw group 313b-3 and a Y-axis sliding rail 313b-4 are mounted on the Y-axis base 313b-2, a Y-axis sliding block 313b-5 is mounted on the Y-axis sliding rail 313b-4, a Y-axis sliding base 313b-6 is fixedly connected to one side of the Y-axis sliding block 313b-5, the Y-axis sliding base 313b-6 is connected to the Y-axis screw group 313b-3, and a Y-axis driving 313b-7 is mounted on the Y-axis screw group 313 b-3; wherein, the Y-axis driving 313b-7 can be a motor, and the Y-axis sliding seat 313b-6 and all the structures carried thereon can move back and forth along the Y-axis sliding rail 313b-4 by the positive and negative rotation of the Y-axis driving 313b-7;

Specifically, referring to fig. 7, the Z-axis mechanism 313c includes a Z-axis connection support 313c-1, the Z-axis connection support 313c-1 is disposed on the Y-axis slide 313b-6, a Z-axis base 313c-2 is mounted on the Z-axis connection support 313c-1, a Z-axis screw group 313c-3 and a Z-axis sliding rail 313c-4 are mounted on the Z-axis base 313c-2, a Z-axis sliding block 313c-5 is mounted on the Z-axis sliding rail 313c-4, a Z-axis slide 313c-6 is fixedly connected to one side of the Z-axis sliding block 313c-5, the Z-axis slide 313c-6 is connected to the Z-axis screw group 313c-3, and a Z-axis driving 313c-7 is disposed on the Z-axis screw group 313 c-3; wherein, the Z-axis driving 313c-7 can be a motor, and the Z-axis sliding seat 313c-6 and all structures carried thereon can move up and down along the Z-axis sliding rail 313c-4 through the positive and negative rotation of the Z-axis driving 313 c-7.

Specifically, referring to fig. 7 and 10, the B-axis mechanism 313d includes a B-axis driven gear 313d-1 and a B-axis driving gear 313d-2, the B-axis driven gear 313d-1 and the B-axis driving gear 313d-2 are mounted on the Z-axis sliding base 313c-6, an output end of the B-axis driving gear 313d-2 is connected with a B-axis driving gear 313d-3, and the B-axis driving gear 313d-3 is meshed with the B-axis driven gear 313 d-1; the B-axis driving 313d-2 may be a motor, and forward and backward rotation of the B-axis driven gear 313d-1 and all structures carried thereon along the rotation center of the B-axis driven gear 313d-1 is realized by forward and backward rotation of the B-axis driving 313 d-2.

Specifically, referring to fig. 7 and 9, the a-axis mechanism 313e includes an a-axis support 313e-1, the a-axis support 313e-1 is mounted on the B-axis driven gear 313d-1, the a-axis support 313e-1 is mounted with an a-axis driven gear 313e-2 and an a-axis driving gear 313e-3, an output shaft of the a-axis driving gear 313e-3 is mounted with an a-axis driving gear 313e-4, the a-axis driving gear 313e-4 is meshed with the a-axis driven gear 313e-2, the a-axis driven gear 313e-2 is mounted with a connection flange 313e-5, and the welding gun 315 is mounted on the connection flange 313 e-5; the a-axis driving 313e-3 may be a motor, and forward and backward rotation of the a-axis driven gear 313e-2 and all structures carried thereon along the rotation center of the a-axis driven gear 313e-2 is realized by forward and backward rotation of the a-axis driving 313 e-3.

Further, referring to fig. 9, a detection assembly 314 is further mounted on the a-axis mechanism 313e, the detection assembly 314 includes a detection mechanism connection board 314a, a detection mechanism slider 314b and a detection mechanism telescopic drive 314c are mounted on the detection mechanism connection board 314a, a detection mechanism sliding rail 314d is mounted on the detection mechanism slider 314b, a sensor mounting rack 314e is mounted at one end of the detection mechanism sliding rail 314d, and a welding position detector 314f is mounted on the sensor mounting rack 314 e; the detection mechanism telescopic driving 314c may be an electric push rod or a telescopic cylinder, the detection mechanism telescopic driving 314c is connected with the sensor mounting frame 314e, and the welding position detector 314f moves up and down along the direction of the detection mechanism sliding rail 314d through the telescopic of the detection mechanism telescopic driving 314 c.

Working principle: 1-10, placing raw materials on a driven steel arch raw material roller conveying line 200, conveying the driven steel arch raw materials to the tail of the front-end driving steel arch raw materials by the driven steel arch raw material roller conveying line 200, stopping the driven steel arch raw materials until the head is close to the tail of the front-end driving steel arch raw materials, and starting to clamp and align the driven steel arch raw materials end to end before continuous connection; firstly, initial alignment is carried out, two groups of initial positioning lifting bottom plates 312d are lifted, a first initial positioning clamping drive 312f and a second initial positioning clamping drive 312h on two sides of the initial positioning lifting bottom plates 312d extend, after initial positioning clamping plates 312j are pushed to carry out initial clamping positioning, a first follow-up clamping pressing drive 308b and a second follow-up clamping pressing drive 310b extend, a first follow-up clamping frame 308a, a second follow-up clamping frame 310a and all structures on the first follow-up clamping frame are lowered, a first follow-up clamping drive 308f and a second follow-up clamping drive 310f extend to clamp the tail parts of raw materials of the driving steel arches and the head parts of the raw materials of the driven steel arches, then the longitudinal pushing drive 309c extends, and a longitudinal pushing sliding block 309b is pushed to move, so that the tail parts of the raw materials of the driven steel arches are attached to the raw materials of the driving steel arches (the raw materials of the driven steel arches are static in the pushing process, and the raw materials of the driven steel arches are close to the raw materials of the driving steel arches until the raw materials are attached), and then the positioning mechanism 312 is lowered, and initial welding operation of the head-to-tail joint welding is ready to begin;

During welding, the detection mechanism telescopic drive 314c stretches out, the welding position detector 314f moves to a proper position in a matched mode through the X-axis mechanism 313a, the Y-axis mechanism 313B and the Z-axis mechanism 313c of the continuous welding five-axis mechanism 313, the head and tail groove gap detection is carried out, after a gap middle point is found, the detection mechanism telescopic drive 314c retracts, the welding gun 315 moves in a matched mode through the X-axis mechanism 313a, the Y-axis mechanism 313B, the Z-axis mechanism 313c, the A-axis mechanism 313e and the B-axis mechanism 313d, the welding gun 315 moves to an actual welding position and swings at an angle, continuous welding operation is started, the follow-up drive 303c of the follow-up continuous welding mechanism 300 is consistent with the conveying speed of the cold bending machine in the whole continuous welding process, and the synchronous drive mechanism follows up until continuous welding is completed; in the whole following process, the straight section bar at the tail end of the raw material passing through the cold bending mechanism 100 can deviate from the original moving track and form an included angle with the original moving track, and at the moment, the floating frame 307 can move along the floating slide rail 307b along with the tail end of the raw material of the active steel arch; when the follow-up is completed, all the pressing down clamps are released to retract, and the follow-up mechanism 300 returns to the initial position to wait for the next cycle of the follow-up operation.

Example 2

Referring to fig. 1, the invention is further provided with a section steel raw material conveying line 400 on the basis of embodiment 1, symmetrically arranged at one side of the driven section steel arch raw material roller conveying line 200, for conveying raw materials; the section steel raw material transfer conveying line 500 is embedded in the driven section steel arch raw material roller conveying line 200 and is positioned at the tail of the section steel raw material conveying line 400, and one end of the section steel raw material transfer conveying line 500 is hinged with the end part of the section steel raw material conveying line 400 and is used for transferring materials on the section steel raw material conveying line 400 to the driven section steel arch raw material roller conveying line 200; raw material alignment mechanisms 600 respectively provided at the middle and both sides of the section steel raw material transfer line 400; groove mechanisms 700, which are respectively arranged beside the raw material alignment mechanisms 600 at two sides of the section steel raw material conveying line 400 and are used for cutting grooves of raw materials; the cutting support mechanism 800 is installed on the section steel raw material conveying line 400, and is used for supporting the raw material of the groove to be cut.

Specifically, referring to fig. 11, 12 and 14, the groove mechanism 700 includes a mechanism base 701, an X-axis driving mechanism 702 is mounted on the mechanism base 701, a moving frame 703 is disposed on the X-axis driving mechanism 702, a second hydraulic station 704 is mounted on the moving frame 703, a waste tank 705 is disposed on one side of the second hydraulic station 704, a sawing adjustment seat 706 is disposed on one side above the moving frame 703, a clamping structure 707 is further disposed on the moving frame 703, a sawing lifting hydraulic cylinder 708 and a sawing machine base 709 are mounted on the sawing adjustment seat 706, a high-speed sawing machine 710 is mounted on the sawing machine base 709, and a sawing disc 711 is mounted on the high-speed sawing machine 710; the sawing lifting hydraulic cylinder 708 is hinged with the sawing machine base 709, the sawing machine base 709 is hinged with the sawing adjustment seat 706, and the sawing lifting hydraulic cylinder 708 is supplied with power through the second hydraulic station 704 to enable the sawing lifting hydraulic cylinder 708 to stretch out and draw back, so that the raw materials for grooving operation are grooved;

Further, referring to fig. 12, the X-axis driving mechanism 702 includes a second X-axis screw group 702a and a second X-axis slide rail 702b, a second X-axis slider 702c is mounted on the second X-axis slide rail 702b, a moving frame 703 is connected to the second X-axis slider 702c, the second X-axis screw group 702a is connected to the moving frame 703, a raw material edge detection switch is mounted on the moving frame 703, and a second X-axis driving 702d is mounted on the second X-axis screw group 702 a;

In this embodiment, the moving frame 703 and all the structures carried thereon slide back and forth along the direction of the second X-axis sliding rail 702b by the forward and reverse rotation of the second X-axis drive 702d, and after completing a groove cutting cycle, the moving frame 703 returns to the safe position of the second X-axis sliding rail 702b on the side far away from the section steel raw material conveying line 400, and waits for the next raw material flow to the groove station.

Further, referring to fig. 12, the clamping structure 707 includes a clamping fixture base 707a, a clamping platen 707b and a clamping hydraulic cylinder 707c are disposed above the clamping fixture base 707a, an extension end of the clamping hydraulic cylinder 707c is connected to the clamping platen 707b, clamping guide rods 707d are disposed on both sides of the clamping hydraulic cylinder 707c, and power is supplied to the clamping hydraulic cylinder 707c through the second hydraulic station 704 to extend and retract the clamping platen 707b to clamp the groove working raw material along the direction of the clamping guide rods 707 d.

Specifically, referring to fig. 12 and 13, the raw material aligning mechanism 600 includes an aligning mechanism base 601, an aligning mechanism jacking driving unit 602 is installed on the aligning mechanism base 601, a pushing clamping structure 603 is disposed on one side of the aligning mechanism jacking driving unit 602, the pushing clamping structure 603 includes a pushing clamping slide rail 603a, a pushing clamping slide block 603b is disposed on the pushing clamping slide rail 603a, a pushing clamping slide seat 603c is connected to the pushing clamping slide block 603b, a pushing clamping flap 603d is connected to one side of the pushing clamping slide seat 603c, a flap baffle 603e is disposed on one side of the pushing clamping flap 603d, a flap baffle 603e is disposed on the pushing clamping slide rail 603a, one end of the pushing clamping slide rail 603a is connected to a pushing clamping cylinder 603f, and an output end of the pushing clamping cylinder 603f is connected to the pushing clamping slide block 603 b.

In this embodiment, the aligning mechanism lifting drive 602 may be a hydraulic cylinder or a telescopic cylinder, and the upper surface of the aligning mechanism lifting drive 602 is higher than the clamping fixed base 707a after being lifted, so that the groove working raw material can smoothly pass through the small portal frame of the moving frame 703 and finally stop above the clamping fixed base 707a in the process that the moving frame 703 moves from the safe position to the side of the section steel raw material conveying line 400; the upper surface of the alignment mechanism lifting drive 602 is lower than the clamping fixing base 707a after being lowered, so that the raw material for groove operation falls on the clamping fixing base 707a during groove cutting operation; the cutting support mechanism 800 is installed inside the section steel raw material conveying line 400, and the upper surface of the cutting support mechanism is as high as the clamping fixed base 707a after the cutting support mechanism is lifted, so that the middle part of the raw material for groove operation is supported in the groove cutting process, and the cutting size and effect of the groove are prevented from being influenced by the concave middle part of the raw material; after the cutting support mechanism 800 falls, the cutting support mechanism 800 is lower than the upper surface of the chain of the section steel raw material conveying line 400, and the cutting support mechanism 800 needs to be passed over to the next station after the groove is opened by the raw material for the groove operation.

Further, referring to fig. 14, a positioning structure 604 is further mounted on the alignment mechanism base 601, the positioning structure 604 includes a positioning rod sliding rail 604a, a positioning rod sliding block 604b is mounted on the positioning rod sliding rail 604a, a positioning rod 604c is connected to the positioning rod sliding block 604b, a positioning rod lifting cylinder 604d is disposed at one end of the positioning rod sliding rail 604a, and an output shaft of the positioning rod lifting cylinder 604d is connected to the positioning rod sliding block 604 b; the positioning rod 604c slides up and down along the direction of the positioning rod sliding rail 604a by the expansion and contraction of the positioning rod lifting cylinder 604d, when the raw material for groove operation needs to be positioned, the positioning rod 604c rises, and when the raw material for groove operation needs to pass through the raw material alignment mechanism 600 to the next station after the groove operation is finished, the positioning rod 604c descends.

Working principle: the section steel raw material conveying line 400 conveys the raw material in the material waiting area to a beveling station, in the conveying process, a positioning rod piece 604c is lifted, after the raw material in the material waiting area touches a pushing clamping turning plate 603d, the pushing clamping turning plate 603d changes from 90 degrees to 180 degrees under the pushing action of the raw material in the raw material conveying process, and when the raw material passes over the pushing clamping turning plate 603d, the pushing clamping turning plate 603d automatically returns to a 90-degree state; the front end of the pushing clamping turning plate 603d is provided with a turning plate stop block 603e for limiting the pushing clamping turning plate 603d by 90 degrees, so that the pushing clamping turning plate 603d can only topple over in one direction, raw materials can be crossed from the pushing clamping turning plate, when the raw materials move to a proper position, the raw materials are jacked up by the jacking driving 602 of the aligning mechanism, and then the pushing clamping cylinder 603f stretches out to push the raw materials to the position of the attaching and positioning rod piece 604 c. At this time, the bottom surface of the raw material is higher than the clamping fixed base 707a, the bevel mechanisms 700 at two sides start to move towards the direction close to the end of the raw material, wherein, the bevel mechanism 700 is further provided with a raw material edge detection switch, when the raw material edge detection switch detects the edge of the raw material, the raw material continues to travel a fixed distance to reach the bevel cutting position, the alignment mechanism lifting drive 602 falls down, meanwhile, the cutting support mechanism 800 rises, the raw material falls on the cutting support mechanism 800 and the clamping fixed base 707a, the clamping hydraulic cylinder 707c clamps the raw material, the cutting saw disc 711 rotates, the sawing lifting hydraulic cylinder 708 stretches out, the cutting saw disc 711 is driven to move downwards, and cutting is started; after the groove cutting is completed, the cutting saw blade 711 is lifted, the clamping hydraulic cylinder 707c is loosened, the cutting support mechanism 800 is fallen, the lifting and positioning rod piece 604c is fallen, the aligning mechanism lifting drive 602 is lifted, the raw material is separated from the clamping fixed base 707a, the groove mechanism 700 starts to move away from the two ends of the raw material, and the groove mechanism stops until the whole mechanism is completely separated from the raw material and returns to the initial position; the aligning mechanism jacking drive 602 falls down, raw materials are placed on the section steel raw material conveying line 400 (the upper surface of the aligning mechanism jacking drive 602 is lower than the upper surface of the chain after falling down), the raw materials are conveyed onto the section steel raw material transferring conveying line 500 by the section steel raw material conveying line 400 (the conveying process is that the section steel raw material transferring conveying line 500 and the section steel raw material conveying line 400 are in the same time and the chain synchronously rotate), the end parts of the two groups of section steel raw material transferring conveying lines 500 are provided with stop blocks, and after the section steel integrally completely touches the stop blocks at the two sides, the chain transmission is stopped, and the continuous receiving state is entered; at this time, one end of the section steel raw material transfer conveyor line 500 is hinged to the end of the section steel raw material conveyor line 400, and the other end drops down to place the raw material on the driven section steel arch raw material roller conveyor line 200.

Example 3

The control system of the head-to-tail joint welding mechanism in the process of travelling the profile steel arch raw materials comprises a head-to-tail joint welding mechanism in the process of travelling the profile steel arch raw materials and a control unit, wherein the control unit comprises:

The first data acquisition module is used for acquiring a historical data set of the steel arch raw material welding mechanism, wherein the historical data set comprises first comprehensive data information and displacement data, the first comprehensive data information comprises the specification, the width, the thickness and the groove size of the steel arch raw material, and the displacement data is displacement data of the continuous welding five-axis mechanism 313;

specifically, the specification of the steel arch raw material can be input through a screen page of user interaction matched with the control system;

the width, thickness and groove size of the steel arch raw material can be obtained through measurement of a laser sensor;

The specifications, width, thickness and groove size of the steel arch raw materials can influence the selection of the welding process, welding parameters and welding positions, and further influence the welding quality and efficiency.

Specifically, the manner of training the machine learning model that predicts displacement data is as follows:

The machine learning model is any one of a deep neural network model or a deep belief network model;

the loss function value of the machine learning model is mean square error;

the mean square error is one of the usual loss functions by combining the loss functions The model is trained for the purpose of minimization, so that the machine learning model is better fitted with data, and the performance and accuracy of the model are improved;

in the loss function The loss function value of the machine learning model is given, and x is the feature vector group number; m is the number of feature vector groups; displacement data predicted for the x-th set of feature vectors, The displacement data actually corresponding to the x-th group of feature vectors;

Other model parameters of the machine learning model, target loss values, optimization algorithms, verification set proportion of training set test sets, optimization of loss functions and the like are all realized through actual engineering, and the model parameters are obtained after experimental optimization is continuously carried out.

The correction module controls the welding-continuing five-axis mechanism 313 to carry out position adjustment according to the predicted displacement data, moves to the corresponding position, detects and acquires the actual welding position of the welding-continuing five-axis mechanism 313 by utilizing the welding position detector 314f, corrects according to the theoretical welding position and the actual welding position, and determines the final welding position;

Correcting according to the theoretical welding position and the actual welding position, and determining the final welding position by the following method:

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And the control module is used for controlling the continuous welding five-axis mechanism 313 to carry out position adjustment according to the final welding position, and carrying out continuous welding after moving to the corresponding position.

The foregoing is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art, who is within the scope of the present invention, should make equivalent substitutions or modifications according to the technical scheme of the present invention and the inventive concept thereof, and should be covered by the scope of the present invention.

The preferred embodiments of the invention disclosed above are intended only to assist in the explanation of the invention. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise form disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best understand and utilize the invention. The invention is limited only by the claims and the full scope and equivalents thereof.

Claims

1. The utility model provides a shaped steel bow member raw materials advances in end to end joint welding mechanism which characterized in that includes:

A cold bending mechanism (100);

The driven steel arch frame raw material roller conveying line (200) is arranged at one side of the cold bending mechanism (100);

The following type splicing mechanism (300) is transversely arranged on the driven steel arch raw material roller conveying line (200);

The profile steel raw material conveying line (400) is symmetrically arranged at one side of the driven profile steel arch raw material roller conveying line (200);

The section steel raw material transfer conveying line (500) is embedded in the driven section steel arch raw material roller conveying line (200) and is positioned at the tail part of the section steel raw material conveying line (400);

Raw material alignment mechanisms (600) respectively arranged in the middle and on two sides of the section steel raw material conveying line (400);

groove mechanisms (700) respectively arranged beside the raw material alignment mechanisms (600) at two sides of the section steel raw material conveying line (400);

and the cutting support mechanism (800) is arranged on the section steel raw material conveying line (400).

2. The head-tail joint welding mechanism in the travelling process of the profile steel arch raw materials according to claim 1, wherein the following type continuous connection mechanism (300) comprises a travelling rail (301), a following type continuous connection mechanism main frame body (302) is arranged above the travelling rail (301), a moving structure (303) is arranged on the following type continuous connection mechanism main frame body (302), and a welding wire feeder (304), a welding machine (305) and a first hydraulic station (306) are hung on the outer wall of the following type continuous connection mechanism main frame body (302) and used for assisting welding and positioning and clamping; the follow-up continuous mechanism is characterized in that a floating frame (307) is arranged above the main frame body (302) of the follow-up continuous mechanism, a first follow-up clamping assembly (308) and a longitudinal pushing structure (309) are arranged on the floating frame (307), a second follow-up clamping assembly (310) is connected to the longitudinal pushing structure (309), and a homing structure (311) is arranged at the top of the main frame body (302) of the follow-up continuous mechanism and used for homing the floating frame (307).

3. A steel arch raw material advancing end-to-end joint welding mechanism according to claim 2, wherein the first follow-up clamping assembly (308) comprises a first follow-up clamping frame body (308 a), a first follow-up clamping pressing-down drive (308 b) and a first follow-up pressing-down guide (308 c) are mounted on the first follow-up clamping frame body (308 a), a first follow-up clamping connecting plate (308 d) is mounted on the end part of the first follow-up pressing-down guide (308 c), the first follow-up clamping pressing-down drive (308 b) is connected with the first follow-up clamping connecting plate (308 d), a first follow-up clamping positioning plate (308 e), a first follow-up clamping drive (308 f) and a first follow-up clamping guide (308 g) are mounted on the first follow-up clamping guide (308 g), and a first follow-up clamping plate (308 h) is mounted on the end part of the first follow-up clamping drive (308 f) and the first follow-up clamping plate (308 h); the second follow-up clamping assembly (310) is identical in structure to the first follow-up clamping assembly (308).

4. The head-to-tail joint welding mechanism in profile steel arch raw material advancing according to claim 3, characterized in that, walking track (301) of follow-up continuous mechanism (300) is inside to be equipped with two sets of initial positioning mechanism (312), initial positioning mechanism (312) are including initial positioning machine framework (312 a), initial positioning lifting drive (312 b) and initial positioning lifting guide (312 c) are installed on initial positioning machine framework (312 a), initial positioning lifting drive (312 c) tip is installed initial positioning lifting bottom plate (312 d), initial positioning lifting drive (312 b) links to each other with initial positioning lifting bottom plate (312 d), install two sets of initial positioning clamping drive mounting bracket (312 e) on initial positioning lifting bottom plate (312 d), install first initial positioning clamping drive (312 f) respectively on initial positioning clamping drive mounting bracket (312 e), first positioning clamping guide (312 g), second initial positioning clamping drive (312 h) and second initial positioning clamping guide (312 j) tip clamping guide (312 j), initial positioning clamping drive (312 j) and initial positioning clamping guide (312 j) tip clamping drive (312 j) are installed respectively.

5. The welding mechanism for head-to-tail joint in traveling of steel arch raw materials according to claim 4, wherein a follow-up type welding mechanism (313) is further arranged on the follow-up type welding mechanism main frame body (302), a welding gun (315) is arranged on the follow-up type welding mechanism (313), the follow-up type welding mechanism (313) comprises an X-axis mechanism (313 a), a Y-axis mechanism (313B), a Z-axis mechanism (313 c), a B-axis mechanism (313 d) and an A-axis mechanism (313 e), the X-axis mechanism (313 a), the Y-axis mechanism (313B), the Z-axis mechanism (313 c), the B-axis mechanism (313 d) and the A-axis mechanism (313 e) are sequentially connected, and the X-axis mechanism (313 a), the Y-axis mechanism (313B), the Z-axis mechanism (313 c), the B-axis mechanism (313 d) and the A-axis mechanism (313 e) are mutually matched to move the welding gun (315) to an actual welding position and swing to perform accurate welding operation.

6. The head-to-tail joint welding mechanism in the process of traveling of steel arch raw materials according to claim 5, wherein a detection assembly (314) is further installed on the A-axis mechanism (313 e), the detection assembly (314) comprises a detection mechanism connecting plate (314 a), a detection mechanism sliding block (314 b) and a detection mechanism telescopic drive (314 c) are installed on the detection mechanism connecting plate (314 a), a detection mechanism sliding rail (314 d) is installed on the detection mechanism sliding block (314 b), a sensor installation frame (314 e) is installed at one end of the detection mechanism sliding rail (314 d), and a welding position detector (314 f) is installed on the sensor installation frame (314 e).

7. A steel arch raw material advancing head-to-tail joint welding mechanism according to claim 1 or 6, characterized in that the groove mechanism (700) comprises a mechanism base (701), an X-axis driving mechanism (702) is arranged on the mechanism base (701), a movable frame (703) is arranged on the X-axis driving mechanism (702), a second hydraulic station (704) is arranged on the movable frame (703), a waste tank (705) is arranged on one side of the second hydraulic station (704), a sawing adjustment seat (706) is arranged on one side above the movable frame (703), a clamping structure (707) is further arranged on the movable frame (703), a sawing lifting hydraulic cylinder (708) and a sawing machine base (709) are arranged on the sawing adjustment seat (706), a high-speed sawing machine (710) is arranged on the sawing machine base (709), and a cutting saw disc (711) is arranged on the high-speed sawing machine (710).

8. The head-to-tail joint welding mechanism in the process of traveling of the profile steel arch raw materials according to claim 7, wherein the raw material aligning mechanism (600) comprises an aligning mechanism base (601), an aligning mechanism jacking driving (602) is installed on the aligning mechanism base (601), a pushing clamping structure (603) is arranged on one side of the aligning mechanism jacking driving (602), the pushing clamping structure (603) comprises a pushing clamping slide rail (603 a), a pushing clamping slide block (603 b) is arranged on the pushing clamping slide rail (603 a), a pushing clamping slide seat (603 c) is connected to the pushing clamping slide block (603 b), a pushing clamping flap (603 d) is connected to one side of the pushing clamping slide block (603 c), a flap block (603 e) is arranged on one side of the pushing clamping flap (603 d), one end of the pushing clamping slide rail (603 a) is connected with a pushing clamping cylinder (603 f), and an output end of the pushing clamping cylinder (603 f) is connected with the pushing clamping slide rail (603 b).

9. The head-to-tail joint welding mechanism for steel arch raw material traveling according to claim 8, wherein a positioning structure (604) is further installed on the alignment mechanism base (601), the positioning structure (604) comprises a positioning rod sliding rail (604 a), a positioning rod sliding block (604 b) is installed on the positioning rod sliding rail (604 a), a positioning rod (604 c) is connected on the positioning rod sliding block (604 b), a positioning rod lifting cylinder (604 d) is arranged at one end of the positioning rod sliding rail (604 a), and an output shaft of the positioning rod lifting cylinder (604 d) is connected with the positioning rod sliding block (604 b).

10. A control system for a head-to-tail joint welding mechanism in the travel of steel arch stock, comprising: a steel arch raw material in-process head-to-tail joint welding mechanism and control unit as claimed in any one of claims 1 to 9, said control unit comprising:

The first data acquisition module is used for acquiring a historical data set of the steel arch raw material welding mechanism, wherein the historical data set comprises first comprehensive data information and displacement data, the first comprehensive data information comprises the specification, the width, the thickness and the groove size of the steel arch raw material, and the displacement data is displacement data of a continuous welding five-axis mechanism (313);

The correction module is used for controlling the continuous welding five-axis mechanism (313) to carry out position adjustment according to the predicted displacement data, moving the continuous welding five-axis mechanism to the corresponding position, detecting and acquiring the actual welding position of the continuous welding five-axis mechanism (313) by using a welding position detector (314 f), correcting according to the theoretical welding position and the actual welding position, and determining the final welding position;

And the control module is used for controlling the continuous welding five-axis mechanism (313) to carry out position adjustment according to the final welding position, and carrying out continuous welding after moving to the corresponding position.

11. A control system for an end-to-end joining welding mechanism for steel arch raw material travel as recited in claim 10, wherein the machine learning model for predicting displacement data is trained in the following manner:

12. A control system for an end-to-end joint welding mechanism for use in the traveling of steel arch stock as recited in claim 11, wherein the final weld position is determined by correcting the theoretical weld position and the actual weld position as follows:

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