Intelligent welding equipment for steel structure bridge joints

Abstract

The invention relates to the technical field of steel structure bridge joint welding, and provides steel structure bridge joint intelligent welding equipment which comprises a moving trolley, a lifting rod, a first visual positioning camera and an electric telescopic rod are installed on the top of the moving trolley, and a mechanical arm is installed at the output end of the electric telescopic rod. The mechanical arm comprises a large arm, a small arm and an end effector, a welding gun and a second visual positioning camera are installed on one side of the end effector, two stress reduction mechanisms are installed between the small arm and the end effector, and a sensor installation mechanism and a third visual positioning camera are installed on the small arm; automatic positioning of the welding equipment is achieved through the first visual positioning camera and the third visual positioning camera, and the automation degree of welding is improved; the welding stress of the welding part is monitored in real time through the fiber grating sensor, and the residual stress generated by the welding part is reduced through the stress reduction mechanism.

Description

Technical Field

[0001] The present invention relates to the technical field of steel structure bridge node welding, and more specifically to an intelligent welding device for steel structure bridge nodes. Background Art

[0002] The steel truss system is usually applied to large-span structures and consists of components such as chord members and web members. The connection between the chord member and the web member is the node of the steel truss.

[0003] The steel truss node has the following deficiencies during the welding process:

[0004] 1. Low degree of automation for complex welds: Steel truss nodes usually have multiple members (such as chord members and web members) intersecting, and the welds are mostly space curves. The welding position is narrow, and manual welding has low efficiency, high operation difficulty, and unstable quality.

[0005] 2. Difficult to monitor the real-time distribution of welding stress: Excessive temperature change amplitude of the welded parts is likely to generate large stress, causing the welded parts to bend. In an environment with a relatively low temperature, it is easy to cause a rapid temperature drop after welding, and the thermal expansion and contraction amplitude of the welded parts is relatively large, resulting in concentrated residual stress and reducing the fatigue performance of the nodes.

[0006] Therefore, the present invention provides an intelligent welding device for steel structure bridge nodes. Summary of the Invention

[0007] The present invention provides an intelligent welding device for steel structure bridge nodes, which realizes intelligent welding by setting up automatic welding and monitoring equipment to solve the problem of insufficient intelligence in manual welding in the background art.

[0008] The technical solution of the present invention is as follows:

[0009] An intelligent welding device for steel structure bridge nodes, comprising: a mobile trolley, on the top of which a lifting rod is installed, on one side of the lifting rod a vision positioning camera one is installed, on the side of the top of the lifting rod close to the vision positioning camera one an electric telescopic rod is installed, at the output end of the electric telescopic rod a robotic arm is installed, the robotic arm includes a large arm, a small arm and an end effector, on one side of the end effector a welding torch and a vision positioning camera two are installed, between the small arm and the end effector two stress reduction mechanisms are installed, on the small arm a sensor installation mechanism and a vision positioning camera three are installed, and the sensor installation mechanism includes a fiber Bragg grating sensor and a cleaning structure;

[0010] The stress reduction mechanism includes a flame spray gun.

[0011] Preferably, the vision positioning camera two is located around the welding torch and is directly opposite to the head of the welding torch.

[0012] Preferably, the temperature adjustment mechanism includes a blower fixedly connected to one side of the end effector and an air duct fixedly connected to the other side of the end effector, and the air duct is located around the welding torch.

[0013] Preferably, the stress reduction mechanism further includes a first automatic telescopic rod rotatably connected to the forearm and a fixed rod fixedly connected to the end effector. A first motor for driving the first automatic telescopic rod to rotate is installed on the forearm. The output end of the first automatic telescopic rod is rotatably connected to a second automatic telescopic rod. The output end of the second automatic telescopic rod is rotatably connected to a sliding rod. The flame spray gun is installed on the outer side of the sliding rod. A spherical groove is formed at one end of the fixed rod, and a sphere is rotatably connected through the spherical groove. A fixing sleeve is fixedly connected to the part of the sphere located outside the spherical groove. The sliding rod is slidably connected in the fixing sleeve.

[0014] Preferably, the sensor mounting mechanism includes a third automatic telescopic rod installed on the forearm. The output end of the third automatic telescopic rod is fixedly connected to a mounting block. An empty groove is formed at one end of the mounting block away from the third automatic telescopic rod. A sliding rod is fixedly connected in the empty groove. A ring groove is formed at one end of the sliding rod, and a first clamping block is slidably connected through the ring groove.

[0015] Preferably, the sensor mounting mechanism further includes a magnetic block arranged on the outer side of the sliding rod. The fiber Bragg grating sensor is installed on the magnetic block. A circular groove and a plurality of sliding grooves are formed in the magnetic block. The circular groove is located at the center of the magnetic block. The plurality of sliding grooves are evenly distributed on the inner wall of the circular groove. The sliding rod and the first clamping block are located in the circular groove. The magnetic block is slidably connected to a second clamping block through the sliding groove, and a spring is installed between the second clamping block and the sliding groove. One end of the second clamping block extends into the circular groove and is located between the first clamping block and the side of the ring groove close to the fiber Bragg grating sensor.

[0016] Preferably, the cross-section of the first clamping block is an isosceles trapezoid. The side of the second clamping block close to the first clamping block is an inclined surface, and the side close to the ring groove is a flat surface. The outer diameter of the first clamping block is larger than the outer diameter of the sliding rod.

[0017] Preferably, the cleaning structure includes a rotating ring rotatably connected to the mounting block and a gear rotatably connected to the mounting block. The rotating ring is located at one end of the mounting block close to the magnetic block. A connecting rod is rotatably connected to the rotating ring through a torsion spring. A cleaning block is installed at one end of the connecting rod. A toothed ring is fixedly connected to one side of the rotating ring in the empty groove. The toothed ring meshes with the gear. A second motor for driving the gear to rotate is installed on the mounting block.

[0018] Preferably, the cleaning structure further includes a fourth automatic telescopic rod installed in the empty slot and a sliding ring slidably connected to the sliding rod. The output end of the fourth automatic telescopic rod is fixedly connected to the sliding ring. A rotating ring is rotatably connected to one side of the sliding ring away from the fourth automatic telescopic rod. A connecting rope is fixedly connected between the connecting rod and the rotating ring.

[0019] Compared with the prior art, the present invention has the following beneficial effects:

[0020] 1. The present invention realizes the automatic positioning of the welding equipment through the first visual positioning camera and the third visual positioning camera, improves the automation degree of welding, reduces the labor force, and improves the welding efficiency.

[0021] 2. The present invention monitors the welding stress of the welded parts in real time through the fiber Bragg grating sensor, and reduces the residual stress generated by the welded parts through the stress reduction mechanism, avoiding the residual stress from weakening the fatigue strength of the welded parts, improving the monitoring effect of the welding process, and reducing the probability of accidents. Description of the Drawings

[0022] Figure 1 is a three-dimensional view of the welding equipment of the present invention;

[0023] Figure 2 is a three-dimensional view of the robotic arm of the present invention;

[0024] Figure 3 is the present invention Figure 2 a three-dimensional view from another perspective;

[0025] Figure 4 is the present invention Figure 3 a three-dimensional view from another perspective

[0026] Figure 5 is the present invention Figure 2 a partial enlarged view of A in the present invention;

[0027] Figure 6 is the present invention Figure 3 a partial enlarged view of B in the present invention;

[0028] Figure 7 is the present invention Figure 3 a partial enlarged view of C in the present invention;

[0029] Figure 8 is the present invention Figure 4 a partial enlarged view of D in the present invention;

[0030] Figure 9 is a three-dimensional connection view of the fixed rod and the fixed sleeve of the present invention;

[0031] Figure 10 is a three-dimensional view of the sensor installation mechanism of the present invention;

[0032] Figure 11 is a sectional view of the sensor mounting mechanism of the present invention;

[0033] Figure 12 is a schematic diagram of the second embodiment of the present invention.

[0034] In the figure:

[0035] 1. Mobile trolley; 2. Lifting rod; 21. First vision positioning camera; 3. Electric telescopic rod; 4. Robot arm; 41. Big arm; 42. Small arm; 43. End effector; 44. Second vision positioning camera; 45. Third vision positioning camera; 5. Welding torch; 6. Stress reduction mechanism; 61. Flame spray gun; 62. First automatic telescopic rod; 63. Fixed rod; 64. First motor; 65. Second automatic telescopic rod; 66. Sliding rod; 67. Spherical groove; 68. Sphere; 69. Fixed sleeve; 7. Sensor mounting mechanism; 71. Fiber Bragg grating sensor; 72. Cleaning structure; 721. Rotating ring; 722. Gear; 723. Connecting rod; 724. Cleaning block; 725. Tooth ring; 726. Second motor; 727. Fourth automatic telescopic rod; 728. Sliding ring; 729. Rotating ring; 7210. Connecting rope; 73. Third automatic telescopic rod; 74. Mounting block; 75. Empty groove; 76. Slide bar; 77. Ring groove; 79. First clamping block; 710. Magnet; 711. Circular groove; 712. Slide groove; 713. Second clamping block; 714. Spring. Detailed implementation manners

[0036] The following further describes in detail the implementation manners of the present invention in conjunction with the drawings and embodiments. The following embodiments are used to illustrate the present invention, but cannot be used to limit the scope of the present invention.

[0037] Embodiment 1:

[0038] As Figures 1-4 shown, the present invention provides an intelligent welding device for steel structure bridge joints, including: a mobile trolley 1, a lifting rod 2 is installed on the top of the mobile trolley 1, a first vision positioning camera 21 is installed on one side of the lifting rod 2, an electric telescopic rod 3 is installed on one side of the top of the lifting rod 2 close to the first vision positioning camera 21, a robot arm 4 is installed at the output end of the electric telescopic rod 3, the robot arm 4 includes a big arm 41, a small arm 42 and an end effector 43, a welding torch 5 and a second vision positioning camera 44 are installed on one side of the end effector 43, two stress reduction mechanisms 6 are installed between the small arm 42 and the end effector 43, a sensor mounting mechanism 7 and a third vision positioning camera 45 are installed on the small arm 42, and the sensor mounting mechanism 7 includes a fiber Bragg grating sensor 71 and a cleaning structure 72;

[0039] The stress reduction mechanism 6 includes a flame spray gun 61.

[0040] The vision positioning camera 21 positions the welding position, and moves the robotic arm 4 to the weld seam through the mobile trolley 1, the lifting rod 2 and the electric telescopic rod 3.

[0041] The vision positioning camera 21 scans the weld seam. The robotic arm 4 moves the position of the end effector 43 through the rotating components at the shoulder and joints, so that the welding torch 5 can be aligned with the weld seam to adapt to the spatial curve of the welding.

[0042] The stress reduction mechanism 6 can reduce the residual stress generated during welding and the stress concentration after welding.

[0043] After the sensor installation mechanism 7 cleans the installation position through the cleaning structure 72, it installs the fiber Bragg grating sensor 71 on the welded part to monitor the stress change of the weld seam in real time.

[0044] As Figure 3 、 Figure 7 、 Figure 10 、 Figure 11 shown, the sensor installation mechanism 7 includes the automatic telescopic rod three 73 installed on the small arm 42. The output end of the automatic telescopic rod three 73 is fixedly connected with an installation block 74. An empty slot 75 is opened at one end of the installation block 74 away from the automatic telescopic rod three 73. A sliding rod 76 is fixedly connected in the empty slot 75. A ring groove 77 is opened at one end of the sliding rod 76, and a first clamping block 79 is slidably connected through the ring groove 77.

[0045] The sensor installation mechanism 7 further includes a magnetic block 710 arranged outside the sliding rod 76. The fiber Bragg grating sensor 71 is installed on the magnetic block 710. A circular groove 711 and a plurality of sliding grooves 712 are opened in the magnetic block 710. The circular groove 711 is located at the center of the magnetic block 710. The plurality of sliding grooves 712 are evenly distributed on the inner wall of the circular groove 711. The sliding rod 76 and the first clamping block 79 are located in the circular groove 711. The magnetic block 710 is slidably connected with a second clamping block 713 through the sliding grooves 712, and a spring 714 is installed between the second clamping block 713 and the sliding grooves 712. One end of the second clamping block 713 extends into the circular groove 711 and is located between the first clamping block 79 and the side of the ring groove 77 close to the fiber Bragg grating sensor 71.

[0046] The cross section of the first clamping block 79 is an isosceles trapezoid. The side of the second clamping block 713 close to the first clamping block 79 is an inclined plane, and the side close to the ring groove 77 is a plane. The outer diameter of the first clamping block 79 is greater than the outer diameter of the sliding rod 76.

[0047] The cleaning structure 72 includes a rotating ring 721 rotatably connected to the mounting block 74 and a gear 722 rotatably connected to the mounting block 74. The rotating ring 721 is located at one end of the mounting block 74 close to the magnetic block 710. A connecting rod 723 is rotatably connected to the rotating ring 721 through a torsion spring. A cleaning block 724 is installed at one end of the connecting rod 723. A gear ring 725 is fixedly connected to one side of the rotating ring 721 in the empty slot 75. The gear ring 725 meshes with the gear 722. A second motor 726 for driving the gear 722 to rotate is installed on the mounting block 74.

[0048] The cleaning structure 72 further includes a fourth automatic telescopic rod 727 installed in the empty slot 75 and a sliding ring 728 slidably connected to the sliding rod 76. The output end of the fourth automatic telescopic rod 727 is fixedly connected to the sliding ring 728. A rotating ring 729 is rotatably connected to one side of the sliding ring 728 away from the fourth automatic telescopic rod 727. A connecting rope 7210 is fixedly connected between the connecting rod 723 and the rotating ring 729.

[0049] Before welding, preliminary positioning is carried out. The welding equipment is placed at the node of the steel truss through the support frame for welding engineering. The node is positioned by the first visual positioning camera 21, so that the mechanical arm 4 faces one side of the node of the steel truss; as Figures 1-3 、 Figure 6 、 Figure 7 、 Figure 9 shown, after the equipment positioning is completed, the sensor installation mechanism 7 is positioned by the third visual positioning camera 45. The mechanical arm 4 is adjusted through the rotating component of the mechanical arm 4 to make the sensor installation mechanism 7 parallel to the welded parts such as the web member, cross beam or stiffener. Then the third automatic telescopic rod 73 is started to push the cleaning block 724 into contact with the welded part. Then the second motor 726 is started. The rotating ring 721 is driven to rotate through the meshing transmission of the gear 722 and the gear ring 725. The rotating ring 721 drives the cleaning block 724 to rotate through the connecting rod 723, and the dust, water, etc. on the welded part are cleaned off to avoid affecting the welding quality. After the cleaning is completed, the fourth automatic telescopic rod 727 is started to drive the sliding ring 728 to move towards the magnetic block 710. Since the connecting rod 723 is rotatably connected to the rotating ring 721 through a torsion spring and is connected to the rotating ring 729 through the connecting rope 7210, after the sliding ring 728 and the rotating ring 729 move, the two connecting rods 723 lose the fixation of the connecting rope 7210 and are separated by the torsion spring until the two connecting rods 723 and the rotating ring 721 are on the same horizontal plane, so that the magnetic block 710 and the fiber Bragg grating sensor 71 are exposed, which is convenient for installing the fiber Bragg grating sensor 71. Then the third automatic telescopic rod 73 is started to push the magnetic block 710 towards the welded part, and the magnetic block 710 is adsorbed to the welded part through its magnetism, and the fiber Bragg grating sensor 71 is installed on the welded part; as Figure 7 、 Figure 10 、 Figure 11As shown, the automatic telescopic rod three 73 is then used to push the mounting block 74 and the sliding rod 76 to continue moving in the direction of the welding piece. Since the magnetic block 710 has already contacted the welding piece, during the movement of the sliding rod 76, the second catch block 713 is blocked by the first catch block 79 and slides into the interior of the chute 712, compressing the spring 714. The sliding rod 76 is continuously moved by the automatic telescopic rod three 73 until the second catch block 713 passes over the first catch block 79. At this time, the second catch block 713 is pushed by the spring 714 and is clamped between the first catch block 79 and the lower end of the annular groove 77. Then, the sliding rod 76 is driven by the automatic telescopic rod three 73 to move in the reverse direction, causing the first catch block 79 to be blocked by the second catch block 713 and slide to the upper end of the annular groove 77. The sliding rod 76 is continuously moved, causing the second catch block 713 to be blocked by the first catch block 79 and slide into the interior of the chute 712. The sliding rod 76 is continuously moved by the automatic telescopic rod three 73 until the second catch block 713 passes over the first catch block 79 and the top of the sliding rod 76 and separates from the sliding rod 76, thereby separating the magnetic block 710 from the sliding rod 76 and completing the installation of the fiber Bragg grating sensor 71.

[0050] It should be noted that since the rotating ring 729 is rotatably connected to the sliding ring 728, when the rotating ring 721 rotates, the connecting rod 723 drives the rotating ring 729 to move synchronously through the connecting rope 7210.

[0051] During the welding process, the stress of the welding piece will change due to the influence of thermal expansion and contraction. When the fiber Bragg grating of the fiber Bragg grating sensor 71 is subjected to external stress, both its effective refractive index and grating pitch will change, causing the drift of the wavelength of the backward reflected light. By measuring this change in wavelength, the degree of strain can be known. As the welding point changes, the fiber Bragg grating sensor 71 can monitor the stress change of the welding piece and achieve real-time stress monitoring.

[0052] The automatic positioning of the welding equipment is achieved through the vision positioning camera one 21 and the vision positioning camera three 45, which improves the automation degree of welding, reduces labor, and improves welding efficiency; and by installing the fiber Bragg grating sensor 71 to monitor the welding stress in real time, the monitoring effect of the welding process is improved, and the probability of accidents is reduced.

[0053] As Figure 2 、 Figure 5 As shown, after the installation is completed, the robotic arm 4 is adjusted to align the welding torch 5 with the weld seam, and then the welding torch 5 and a stress reduction mechanism 6 in the same direction as the welding direction are started, so that the flame spray gun 61 on the stress reduction mechanism 6 preheats the weld seam to avoid excessive temperature change of the welding piece and generate large stress, causing the welding piece to bend; during welding, the robotic arm 4 is driven to move the welding torch 5 along the weld seam for welding.

[0054] The vision positioning camera two 44 is located around the welding torch 5 and is directly opposite the head of the welding torch 5.

[0055] The visual positioning camera two 44 monitors the weld seam in real time, and controls the welding torch 5 to always align with the weld seam to ensure the welding quality.

[0056] It should be noted that since most weld seams are space curves, the positioning in the x-axis, y-axis, and z-axis directions of space can be achieved by moving the trolley 1, the lifting rod 2, and the electric telescopic rod 3. Compared with manual welding, the stability and efficiency of welding are improved; and by adjusting the robotic arm 4, the welding torch 5 can enter narrow welding positions, reducing the welding difficulty.

[0057] As Figures 2-6 shown, during the welding process, as the welding point moves, the fiber Bragg grating sensor 71 can monitor the stress at the welding point. When the stress at the welding point is too large, a stress reduction mechanism 6 in the opposite direction of the welding direction is activated. As the welding point moves, the flame spray gun 61 on the stress reduction mechanism 6 heats the welded weld seam, slowing down the cooling rate of the welded part, so that the stress generated during welding is slowly released within the range that the welded part can bear, avoiding damage to the structure of the welded part and the welding quality due to too large a change in the internal stress of the welded part.

[0058] As Figure 11 shown, after welding one side of the node, the robotic arm 4 is driven back to the position where the fiber Bragg grating sensor 71 is installed, and the automatic telescopic rod three 73 is activated to push the mounting block 74 and the sliding rod 76 towards the circular groove 711 at the center of the magnet 710, so that the second catch 713 crosses the top of the sliding rod 76. Since the area of the second catch 713 is larger than the area of the first catch 79, when the second catch 713 crosses the top of the sliding rod 76, the first catch 79 is blocked by the second catch 713 and slides towards the lower end of the annular groove 77, so that the second catch 713 is pushed by the spring 714 and stuck between the first catch 79 and the annular groove 77, restricting the magnet 710. Then, the sliding rod 76 is driven to move in the reverse direction by the automatic telescopic rod three 73. Since one side of the second catch 713 close to the upper end of the annular groove 77 is a plane and cannot slide into the chute 712 after being blocked by the top of the sliding rod 76, when the sliding rod 76 continues to move, the second catch 713 and the magnet 710 are pulled away from the welded part.

[0059] Then, the equipment is moved to the other side of the node, and the automatic telescopic rod four 727 is activated. The connecting rope 7210 is pulled through the sliding ring 728 and the rotating ring 729, so that the two connecting rods 723 rotate relative to each other, causing the two cleaning blocks 724 to merge and perform cleaning. After that, the equipment can be moved to the next welding position, and the above steps are repeated to continue welding.

[0060] Embodiment two:

[0061] As Figure 4 、 Figure 8As shown in the figure, the stress reduction mechanism 6 further includes a first automatic telescopic rod 62 rotatably connected to the small arm 42 and a fixed rod 63 fixedly connected to the end effector 43. A first motor 64 for driving the first automatic telescopic rod 62 to rotate is installed on the small arm 42. The output end of the first automatic telescopic rod 62 is rotatably connected to a second automatic telescopic rod 65. The output end of the second automatic telescopic rod 65 is rotatably connected to a sliding rod 66. The flame spray gun 61 is installed outside the sliding rod 66. One end of the fixed rod 63 is provided with a spherical groove 67 and is rotatably connected to a sphere 68 through the spherical groove 67. A fixed sleeve 69 is fixedly connected to the part of the sphere 68 outside the spherical groove 67. The sliding rod 66 is slidably connected to the fixed sleeve 69.

[0062] Since the sphere 68 is rotatably connected to one end of the fixed rod 63 and the fixed sleeve 69 is fixedly connected to the sphere 68, the fixed sleeve 69 can rotate in any direction. By starting the second automatic telescopic rod 65, the second automatic telescopic rod 65 is extended or shortened, so that the sliding rod 66 and the fixed sleeve 69 rotate, thereby changing the angle between the second automatic telescopic rod 65 and the sliding rod 66. When the end effector 43 rotates, the sliding rod 66 and the flame spray gun 61 follow its rotation, so that the flame spray gun 61 is directed at the weld seam.

[0063] As Figure 8 shown in the figure, when the robotic arm 4 moves horizontally, the two stress reduction mechanisms 6 are respectively arranged on the left and right sides of the welding torch 5. When the robotic arm 4 moves vertically, first start the two first automatic telescopic rods 62 to drive one end of the two second automatic telescopic rods 65 to move in opposite directions. Since the other end of the second automatic telescopic rod 65 is fixed to the sliding rod 66 and the other end of the sliding rod 66 can rotate on the fixed sleeve 69, when one end of the second automatic telescopic rod 65 moves, the other end of the sliding rod 66 rotates, so that the sliding rods 66 on both sides of the welding torch 5 approach each other in the left and right directions and the flame spray guns 61 on the sliding rods 66 point to the head of the welding torch 5. Then start the first motors 64 in the two stress reduction mechanisms 6 to drive the first automatic telescopic rods 62 on both sides of the welding torch 5 to rotate in opposite directions. The fixed sleeves 69 rotate in the direction of the straight line formed by the welding torch 5 and the visual positioning camera three 45, and the rotation directions are opposite. At the same time, since the sliding rod 66 is slidably connected to the fixed sleeve 69, when the first automatic telescopic rod 62 rotates, the sliding rod 66 is driven to slide on the fixed sleeve 69 through the second automatic telescopic rod 65, and the sliding directions are opposite, so as to make up for the distance difference caused by the rotation angle, and further make the two flame spray guns 61 change the nozzle directions. As Figure 12 shown in the figure, when the robotic arm 4 moves vertically, the nozzles of the flame spray guns 61 still move along the vertical weld seam.

[0064] The embodiments of the present invention are given for purposes of illustration and description. Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

Claims

1. An intelligent welding device for steel structure bridge nodes, comprising: A mobile trolley (1), characterized in that: a lifting rod (2) is installed on the top of the mobile trolley (1), a visual positioning camera (21) is installed on one side of the lifting rod (2), an electric telescopic rod (3) is installed on the top of the lifting rod (2) near the visual positioning camera (21), a mechanical arm (4) is installed on the output end of the electric telescopic rod (3), the mechanical arm (4) includes a large arm (41), a small arm (42) and an end effector (43), a welding gun (5) and a second visual positioning camera (44) are installed on one side of the end effector (43), two stress reduction mechanisms (6) are installed between the small arm (42) and the end effector (43), a sensor installation mechanism (7) and a third visual positioning camera (45) are installed on the small arm (42), and the sensor installation mechanism (7) includes a fiber grating sensor (71) and a cleaning structure (72); The stress reduction mechanism (6) comprises a flame spray gun (61).

2. The intelligent welding equipment for steel structure bridge nodes according to claim 1, characterized in that: The second visual positioning camera (44) is located around the welding gun (5) and directly facing the head of the welding gun (5).

3. The intelligent welding equipment for steel structure bridge nodes according to claim 1, characterized in that: The stress reduction mechanism (6) further comprises an automatic telescopic rod (62) rotatably connected to the forearm (42) and a fixed rod (63) fixedly connected to the end effector (43); a motor (64) for driving the automatic telescopic rod (62) to rotate is installed on the forearm (42); an output end of the automatic telescopic rod (62) is rotatably connected to an automatic telescopic rod (65); an output end of the automatic telescopic rod (65) is rotatably connected to a sliding rod (66); the flame spray gun (61) is installed on the outside of the sliding rod (66); a spherical groove (67) is provided at one end of the fixed rod (63); a sphere (68) is rollingly connected to the sphere groove (67); a portion of the sphere (68) outside the spherical groove (67) is fixedly connected to a fixing sleeve (69); and the sliding rod (66) is slidably connected in the fixing sleeve (69).

4. The intelligent welding equipment for steel structure bridge nodes according to claim 1, characterized in that: The sensor mounting mechanism (7) comprises an automatic telescopic rod three (73) mounted on the forearm (42); the output end of the automatic telescopic rod three (73) is fixedly connected to a mounting block (74); an end of the mounting block (74) away from the automatic telescopic rod three (73) is provided with an empty groove (75); a sliding rod (76) is fixedly connected in the empty groove (75); one end of the sliding rod (76) is provided with an annular groove (77), and a clamping block one (79) is slidably connected through the annular groove (77).

5. The intelligent welding equipment for steel structure bridge nodes according to claim 4, characterized in that: The sensor mounting mechanism (7) further comprises a magnetic block (710) arranged outside the sliding rod (76), the fiber optic grating sensor (71) being mounted on the magnetic block (710), a circular groove (711) and a plurality of sliding grooves (712) being provided inside the magnetic block (710), the circular groove (711) being located at the center of the magnetic block (710), and the plurality of sliding grooves (712) being evenly distributed on the inner wall of the circular groove (711), the sliding rod (76) and the first clamping block (79) being located inside the circular groove (711), the magnetic block (710) being slidably connected to the second clamping block (713) via the sliding groove (712), and a spring (714) being installed between the second clamping block (713) and the sliding groove (712), and one end of the second clamping block (713) extending into the circular groove (711) and being located between the first clamping block (79) and a side of the annular groove (77) close to the fiber optic grating sensor (71).

6. The intelligent welding equipment for steel structure bridge nodes according to claim 5, characterized in that: The cross section of the first clamping block (79) is an isosceles trapezoid; the side of the second clamping block (713) close to the first clamping block (79) is an inclined surface, and the side close to the annular groove (77) is a flat surface; the outer diameter of the first clamping block (79) is greater than the outer diameter of the sliding rod (76).

7. The intelligent welding equipment for steel structure bridge nodes according to claim 6, characterized in that: The cleaning structure (72) comprises a rotating ring (721) rotatably connected to the mounting block (74) and a gear (722) rotatably connected to the mounting block (74); the rotating ring (721) is located at one end of the mounting block (74) close to the magnetic block (710); a connecting rod (723) is rotatably connected to the rotating ring (721) via a torsion spring; a cleaning block (724) is mounted on one end of the connecting rod (723); a gear ring (725) is fixedly connected to one side of the rotating ring (721) in the empty groove (75); the gear ring (725) is meshed with the gear (722); and a second motor (726) for driving the gear (722) to rotate is mounted on the mounting block (74).

8. The intelligent welding equipment for steel structure bridge nodes according to claim 7, characterized in that: The cleaning structure (72) further comprises an automatic telescopic rod (727) installed in the empty slot (75) and a sliding ring (728) slidably connected to the sliding rod (76); the output end of the automatic telescopic rod (727) is fixedly connected to the sliding ring (728); the sliding ring (728) is rotatably connected to a rotating ring (729) on a side away from the automatic telescopic rod (727); and a connecting rope (7210) is fixedly connected between the connecting rod (723) and the rotating ring (729).

Images