Welding system for bridge expansion device and control method

Abstract

The invention provides a welding system for a bridge expansion device and a control method.The welding system comprises a swingable supporting beam, the swingable supporting beam comprises a supporting beam body, a swing mechanism and a plurality of straightening mechanisms slidably arranged on the supporting beam body, and the straightening mechanisms are arranged in the extending direction of the supporting beam body at intervals; the clamping and straightening device is used for clamping and straightening boundary beam sections of the bridge expansion device. The sliding rail and the supporting beam body are arranged in parallel at an interval; the spot welding moving device comprises a moving table, a grabbing robot and a spot welding robot, the moving table is arranged on the sliding rail in a sliding mode, the grabbing robot and the spot welding robot are arranged on the moving table, the grabbing robot is used for grabbing an anchoring part of the bridge expansion device and placing the anchoring part on a boundary beam located on the supporting beam body, and the spot welding robot is used for spot welding the anchoring part to the corresponding boundary beam; the full-length welding robot is arranged on the sliding rail in a sliding mode and used for conducting full-length welding operation on the bridge expansion device subjected to spot welding; the welding efficiency and the welding precision of the bridge expansion device can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of welding of bridge expansion devices, and particularly to a welding system and a control method for bridge expansion devices. Background Art

[0002] A bridge expansion device refers to a device that is usually arranged between two beam ends, between a beam end and an abutment, or at the hinge position of a bridge to meet the requirements of bridge deck deformation. It is a key component in the field of bridge manufacturing technology. It is used to cope with the deformation displacement of the bridge caused by temperature changes, concrete shrinkage, and load effects, ensuring the safety and durability of the bridge.

[0003] Currently, the production of bridge expansion devices is mostly semi-automatic or manual operation, and there are still many deficiencies in terms of production efficiency, precision, and adaptability, as follows:

[0004] 1. In most cases, the weld points between the bridge expansion device and the support beam are not on the same surface. After welding the weld points on the upper surface, it is necessary for the operator to manually turn it over to complete the weld points on the lower surface, resulting in low production efficiency;

[0005] 2. During the process of placing the bridge expansion device on the support beam, it may be uneven or have gaps, so welding will cause the phenomenon of void welding, reducing the production precision;

[0006] 3. The bridge expansion devices are placed on the support beam in pairs for welding. Each pair of bridge expansion devices may have bent products and cannot fit flatly with each other, which will cause the welding process to stop and requires manual heating and straightening. The adaptability of the traditional production line is limited, and the production efficiency is further reduced.

[0007] Therefore, there is an urgent need for a welding system and a control method for bridge expansion devices that can solve the above deficiencies. Summary of the Invention

[0008] The purpose of the present invention is to provide a welding system for bridge expansion devices, aiming to solve the technical problems of low welding efficiency and low welding precision of traditional bridge expansion devices.

[0009] To achieve the above purpose, in the first aspect, the present invention provides a welding system for bridge expansion devices, including:

[0010] A swingable support beam for supporting the bridge expansion device to be welded, which includes a support beam body, a swing mechanism for driving the support beam body to swing, and a plurality of straightening mechanisms slidably arranged on the support beam body. The plurality of straightening mechanisms are arranged at intervals along the extension direction of the support beam body and are used for segmentally clamping and straightening the side beams of the bridge expansion device;

[0011] A slide rail, arranged in parallel at an interval from the main body of the support beam;

[0012] A spot welding moving device, which includes a moving table slidably arranged on the slide rail, a grasping robot and a spot welding robot arranged on the moving table. The grasping robot is used to grasp the anchor of the bridge expansion device and place it on the side beam located on the main body of the support beam, and the spot welding robot is used to spot weld the anchor to the corresponding side beam;

[0013] A full welding robot, slidably arranged on the slide rail, used to perform full welding operations on the bridge expansion device after spot welding.

[0014] As a further improvement of the above solution, a support frame is further arranged on the moving table for placing the anchor storage basket; the support frame, the grasping robot and the spot welding robot are arranged side by side in sequence on the moving table.

[0015] As a further improvement of the above solution, the execution ends of the spot welding robot and the full welding robot are respectively equipped with laser cameras for obtaining welding pictures and scanning weld seams.

[0016] As a further improvement of the above solution, the grasping robot includes a multi-axis robot body and a gripper device arranged at the execution end of the multi-axis robot body,

[0017] The gripper device includes a gripper bracket, a first manipulator arranged on the front of the gripper bracket, and a second manipulator arranged on the side of the gripper bracket;

[0018] The first manipulator is used to grasp the first type of anchor, and the second manipulator is used to grasp the second type of anchor.

[0019] As a further improvement of the above solution, the first manipulator is arranged on the front of the gripper bracket through an elastic structure; the first manipulator is an electromagnetic adsorption device for adsorbing and grasping square anchors.

[0020] As a further improvement of the above solution, the second manipulator is arranged on the side end face of the gripper bracket through a bracket, and the second manipulator is a pneumatic finger for grasping ear-shaped anchors.

[0021] As a further improvement of the above solution, the swing mechanism includes a driving device for active rotation and at least one driving device for follow-up friction. The driving device for active rotation is arranged at one end of the main body of the support beam for driving the main body of the support beam to swing;

[0022] The driving device for follow-up friction is arranged at the other end and / or the middle part of the main body of the support beam.

[0023] As a further improvement of the above solution, the active rotation driving device includes a base and a slewing driving device arranged on the base, and the rotating end of the slewing driving device is connected to one end of the support beam body; the slewing axis of the slewing driving device is arranged parallel to the extension line of the length direction of the support beam body;

[0024] Preferably, the slewing driving device is a worm and worm wheel type slewing driving device, a planetary gear reduction type slewing drive or a hydraulic motor direct drive type slewing mechanism.

[0025] As a further improvement of the above solution, the follow-up friction driving device includes a pair of active friction wheels and a driven friction wheel arranged on the outer wall of the support beam body and in pressing fit with the active friction wheels,

[0026] The two active friction wheels are arranged on both sides of the driven friction wheel in a matching manner.

[0027] As a further improvement of the above solution, the support beam body includes a plurality of support beam units, and adjacent support beam units are detachably connected through semi-flange plates. A semi-wheel disc is also arranged between adjacent semi-flange plates, and the semi-wheel disc constitutes the driven friction wheel; and the semi-flange plate of the last support beam unit constitutes the driven friction wheel.

[0028] As a further improvement of the above solution, two first linear guide rails are arranged at intervals and in parallel on the support surface of the support beam body. Correspondingly, a first slider is arranged on the bottom surface of the straightening mechanism, and the first slider is arranged on the first linear guide rail in a matching manner, so that the straightening mechanism can be slidably arranged on the support beam body.

[0029] As a further improvement of the above solution, the straightening mechanism includes a clamping seat, a driving motor arranged at one end of the clamping seat, a trapezoidal screw rod and a screw nut, and a pair of clamping assemblies;

[0030] The trapezoidal screw rod passes through the clamping seat, is drivenly connected to the driving motor at one end, and is rotatably connected to the clamping seat at the other end. Two trapezoidal threads with opposite helix directions are arranged on the trapezoidal screw rod; the screw nuts are respectively slidably sleeved on the corresponding trapezoidal thread segments;

[0031] The clamping assemblies are respectively connected to the corresponding screw nuts through connecting plates to realize the clamping or opening of the clamping assemblies.

[0032] As a further improvement of the above solution, the straightening mechanism further includes second linear guide rails arranged on both sides of the trapezoidal screw rod and at intervals and in parallel with it; correspondingly, second sliders are respectively arranged on the bottom surfaces of the connecting plates, and the second sliders are sleeved on the second linear guide rails in a matching manner.

[0033] In a second aspect, the present invention further provides a control method for a welding system of a bridge expansion device as provided in the first aspect, and the steps thereof include:

[0034] S1. detachably install the side beam of the bridge expansion device on the working surface of the swingable support beam, and make its longitudinal central axis coincide with the clamping central axis of the straightening mechanism, and adjust the stroke of the straightening mechanism according to the width of the expansion joint between the side beams;

[0035] S2. according to the model of the bridge expansion device to be welded, switch the grasping robot to the corresponding manipulator; the spot welding moving device moves to the far end of the slide rail, the grasping robot grasps the corresponding anchor and places it at the target position of the side beam, and the spot welding robot performs matching spot welding for fixation;

[0036] When the spot welding of the side beams corresponding to the same straightening mechanism is completed, start the straightening mechanism to extrude the side beams to straighten them;

[0037] The spot welding moving device moves from the far end to the near end of the slide rail for spot welding operations, and gradually closes the straightening mechanism to straighten the side beams in sections;

[0038] S3. the full welding robot located at the far end of the slide rail performs full welding operations on all the first welding surfaces of the anchors on the bridge expansion device that has completed spot welding one by one from the far end to the near end of the slide rail; when performing full welding operations on the second welding surfaces of the anchors, rotate the swingable support beam to make the second welding surface within the working range of the full welding robot and / or the spot welding robot, and then perform full welding operations on all the second welding surfaces of the anchors one by one.

[0039] As a further improvement of the above solution, in step S3, when performing full welding operations, the spot welding robot that has completed spot welding operations moves from the near end to the far end of the slide rail for full welding operations.

[0040] Since the present invention adopts the above technical solutions, the beneficial effects of the present application are as follows:

[0041] 1. The present invention provides a welding system for bridge expansion devices. Through the setting of a swingable support beam, the support beam body can achieve multi-angle attitude adjustment driven by a swing mechanism. Cooperating with the three-dimensional coordinated movement of a slide rail type spot welding mobile device, it effectively breaks through the spatial limitations of traditional fixed tooling. Especially for traditional welding blind areas such as the bottom reverse slope welding area and the side slit area of the bridge expansion device, it can achieve high-precision welding, reducing the manual repair welding process by 3 - 5 times compared with traditional processes and eliminating the need for manual operation on the reverse side, thus improving welding efficiency. In addition, a slidable straightening mechanism is provided on the swingable support beam, which can straighten and correct the bridge expansion device after spot welding, thus ensuring the smooth operation of the full welding robot. There is no need to, like traditional welding equipment, remove the bent side beam from the swingable support beam and then perform manual heating and straightening, which will cause the stop of the welding process and result in low welding efficiency.

[0042] In some preferred embodiments, both the spot welding robot and the full welding robot are five-axis linkage robots, and their execution ends are respectively equipped with laser cameras. With such a setting, through the integrated control of the five-axis linkage welding robot and the vision guidance system, real-time dynamic planning of the welding path is achieved; thereby shortening the production cycle of a single product, greatly improving the welding efficiency, and increasing the first-pass rate of the product from 82% to 98.5%.

[0043] Through the deep integration of mechanical structure innovation and intelligent control technology, the present invention has achieved a breakthrough improvement in core indicators such as welding quality, process efficiency, and equipment versatility, providing advanced equipment support for the large-scale standardized production of bridge expansion devices.

[0044] 2. The present invention provides a welding system for bridge expansion devices. Two manipulators are integrated on the gripper device of the grasping robot, which are respectively used to grasp different types of anchor fittings, thereby improving the versatility of the welding system; during use, only need to switch to the corresponding manipulator to grasp the corresponding type of anchor fitting; preferably, the first manipulator is arranged in front of the gripper bracket through an elastic structure and is used for adsorptive grasping of square anchor fittings. The setting of the elastic structure can press the square anchor fitting onto the side beam of the bridge expansion device and make the contact surface between the square anchor fitting and the side beam closely fit, thereby reducing the probability of void welding and further improving the welding accuracy.

[0045] 3. The present invention also provides a control method for a welding system of a bridge expansion device. The present invention innovatively constructs a collaborative mechanism for the spot welding - full welding process chain, and through the mobile platform servo positioning system, realizes the precise timing matching of the positioning spot welding and continuous full welding of the anchor fittings; specifically, in the initial state, the full welding robot is arranged at the far end of the slide rail, and the spot welding robot sequentially performs spot welding from the far end to the near end of the slide rail. At the same time, the full welding robot can follow the spot welding robot to perform full welding operations from the far end to the near end of the slide rail, thereby improving the welding efficiency; in some preferred embodiments, the spot welding robot that has completed the spot welding operation moves from the near end to the far end of the slide rail to perform full welding operations. The spot welding robot is converted into the full welding mode, and returning from the far end to the near end to perform full welding operations can effectively utilize time, thereby further improving the welding efficiency; combined with the rotation of the workpiece by the swingable support beam, the dead corners that could not be welded on the side and bottom originally are taken into account, realizing all-round welding, and at the same time improving the production efficiency of the entire production line. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on the structures shown in these drawings.

[0047] Figure 1 is a three-dimensional schematic diagram of a welding system for a bridge expansion device disclosed by the present invention;

[0048] Figure 2 is a three-dimensional schematic diagram of the swingable support beam disclosed by the present invention;

[0049] Figure 3 is a top view schematic diagram of the swingable support beam disclosed by the present invention;

[0050] Figure 4 is Figure 3 the A - A cross-sectional schematic diagram of

[0051] Figure 5 is a three-dimensional schematic diagram of the spot welding moving device and the full welding robot located at the near end and the far end of the slide rail respectively, disclosed by the present invention;

[0052] Figure 6 is a three-dimensional schematic diagram of the gripper device disclosed by the present invention;

[0053] Figure 7 is a three-dimensional schematic diagram of the straightening mechanism disclosed by the present invention;

[0054] Figure 8 Schematic perspective view of the second type of bridge expansion device disclosed by the present invention;

[0055] Figure 9 Schematic perspective view of the first type of bridge expansion device disclosed by the present invention.

[0056] Reference numerals:

[0057] 1. Swingable support beam; 11. Support beam body; 111. Support beam unit; 112. Semi-flange; 12. Swing mechanism; 13. Straightening mechanism; 131. Clamping seat; 132. Driving motor; 133. Trapezoidal screw; 134. Screw nut; 135. Clamping assembly; 136. Connecting plate;

[0058] 14. Active rotary drive device; 141. Base; 142. Rotary drive device; 15. Follow-up friction drive device; 151. Active friction wheel; 152. Driven friction wheel;

[0059] 2. Slide rail;

[0060] 3. Spot welding moving device; 31. Moving table; 32. Gripping robot; 33. Spot welding robot; 34. Support frame; 35. Multi-axis robot body; 36. Gripping device; 361. Gripping bracket; 362. First manipulator; 363. Second manipulator;

[0061] 4. Full welding robot; 5. Laser camera;

[0062] 6. Storage basket for the first type of anchor; 7. Storage basket for the second type of anchor;

[0063] 8. Bridge expansion device; 81a. Side beam; 82a. Ear-shaped anchor; 81b. First side beam; 81c. Second side beam; 82b. Square anchor.

[0064] The realization, functional features and advantages of the objectives of the present invention will be further described in conjunction with the embodiments with reference to the accompanying drawings. Detailed embodiments

[0065] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0066] It should be noted that all the directional indications (such as up, down,...) in the embodiments of the present invention are only used to explain the relative positional relationship and movement conditions between components in a specific posture (as shown in the attached drawings). If the specific posture changes, the directional indications will also change accordingly.

[0067] In addition, in the present invention, descriptions such as "first" and "second" are only for descriptive purposes and should not be construed as indicating or implying their relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one such feature.

[0068] Moreover, the technical solutions between various embodiments of the present invention can be combined with each other, but it must be based on the ability of those of ordinary skill in the art to implement. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0069] Embodiment 1

[0070] See Figures 1 - 7 , the present invention provides a welding system for a bridge expansion device 8, including:

[0071] A swingable support beam 1, see Figure 2 and Figure 3 , for supporting the bridge expansion device 8 to be welded, which includes a support beam body 11, a swing mechanism 12 for driving the swing of the support beam body 11, and a plurality of straightening mechanisms 13 slidably arranged on the support beam body 11. The plurality of straightening mechanisms 13 are arranged at intervals along the extension direction of the support beam body 11 and are used for segmentally clamping and straightening the side beam 81a of the bridge expansion device 8. Specifically, two first linear guide rails are arranged in parallel at intervals on the support surface of the support beam body 11. Correspondingly, a first slider is provided on the bottom surface of the straightening mechanism 13, and the first slider is matched with the first linear guide rail to realize the slidable arrangement of the straightening mechanism 13 on the support beam body 11. The sliding power of the straightening mechanism 13 is manual or driven by a roller screw drive module. When manual sliding is adopted, according to the length of the side beam 81a of the bridge expansion device 8 to be welded, the positions of the plurality of straightening mechanisms 13 are manually adjusted so that they are located below the side beam 81a for straightening and correction. The swing mechanism 12 can drive the support beam body 11 to accurately swing within a preset angle range;

[0072] A slide rail 2, arranged in parallel at an interval with the support beam body 11;

[0073] The spot welding moving device 3 includes a moving table 31 slidably arranged on the slide rail 2, a grasping robot 32 arranged on the moving table 31, and a spot welding robot 33. The grasping robot 32 is used to grasp the anchor of the bridge expansion device 8 and place it on the side beam 81a located on the supporting beam body 11. The spot welding robot 33 is used to spot weld the anchor to the corresponding side beam 81a.

[0074] Specifically, in this embodiment, a double-rail high-precision linear guide is adopted, which is arranged parallel to the outside of the supporting beam body 11 at a distance of 1.2 m. A rack and pinion transmission structure is configured on the guide rail to form a closed-loop control with the gear reduction motor of the moving table 31.

[0075] The full welding robot 4 is slidably arranged on the slide rail 2 and is used to perform full welding operations on the bridge expansion device 8 after spot welding. Preferably, in this embodiment, three full welding robots 4 are equipped to improve welding efficiency. Laser cameras 5 are respectively configured at the execution ends of the spot welding robot 33 and the full welding robot 4 to obtain welding images and scan the weld seams.

[0076] During use, first place the side beam 81a on the supporting beam body 11 and fixedly install the side beam 81a. The swing mechanism 12 is adjusted to the best welding angle of the side beam 81a. The spot welding moving device 3 moves along the slide rail 2 to its far end. The grasping robot 32 grasps the anchor and accurately positions it at the preset marking point of the side beam 81a. The electric welding robot performs matching spot welding and fixing. The electric welding moving device sequentially places and spot welds the corresponding anchors from the far end to the near end of the slide rail 2. After each section of the side beam 81a is spot welded, the straightening mechanism 13 corresponding to this section is activated to clamp the side beam 81a and straighten it. The full welding robot 4 located at the far end of the slide rail 2 sequentially performs full welding operations on the straightened ends of the side beam 81a from the far end to the near end direction.

[0077] Through the setting of the swingable support beam 1, the supporting beam body 11 can realize multi-angle attitude adjustment under the drive of the swing mechanism 12. Cooperating with the three-dimensional coordinated movement of the slide rail 2 type spot welding moving device 3, the space limitation of the traditional fixed tooling is effectively broken through. Especially for the traditional welding blind areas such as the bottom reverse slope welding area and the side slit area of the bridge expansion device 8, high-precision welding can be realized, reducing the manual repair welding process by 3 - 5 times compared with the traditional process, and there is no need for manual turning over, thus improving the welding efficiency. In addition, a slidable straightening mechanism 13 is provided on the swingable support beam 1, which can straighten and correct the bridge expansion device 8 after spot welding, thereby ensuring the smooth operation of the full welding robot 4. There is no need to remove the bent side beam 81a from the swingable support beam 1 like the traditional welding equipment and then perform manual heating and straightening, which will cause the stop of the welding process and result in low welding efficiency.

[0078] In some preferred embodiments, both the spot welding robot 33 and the full welding robot 4 are five-axis linkage robots, and their execution ends are respectively configured with laser cameras 5. With such a setting, by constructing the integrated control of the five-axis linkage welding robot and the vision guidance system, the real-time dynamic planning of the welding path is realized; thereby shortening the production cycle of a single product, greatly improving the welding efficiency, and increasing the first-pass rate of the product from 82% to 98.5%;

[0079] Through the deep integration of mechanical structure innovation and intelligent control technology, the present invention has achieved a breakthrough improvement in core indicators such as welding quality, process efficiency, and equipment versatility, providing advanced equipment guarantee for the large-scale standardized production of the bridge expansion device 8.

[0080] As a preferred embodiment, a support frame 34 is further provided on the mobile platform 31 for placing the anchor storage basket; the support frame 34, the grasping robot 32, and the spot welding robot 33 are arranged side by side on the mobile platform 31 in sequence; with such a setting, the anchor to be welded can move along, thereby reducing the picking difficulty of the grasping robot 32; at the same time, it is only necessary to place the anchor storage basket at a fixed position. Specifically, in the present invention, refer to Figure 1 A second type of anchor storage basket 7 is placed at the proximal end of the slide rail 2, and a first type of anchor storage basket 6 is placed at the proximal end of the swingable support beam 1; preferably, square anchors 82b are stored in the first type of anchor storage basket 6, and ear-shaped anchors 82a are stored in the second type of anchor storage basket 7; during use, it is only necessary to place the corresponding anchor storage basket on the support frame 34 through a forklift or other lifting equipment, and it can move together with the grasping robot 32.

[0081] It should be noted that the structures of common bridge expansion devices are as shown in Figure 8 and Figure 9 In the bridge expansion device shown in Figure 8 it includes paired side beams 81a, and ear-shaped anchors 82a are respectively arranged on the outer side edges of the side beams 81a. The gap between the two side beams 81a forms an expansion joint. Before placing the paired side beams 81a on the support beam body 11, the bottom edges of the paired side beams 81a have been connected into one body according to a preset expansion joint through components such as steel bars; in Figure 9In the shown bridge expansion device, it includes a pair of first side beams 81b arranged in pairs, and a second side beam 81c arranged between the two first side beams 81b. It also includes a square anchor 82b arranged above the three side beams, and ear-shaped anchors 82a arranged on the side edges of the two first side beams 81b. Similarly, before being placed on the support beam body 11, the bottom edges of each side beam (81b, 81c) have been connected into one body according to a preset expansion joint through components such as steel bars.

[0082] As a preferred embodiment, refer to Figure 5 and Figure 6 , the grasping robot 32 includes a multi-axis robot body 35 and a gripper device 36 arranged at the execution end of the multi-axis robot body 35.

[0083] The gripper device 36 includes a gripper bracket 361, a first manipulator 362 arranged on the front of the gripper bracket 361, and a second manipulator 363 arranged on the side of the gripper bracket 361.

[0084] The first manipulator 362 is used to grasp the first type of anchor, and the second manipulator 363 is used to grasp the second type of anchor; in this embodiment, the first type of anchor is the square anchor 82b, and the second type of anchor is the ear-shaped anchor 82a.

[0085] Correspondingly, the first manipulator 362 is arranged on the front of the gripper bracket 361 through an elastic structure; the first manipulator 362 is an electromagnetic adsorption device, preferably an electromagnet, so as to grasp the square anchor 82b in an adsorbable manner.

[0086] Specifically, the elastic structure includes a support plate, a support bolt, and a spring sleeved outside the support bolt. The support bolt passes through the support plate and is connected to the gripper bracket 361. One end of the spring abuts against the support plate, and the other end abuts against the gripper bracket 361; the electromagnetic adsorption device is installed on the support plate; preferably, two electromagnets are arranged on the front of the gripper bracket 361, and each electromagnet is provided with the elastic structure. The setting of the elastic structure can press the square anchor against the side beam 81a of the bridge expansion device 8, and make the contact surface between the square anchor 82b and the side beam 81a closely fit, thereby reducing the probability of void soldering and further improving the welding accuracy.

[0087] The second manipulator 363 is arranged on the side end face of the gripper bracket 361 through a bracket. The second manipulator 363 is a pneumatic finger for grasping the ear-shaped anchor 82a.

[0088] As a preferred embodiment, the swing mechanism 12 includes a driving rotary drive device 14 and at least one following friction drive device 15. The driving rotary drive device 14 is arranged at one end of the support beam body 11 for providing a swing power source.

[0089] Specifically, the driving rotary drive device 14 includes a base 141 and a slewing drive device 142 fixedly installed on the base 141. The rotation output end of the slewing drive device 142 is connected to the end of the support beam body 11 through a slewing bearing, and its rotation axis is arranged parallel to the extension line of the length direction of the support beam body 11. Preferably, the slewing drive device 142 can be any one of a worm and worm gear type slewing drive device 142, a planetary gear reduction type slewing drive device 142, or a hydraulic motor direct drive type slewing mechanism, where:

[0090] The worm and worm gear type slewing drive device 142 realizes a high reduction ratio and a self-locking function through the meshing transmission of a worm and a worm gear.

[0091] The planetary gear reduction type slewing drive device 142 provides a large torque output through a multi-stage planetary gear set.

[0092] The hydraulic motor direct drive type slewing mechanism directly drives the support beam body 11 by a hydraulic motor and is applicable to heavy load working conditions.

[0093] The following friction drive device 15 is arranged at the other end and / or the middle of the support beam body 11 for realizing multi-point cooperative driving.

[0094] The following friction drive device 15 includes a pair of driving friction wheels and a driven friction wheel fixedly connected to the outer wall of the support beam body 11. During specific implementation, the two driving friction wheels are symmetrically arranged to press against both sides of the driven friction wheel to form a double-sided clamping type friction pair structure.

[0095] The following friction drive device 15 can be selected to be arranged at a single point / multi-point at the end or in the middle according to the length of the support beam body 11 and the load distribution requirements, which can not only meet the simplified installation requirements of a short beam structure but also realize the optimized distribution of the span load of a long beam structure, and has extremely strong engineering adaptability.

[0096] Through the cooperative configuration of single-point active driving and multi-point following driving, the bending moment load during the swing of the support beam is effectively dispersed, and the torsional stiffness and motion stability of the mechanism are significantly improved, especially applicable to the precise swing control of a large-span support beam.

[0097] As a preferred embodiment, the support beam body 11 is formed by sequentially connecting a plurality of support beam units 111 along the axial direction. Semi-flange plates 112 are welded to both ends of each support beam unit 111. The semi-flange plates 112 of two adjacent support beam units 111 are detachably connected by high-strength bolts, and an annular assembly gap is reserved between the semi-flange plates 112 at the docking position.

[0098] Furthermore, a semi-wheel disc is embedded in the annular assembly gap, and the thickness of the semi-wheel disc matches the width of the annular assembly gap. When two adjacent support beam units 111 are fastened by bolts, the two semi-wheel discs are joined together to form a complete annular wheel body structure, constituting a driven friction wheel. It should be noted that the outer surface of the semi-flange plate 112 of the support beam unit 111 at the end of the support beam body 11 is directly processed to separately form a driven friction wheel.

[0099] By dividing the support beam body 11 into a plurality of standardized support beam units 111 and cooperating with the bolt connection method of the semi-flange plates 112, the transportation and installation difficulties of large support beams can be significantly reduced. At the same time, it is convenient for the rapid replacement of locally damaged units, significantly improving the maintenance efficiency. The total length of the support beam can also be flexibly adjusted by increasing or decreasing the number of support beam units 111. By cooperating with semi-wheel discs of different specifications, it can be adapted to friction wheel drive systems with various diameter requirements, expanding the engineering application scenarios of this solution.

[0100] As a preferred embodiment, refer to Figure 4 and Figure 7 , the straightening mechanism 13 includes a clamping seat 131, a driving motor 132, a trapezoidal screw 133, a screw nut 134, a clamping assembly 135, and a second linear guide rail. The driving motor 132 is fixed to the right end of the clamping seat 131 and is drivingly connected to the right end of the trapezoidal screw 133 through a coupling. The left end of the trapezoidal screw 133 is rotatably supported by a bearing assembly at the left end of the clamping seat 131. Two trapezoidal thread segments with opposite helix directions are provided on the trapezoidal screw 133. The pitches of the two threads are equal and symmetrically distributed. The screw nut 134 includes a first nut and a second nut, which are respectively sleeved on the two trapezoidal thread segments and form a self-locking fit with the thread segments.

[0101] The clamping assembly 135 includes a first clamping arm and a second clamping arm that are symmetrically arranged, and the two are respectively fixedly connected to the first nut and the second nut through corresponding connecting plates 136. Two second sliders are arranged on the bottom surface of the connecting plate 136 along the length direction. The second linear guide rails are arranged in parallel on both sides of the trapezoidal screw 133 and are fixed to the upper surface of the clamping seat 131 through bolts. The second sliders and the second linear guide rails form a sliding pair, so that the connecting plate 136 moves linearly along the second linear guide rails when the trapezoidal screw 133 rotates. When the driving motor 132 rotates forward, the two screw nuts 134 move synchronously in opposite directions, driving the clamping assembly 135 to clamp the workpiece; when rotating in reverse, the clamping assembly 135 is opened.

[0102] The symmetrically distributed screw nuts 134 are driven by the reverse-threaded sections on the trapezoidal screw 133 to achieve the synchronous centering movement of the clamping assembly 135, eliminate the eccentric load problem caused by unilateral driving, and improve the concentricity and positioning accuracy of workpiece clamping; the additional second linear guide rails and the second sliders at the bottom of the connecting plate 136 form a double guiding structure, significantly reducing the radial force on the trapezoidal screw 133, avoiding the jamming of the screw nut 134 caused by lateral force, and extending the service life of the mechanism; the inclined-plane friction characteristic of the trapezoidal thread pair can automatically lock the position of the screw nut 134 when the power is off, preventing the clamping assembly 135 from accidentally loosening due to vibration or external force, and ensuring the clamping reliability.

[0103] Embodiment 2

[0104] The present invention also provides a control method for a welding system of a bridge expansion device 8 as described in Embodiment 1, and its steps include:

[0105] S1. The side beam 81a of the bridge expansion device 8 is detachably installed on the working surface of the swingable support beam 1, and its longitudinal central axis coincides with the clamping central axis of the straightening mechanism 13, and the stroke of the straightening mechanism 13 is adjusted according to the width of the expansion joint between the side beams 81a.

[0106] S2. According to the model of the bridge expansion device 8 to be welded, the grasping robot 32 switches to the corresponding manipulator. The spot welding moving device 3 moves to the far end of the slide rail 2, and the grasping robot 32 grasps the corresponding anchor and places it at the target position of the side beam 81a, and the spot welding robot 33 performs matching spot welding and fixing.

[0107] When the spot welding of the side beam 81a corresponding to the same straightening mechanism 13 is completed, the straightening mechanism 13 is started to squeeze the side beam 81a to straighten it.

[0108] The spot welding moving device 3 moves from the far end to the near end of the slide rail 2 for spot welding operations, and gradually closes the straightening mechanism 13 to straighten the side beam 81a in sections.

[0109] S3. The full-welding robot 4 located at the far end of the slide rail 2 performs full-welding operations on the first welding surfaces of all the anchor fittings on the bridge expansion device 8 that has completed spot welding one by one from the far end to the near end of the slide rail 2; when performing full-welding operations on the second welding surfaces of the anchor fittings, rotate the swingable support beam 1 to make the second welding surfaces within the working range of the full-welding robot 4 and / or the spot-welding robot 33, and then perform full-welding operations on the second welding surfaces of all the anchor fittings one by one.

[0110] As a further improvement of the above solution, in step S3, when performing full-welding operations, the spot-welding robot 33 that has completed spot-welding operations moves from the near end to the far end of the slide rail 2 for full-welding operations.

[0111] Step S1: Positioning and straightening of the side beams 81a and pre-adjustment of the mechanism 13. The two side beams 81a of the bridge expansion device 8 are detachably installed on the working surface of the swingable support beam 1 through clamps, and the longitudinal central axis of the side beam 81a is calibrated to coincide with the clamping central axis of the straightening mechanism 13 by using a laser positioning device; according to the designed width of the expansion joint, the clamping stroke of the straightening mechanism 13 is adjusted to the target value by adjusting the number of turns of the driving motor 132 (preferably a servo motor) of the straightening mechanism 13, ensuring that the straightening force of the straightening mechanism 13 on the side beam 81a is dynamically matched with the width of the expansion joint.

[0112] Step S2: Adaptive segmented spot welding and straightening

[0113] Based on the model parameters (such as the expansion amount and the type of anchor fittings) of the bridge expansion device 8 to be welded, the grasping robot 32 automatically switches the adapter end effector of the manipulator through a quick-change joint; the spot-welding moving device 3 moves along the slide rail 2 to the initial position at the far end, the grasping robot 32 picks up the corresponding type of anchor fittings, and accurately places them at the preset welding coordinate points on the side beam 81a through a vision positioning system, and the spot-welding robot 33 performs spot welding and fixing with matching current parameters.

[0114] After the spot welding of the side beam 81a in the corresponding section is completed, immediately start the straightening mechanism 13 in the corresponding section to locally straighten the side beam 81a to eliminate the deformation caused by welding stress; the spot-welding moving device 3 moves step by step from the far end to the near end along the slide rail 2, and synchronously controls multiple groups of straightening mechanisms 13 to gradually close in a segmented contraction mode, realizing the dynamic coordinated operation of the welding and segmented straightening of the side beam 81a.

[0115] Step S3: Double-sided full welding and dynamic switching of the working surface

[0116] Starting from the distal end of the slide rail 2, the full-welding robot 4 moves along the slide rail 2 towards the proximal end for the first welding surface (top surface) of the anchor fitting, and completes the full welding piece by piece using the multi-pass welding process. After completing the full welding of the first welding surface, the rotation motor of the swingable support beam 1 is controlled to drive the side beam 81a to rotate by a set angle (preferably 15° - 30°) around the axis, so that the second welding surface (side surface) of the anchor fitting is exposed within the welding torch operation envelope of the full-welding robot 4 and / or the spot-welding robot 33. Further, the spot-welding robot 33 that has completed the spot-welding operation moves in the reverse direction along the slide rail 2 (proximal end → distal end), and cooperates with the full-welding robot 4 to perform full welding on the second welding surface.

[0117] Through the cooperation of the quick-change mechanism of the gripping robot 32 and the vision positioning system, the present invention realizes the adaptive gripping and precise positioning of multi-type anchor fittings, and the spot-welding qualification rate is increased to over 99.2%. The alternating operation mode of segmented straightening and welding reduces the cumulative deformation effect of the side beam 81a, and the single-piece welding cycle is shortened by 40%.

[0118] The dynamic matching mechanism between the stroke of the straightening mechanism 13 and the width of the expansion joint, combined with the segmented retracting and straightening strategy, effectively controls the straightness of the side beam 81a, so as to ensure the smooth operation of the full-welding robot 4. There is no need to remove the bent side beam 81a from the swingable support beam 1 and then perform manual heating and straightening like traditional welding equipment, which will cause the stop of the welding process and result in low welding efficiency.

[0119] The full-welding robot 4 and the spot-welding robot 33 with conversion function form a two-way moving welding system. With the precise angle adjustment of the swingable support beam 1, the double-sided full-welding operation does not require manual intervention for surface change, and the welding efficiency is greatly improved.

[0120] The above is only the preferred embodiment of the present invention, and does not limit the patent scope of the present invention accordingly. Any equivalent structural transformation made under the inventive concept of the present invention by using the content of the specification and drawings of the present invention, or directly / indirectly applied in other related technical fields, is included in the patent protection scope of the present invention.

Claims

1. A welding system for a bridge expansion device, characterized in that: include: A swingable support beam, comprising a support beam body, a swing mechanism for driving the support beam body to swing, and a plurality of straightening mechanisms slidably arranged on the support beam body, wherein the plurality of straightening mechanisms are arranged at intervals along the extension direction of the support beam body and are used to clamp and straighten the side beams of the bridge expansion device in sections; A slide rail is arranged in parallel with the support beam body; A spot welding mobile device, comprising a mobile platform slidably arranged on the slide rail, a grabbing robot and a spot welding robot arranged on the mobile platform, the grabbing robot is used to grab the anchor of the bridge expansion device and place it on the side beam located on the support beam body, and the spot welding robot is used to spot weld the anchor to the corresponding side beam; The full welding robot can be slidably arranged on the slide rail and is used to perform full welding operations on the bridge expansion device that has been spot welded.

2. A welding system for a bridge expansion device according to claim 1, characterized in that: The mobile platform is also provided with a support frame for placing an anchor storage basket; the support frame, the grabbing robot and the spot welding robot are sequentially arranged side by side on the mobile platform.

3. A welding system for a bridge expansion device according to claim 1 or 2, characterized in that: The execution ends of the spot welding robot and the full welding robot are respectively configured with laser cameras for acquiring welding images and scanning welds.

4. A welding system for a bridge expansion device according to claim 1 or 2, characterized in that: The grasping robot comprises a multi-axis robot body and a grasping device arranged at the execution end of the multi-axis robot body. The gripper device comprises a gripper bracket, a first manipulator arranged on the front of the gripper bracket, and a second manipulator arranged on the side of the gripper bracket; The first manipulator is used to grasp the first type of anchors, and the second manipulator is used to grasp the second type of anchors.

5. A welding system for a bridge expansion device according to claim 4, characterized in that: The first manipulator is arranged on the front side of the gripper bracket through an elastic structure; the first manipulator is an electromagnetic adsorption device, which is used for adsorption-type grasping of square anchors; The second manipulator is arranged on the side end surface of the gripper bracket through a bracket, and the second manipulator is a pneumatic finger used for grasping the ear-shaped anchor.

6. A welding system for a bridge expansion device according to claim 1 or 2, characterized in that: The swing mechanism comprises an active rotation driving device and at least one follower friction driving device, wherein the active rotation driving device is arranged at one end of the support beam body and is used to drive the support beam body to swing; The follower friction drive device is arranged at the other end of the support beam body and / or the middle part of the support beam body.

7. A welding system for a bridge expansion device according to claim 6, characterized in that: The active rotation driving device comprises a base and a slewing driving device arranged on the base, and the rotating end of the slewing driving device is connected to one end of the support beam body; the slewing center axis of the slewing driving device is arranged parallel to the extension line of the length direction of the support beam body; The follow-up friction drive device includes active friction wheels arranged in pairs, and driven friction wheels arranged on the outer wall of the support beam body and tightly matched with the active friction wheels. The two active friction wheels are matched and arranged on both sides of the driven friction wheel.

8. A welding system for a bridge expansion device according to claim 7, characterized in that: The support beam body includes a plurality of support beam units, adjacent support beam units are detachably connected via half flanges, half wheel discs are provided between adjacent half flanges, and the half wheel discs constitute the driven friction wheel; and the half flange of the rear support beam unit constitutes the driven friction wheel.

9. A welding system for a bridge expansion device according to claim 1 or 2, characterized in that: The straightening mechanism comprises a clamping seat, a driving motor arranged at one end of the clamping seat, a trapezoidal screw and a screw nut, and clamping assemblies arranged in pairs; The trapezoidal screw passes through the clamping seat, one end of which is connected to the driving motor, and the other end is rotatably connected to the clamping seat, and the trapezoidal screw is provided with two sections of trapezoidal threads with opposite rotation directions; the screw nuts are slidably sleeved on the corresponding trapezoidal thread sections respectively; The clamping components are respectively connected to corresponding screw nuts through connecting plates to achieve clamping or opening of the clamping components.

10. A control method for a welding system for a bridge expansion device according to any one of claims 1 to 9, characterized in that: The steps include: S1. The side beam of the bridge expansion device is detachably mounted on the working surface of the swingable support beam, and its longitudinal center axis is made to coincide with the clamping center axis of the straightening mechanism, and the stroke of the straightening mechanism is adjusted according to the width of the expansion joint of the side beam; S2. According to the model of the bridge expansion device to be welded, the grasping robot switches to the corresponding manipulator; the spot welding moving device moves to the far end of the slide rail, the grasping robot grasps the corresponding anchor and places it at the target position of the side beam, and the spot welding robot performs matching spot welding and fixation; When the spot welding of the side beams of the corresponding section of the same straightening mechanism is completed, the straightening mechanism is started to squeeze the side beams to straighten them; The spot welding moving device moves from the far end to the near end of the slide rail to perform spot welding, and gradually closes the straightening mechanism to straighten the side beam in sections; S3. The full welding robot located at the far end of the slide rail performs full welding operations on the first welding surfaces of all anchors on the bridge expansion device that have been spot welded one by one; when performing full welding operations on the second welding surfaces of the anchors, the swingable support beam is rotated so that the second welding surface is located within the operating range of the full welding robot and / or the spot welding robot, and then full welding operations are performed on the second welding surfaces of all anchors one by one.

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