Steel structure bridge component assembly line and assembly method thereof

Abstract

The application discloses a steel structure bridge member assembly line and an assembling method thereof, and belongs to the field of steel box girder processing. The steel structure bridge member assembly line comprises a processing platform suitable for placing a steel box girder to be processed, and an assembling station, a welding station and a correcting station distributed along the transmission direction of the steel box girder to be processed; the steel box girder to be processed comprises a bottom plate, two top webs provided on the two sides of the bottom plate, the cross section shape of the two top webs being T-shaped, and the top webs being separated by a predetermined distance at the top, and a plurality of cross webs provided between the top webs and the bottom plate. The application determines the relative positions of the bottom plate, the top webs and the cross webs through the centering pushing device, the elevator and the cross web positioning device, and completes high-precision assembling operation; then the outer side and the inner side of the weld of the steel box girder to be welded are synchronously welded through the first welding device and the second welding device, so that the polishing process is omitted, the cost is greatly saved, the material is reduced, the two sides are synchronously welded, and the working hours are greatly saved.

Description

Technical Field

[0001] This invention belongs to the field of steel box girder processing, and in particular to a steel structure bridge component assembly line and its assembly method. Background Technology

[0002] Steel box girders, also known as steel plate box girders, are a common structural form for long-span bridges. They offer advantages such as light weight, high prestressing efficiency, high buckling resistance of the web, and the elimination of the need for stiffeners. They are generally used in bridges with large spans and represent a promising new type of bridge. A steel box girder typically consists of three parts: a bottom plate, a top web, and transverse diaphragms. The top web of the bridge is formed by welding corrugated webs to the top plate.

[0003] Existing methods for assembling steel box girders generally involve manual marking and positioning, followed by assembly with hoisting equipment. Then, multiple people simultaneously weld the joints between the steel box girders, which is time-consuming, labor-intensive, prone to errors, and results in poor assembly accuracy. Summary of the Invention

[0004] To overcome the above-mentioned technical defects, the present invention provides a steel structure bridge component assembly line and its assembly method to solve the problems involved in the background art.

[0005] This invention provides a steel structure bridge component assembly line and its assembly method, comprising: a processing platform suitable for placing steel box girders to be processed, and assembly stations, welding stations and straightening stations distributed along the transmission direction of the steel box girders to be processed; the steel box girder to be processed includes a bottom plate, two top web plates with a T-shaped cross-section and a predetermined distance between their tops, and multiple transverse diaphragms disposed between the top web plates and the bottom plate;

[0006] The assembly station includes multiple centering and pushing devices set on both sides of the workpiece to be processed, which push the bottom plate of the steel box girder to be processed to move towards the center of symmetry or a predetermined position; multiple elevators distributed at intervals between the processing platforms, which make the bottom plate of the steel box girder to be processed match the actual road slope; and transverse diaphragm positioning devices set on both sides of the processing platform and which can move parallel to both sides of the steel box girder to be processed.

[0007] The welding station includes a first welding device set on the outside of the steel box girder to be welded, which always maintains a constant distance and a constant angle with the weld surface on the outside of the steel box girder; and a second welding device set above the steel box girder to be welded, which always maintains a constant distance and a constant angle with the weld surface on the inside of the steel box girder.

[0008] The straightening station includes a mobile trolley located on one or both sides of the processing platform and capable of moving longitudinally along the steel box girder to be processed.

[0009] Preferably or optionally, the centering push device includes: a frame disposed on both sides of the processing platform, a first linear module disposed on the frame, a first servo motor drivenly connected to the first linear module, a mounting base mounted on the output end of the first linear module, an elastic pusher fixedly mounted on the mounting base, a proximity sensor disposed on the mounting base and whose position changes with the pusher, and a controller signal-connected to the first servo motor and the proximity sensor.

[0010] Preferably or optionally, the detection head of the proximity sensor is aligned with the movable end of the pusher;

[0011] The pushing component includes: a rotating shaft disposed on one side of the baffle, a push rod rotatably mounted on the rotating shaft, and an elastic element disposed between the push rod and the baffle.

[0012] Preferably or optionally, the transverse diaphragm positioning device includes: two sets of third linear guides respectively disposed on both sides of the processing platform and placed parallel to the longitudinal direction of the steel box girder to be processed; two first moving trolleys respectively disposed on the third linear guides and moving synchronously along the third linear guides; at least two telescopic modules disposed on the first moving trolleys and moving laterally perpendicular to the base plate; and a positioning block disposed on the output end of the telescopic module with a V-shaped cross-section.

[0013] Preferably or optionally, a lifting module is further provided between the telescopic module and the first mobile trolley, which is suitable for adjusting the height of the lifting module and the distance between the two positioning blocks.

[0014] Preferably or optionally, the assembly station further includes a weld calibration device with a C-shaped clamp structure that is installed on one side of the processing platform and driven by a hydraulic cylinder.

[0015] Preferably or optionally, the weld calibration device includes an upper clamp arm and a lower clamp arm, which are connected by a telescopic assembly to form a "C"-shaped or approximately "C"-shaped clamp structure. A hydraulic cylinder is provided on the upper clamp arm, and a shim is provided on the lower clamp arm. The accommodating space formed vertically by the output end of the hydraulic cylinder and the shim is suitable for placing the assembled steel box girder.

[0016] Preferably or optionally, the first welding device includes a first linear guide rail disposed on both sides of the transmission device, at least two second moving trolleys respectively slidably mounted on the first guide rail, two first industrial robots respectively disposed on the second moving trolleys, and two first welding guns disposed at the output end of the first industrial robots and always maintaining a constant distance and constant angle between them and the weld surface outside the steel box girder.

[0017] The second welding device includes a second linear guide rail disposed outside the first linear guide rail, a gantry frame slidably mounted on the second linear guide rails on both sides, two second industrial robots mounted on the lower surface of the gantry frame beam, and two second welding torches disposed at the output end of the second industrial robots and always maintaining a constant distance and constant angle between them and the weld surface inside the steel box girder.

[0018] Preferably or optionally, the second mobile trolley is also equipped with a laser tracking device, configured to detect the actual position of the weld on the steel box girder to be welded;

[0019] The laser tracking device includes a column disposed on one side of the transmission device, a linear motion module mounted on the column and parallel to the transmission surface of the transmission device, and a laser tracking system mounted on the output end of the linear motion module and whose spacing relative to the weld seam is always consistent or within a predetermined range.

[0020] The present invention also provides an assembly method based on the aforementioned steel structure bridge component assembly line, comprising:

[0021] Step 1: Place the base plate on the processing platform; control the output distance of multiple centering push devices according to the base plate design drawings, adjust the distance of the base plate's lateral movement, and achieve centering and positioning of the base plate;

[0022] Step 2: Then, according to the design drawings, control the height of the output end of the elevator to form a virtual slope that is the same as the inclination of the steel box girder to be processed under the installation conditions;

[0023] Step 3: Move the diaphragm positioning device to the designated area according to the design drawings, and push the multiple positioning blocks located on both sides of the steel box girder to be processed to the predetermined position. Then, place the diaphragm between the positioning blocks using hoisting equipment, fix the diaphragm on the base plate, and keep the diaphragm perpendicular to the processing plane.

[0024] Step 4: Assemble the top web plates on both sides of the bottom plate and the transverse diaphragm using hoisting equipment, with the tops of the top web plates on both sides spaced a predetermined distance apart, and then fix them to form the steel box girder to be processed;

[0025] Step 5: Determine whether the welds between the steel box girders to be processed meet the design requirements. If yes, proceed to the next step; otherwise, use a hydraulic cylinder to drive the C-shaped clamps to squeeze the steel box girders to be processed, eliminating the assembly gaps between the steel box girders to be processed.

[0026] Step 6: Transfer the steel box girder to be welded to the processing platform at the welding station, and move the second welding device to one end of the steel box girder to be welded;

[0027] Step 7: Since the laser tracking device is always located in front of the first welding device and the second welding device in the direction of movement, the weld path of the outside of the steel box girder to be welded can be obtained in advance through the laser tracking device, and the weld path of the inside of the steel box girder to be welded can be calculated according to the dimensions of the bottom plate, top web plate and transverse diaphragm.

[0028] Step 8: During the welding process, the first industrial robot and the second industrial robot adjust the positions of the first welding gun and the second welding gun so that the first welding gun and the second welding gun are located on both sides of the top web plate, and the first welding gun and the second welding gun always maintain a constant distance from the weld and a constant angle with the normal vector of the weld on the bottom plate; then the first welding gun and the second welding gun move along the weld on the outside and inside of the steel box girder to be welded at the same speed to complete the welding between the bottom plate and the bottom of the two top web plates.

[0029] Step 9: Then, the positions of the two second welding torches are adjusted by the two second industrial robots so that the two second welding torches are located on both sides of the transverse diaphragm, and the two second welding torches always maintain a constant distance from the weld and a constant angle with the normal vector of the weld on the transverse diaphragm; the two second welding torches move along the weld on both sides of the transverse diaphragm at the same speed, and the welding points of the two second welding torches are always located on the outside and inside of the same position of the weld on the steel box girder; the welding between the transverse diaphragm and the two top web sides and the upper surface of the bottom plate is completed.

[0030] Step 10: Adjust the position of the gantry frame, and repeat steps 8 and 9 to complete the welding of the entire steel box girder to be welded;

[0031] Step 11: Transfer the steel box girder to be welded to the processing platform at the straightening station, and inspect and / or repair the steel box girder manually or with equipment.

[0032] This invention relates to an assembly line for steel structure bridge components and its assembly method, which, compared with the prior art, has the following advantages:

[0033] Beneficial effects:

[0034] 1. This invention uses a centering and pushing device, an elevator, and a transverse diaphragm positioning device to quickly position and determine the relative positions of the three components: the bottom plate, the top web plate, and the transverse diaphragm, thus completing a high-precision assembly operation. Then, the outer and inner sides of the weld seams of the steel box girder to be welded are simultaneously welded using a first welding device and a second welding device. This not only eliminates the grinding process, significantly saving costs and reducing material usage, but also allows for simultaneous welding on both sides, greatly saving time.

[0035] 2. This invention controls the first servo motor to drive the first linear module based on the base plate size data, controls the output distance of multiple centering and pushing devices, and adjusts the distance of the base plate's lateral movement to achieve centering and positioning of the base plate; this not only greatly improves production efficiency, but also allows switching the base plate size data to adapt to the rapid positioning of various workpieces.

[0036] 3. The present invention provides a proximity sensor at the output end of the centering and pushing device, which works in conjunction with the proximity sensor to detect changes in the position of the elastic pushing member, thereby ensuring the accuracy of centering and positioning.

[0037] 4. This invention uses a multi-axis CNC system to control multiple positioning V-blocks to replace manual scribing and positioning work. It can quickly position the workpiece to the designated location by directly inputting data according to the workpiece design drawings, thereby improving production efficiency and product quality.

[0038] 5. This invention adjusts the distance between two positioning blocks by using a lifting module to meet the processing requirements of steel box beams of different specifications, thereby improving the applicability of the diaphragm positioning device.

[0039] 6. This invention adopts a C-shaped caliper structure, powered by a hydraulic cylinder. The hydraulic cylinder compresses the steel box girder to be processed, which can effectively eliminate the assembly gaps of the steel box girder. Furthermore, the upper and lower caliper arms are designed with a loose fit, which is convenient for adjustment and can adapt to different workpiece heights and dimensions.

[0040] 7. This invention, through the design of a laser tracking device and an industrial robot, automatically and in real-time adjusts the spatial position (TCP) of the robot welding torch to maintain a constant distance from the weld seam, while simultaneously and automatically and in real-time adjusting the welding torch posture to maintain a constant angle (preferably perpendicular to the weld seam). This enables the tracking welding of weld seams of the sheet metal to be welded, including arbitrary bends, arcs, angles, and corrugations, thereby achieving the best welding effect. Attached Figure Description

[0041] Figure 1 This is a flowchart illustrating the present invention.

[0042] Figure 2 This is a structural schematic diagram of the final assembly line (assembly station section) in this invention.

[0043] Figure 3 This is a schematic diagram of the transmission device in this invention.

[0044] Figure 4 This is a schematic diagram of the distribution of the centering and pushing device in this invention.

[0045] Figure 5 This is a schematic diagram of the centering and pushing device in this invention.

[0046] Figure 6This is a schematic diagram of the distribution of the elevators in this invention.

[0047] Figure 7 This is a schematic diagram of the elevator in this invention.

[0048] Figure 8 This is a schematic diagram showing the distribution of the transverse diaphragm positioning device in this invention.

[0049] Figure 9 This is a schematic diagram of the transverse diaphragm positioning device in this invention.

[0050] Figure 10 This is a schematic diagram of the weld calibration device in this invention.

[0051] Figure 11 This is a schematic diagram of the final assembly line (welding station section) in this invention.

[0052] Figure 12 This is a schematic diagram of the structure of the first welding device and the second welding device in this invention.

[0053] Figure 13 This is a schematic diagram of the structure of the first welding device in this invention.

[0054] Figure 14 This is a schematic diagram of the structure of the first industrial robot in this invention.

[0055] Figure 15 This is a schematic diagram of the laser tracking device in this invention.

[0056] Figure 16 This is a schematic diagram of the structure of the second welding device in this invention.

[0057] Figure 17 This is a schematic diagram of the final assembly line (correction station section) in this invention.

[0058] Figure 18 This is a schematic diagram of the steel box girder to be welded in this invention.

[0059] The attached figures are labeled as follows:

[0060] 100. Processing platform; 110. Conveying device; 111. Support frame; 112. Roller; 113. Drive motor;

[0061] 200. Assembly station;

[0062] 210. Centering and pushing device; 211. Frame; 212. First linear module; 213. First servo motor; 214. Fourth mounting base; 215. Proximity sensor; 216. Baffle; 217. Rotating shaft; 218. Push rod; 219. Elastic element;

[0063] 221. Second servo motor; 222. CNC automatic lifting platform; 2221. Lifting rod; 2222. Lifting block;

[0064] 230. Horizontal partition positioning device; 231. Third linear guide rail; 232. First moving trolley; 233. First telescopic module; 235. First lifting module; 234. Positioning block; 2321. Base; 2322. Hanging plate; 2323. Frame; 2324. Rack; 2325. Gear motor; 2326. Drive gear; 2327. Lifting cylinder; 2328. Adjusting nut; 2329. Limiting guide post; 2331. Third servo motor; 2332. Second screw jack; 2333. Second mounting base; 2334. Second guide rail; 2335. Third mounting base; 2336. Gas spring; 2337. Limiting top rod; 2351. Fourth servo motor; 2352. First screw jack; 2353. First guide rail; 2354. First mounting base; 2355. Photoelectric sensor;

[0065] 240. Weld seam calibration device; 2401. Upper caliper arm; 2402. Lower caliper arm; 2403. Hydraulic cylinder; 2404. Shim; 2405. Inner movable rod; 2406. Positioning hole; 2407. Outer fixing sleeve; 2408. Fixing pin; 2409. Second linear module; 2410. Fifth servo motor; 2411. Cylinder mounting base; 2412. Hydraulic straightening device; 2413. Crane lifting ring;

[0066] 300. Welding station;

[0067] 310. First welding device; 311. First linear guide rail; 312. Second moving trolley; 313. First industrial robot; 314. First welding torch; 3131. Base; 3132. Waist rotation mechanism; 3133. Upper arm mechanism; 3134. Forearm mechanism; 3135. Wrist mechanism; 3136. End effector;

[0068] 320. Second welding device; 321. Second linear guide rail; 322. Gantry frame; 323. Second industrial robot; 324. Second welding torch; 3221. Mounting frame; 3222. Crossbeam; 3223. Telescopic rod; 3224. Third linear module; 3225. Fourth linear module;

[0069] 330. Laser tracking device; 331. Column; 332. Second telescopic module; 333. Sixth servo motor; 334. Laser tracking system; 335. Angle adjustment device; 336. Second lifting module; 337. Fifth mounting base; 338. Sliding base; 339. Cable chain;

[0070] 340. Electrical control cabinet;

[0071] 400. Correction station; 410. Third moving trolley;

[0072] 500. Steel box girder to be processed; 510. Bottom plate; 520. Top web plate; 530. Transverse diaphragm; 540. Lower weld; 550. Upper weld. Detailed Implementation

[0073] In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the invention. However, it will be apparent to those skilled in the art that the invention can be practiced without one or more of these details. In other instances, certain technical features well-known in the art have not been described in order to avoid obscuring the invention.

[0074] See appendix Figure 1 Appendix Figure 2 Appendix Figure 11 Appendix Figure 17 A steel structure bridge component assembly line includes: a processing platform 100 suitable for placing steel box girders 500 to be processed, and assembly stations 200, welding stations 300 and straightening stations 400 distributed along the transmission direction of the steel box girders 500 to be processed.

[0075] The processing platform 100 is configured to hold the steel box girder to be welded. In this embodiment, the processing platform 100 can be a transmission device 110, which is a motor-driven roller 112 type transmission device 110. Specifically, refer to the appendix. Figure 3 The conveying device 110 includes a support frame 111, a roller 112, and a drive motor 113. The support frame 111 has a T-shaped or approximately T-shaped cross-section; the roller 112 is rotatably mounted above the mounting platform; the drive motor 113 is disposed on the mounting platform and is connected to the roller 112 for transmission. It can be used to place the steel box girder to be welded and also to adjust the position of the steel box girder to be welded.

[0076] See appendix Figure 18 The steel box girder to be welded includes a bottom plate 510, two top web plates 520 with T-shaped cross-sections located on both sides of the bottom plate 510 and spaced a predetermined distance apart at their tops, and multiple transverse diaphragms 530 disposed between the top web plates 520 and the bottom plate 510. Each top web plate 520 is composed of a top plate and corrugated web plates welded together using pre-welding equipment. The side surface of each corrugated web plate has a wavy shape, with one side vertically mounted on the top plate and the other side manually spot-welded to the bottom plate 510. It should be noted that a predetermined distance is left between the top plates of the two top web plates 520, forming an opening to accommodate concrete and create a stable bridge structure.

[0077] See appendix Figure 2 The assembly station 200 includes multiple centering and pushing devices 210 set on both sides of the workpiece to be processed to push the bottom plate 510 of the steel box girder 500 to be processed to move towards the center of symmetry or a predetermined position; multiple lifting machines distributed at intervals between the processing platforms 100 to make the bottom plate 510 of the steel box girder 500 and the steel box girder match the actual road slope; a transverse partition 530 positioning device 230 set on both sides of the processing platform 100 and movable parallel to both sides of the steel box girder 500 to be processed; and a weld calibration device 240 with a C-shaped clamp structure set on one side of the processing platform 100 and driven by a hydraulic cylinder 2403.

[0078] See appendix Figure 4 Multiple centering and pushing devices 210 are mirror-distributed on both sides of the base plate 510 of the steel box girder 500 to be processed, and can move relative to each other towards the centerline, pushing the base plate 510 of the steel box girder 500 to be processed towards the center of symmetry or a predetermined position. In this embodiment, the base plate 510 of the steel box girder 500 to be processed is a base plate 510 used for assembling into a steel box girder.

[0079] See appendix Figure 5 The centering push device 210 includes: a frame 211, a first linear module 212 mounted on the frame 211, a first servo motor 213 drivenly connected to the first linear module 212, a fourth mounting base 214 mounted on the output end of the first linear module 212, an elastic pusher fixedly mounted on the fourth mounting base 214, a proximity sensor 215 mounted on the fourth mounting base 214 and whose position changes with the pusher, and a controller signal-connected to the first servo motor 213 and the proximity sensor 215.

[0080] It should be clear to those skilled in the art that since the outer edge of the base plate 510 is not necessarily a straight line, but can also be curved, the pushing member is not suitable as a push plate of a traditional centering device, which makes line contact with the outer edge of the base plate 510. In this embodiment, the pushing member makes point contact with the outer edge of the base plate 510. To ensure positioning accuracy, at least two sets of pushing mechanisms are provided on one side of the base plate 510. Similarly, when the outer edge of the base plate 510 is curved or irregularly shaped, the direction of movement of the base plate 510 is not necessarily the center of symmetry of the base plate 510, but can be other predetermined positions, as long as they meet the subsequent assembly requirements.

[0081] In this embodiment, the first linear module 212 is selected as a lead screw motion mechanism, which has higher positioning accuracy. Of course, for those skilled in the art, the first linear module 212 can also be other types, such as hydraulic cylinder 2403 or gear and rack 2324 motion mechanism.

[0082] In a further embodiment, a baffle 216 is provided on the fourth mounting base 214 for mounting the proximity sensor 215. The detection head of the proximity sensor 215 is aligned with the movable end of the pusher. The pusher includes: a rotating shaft 217 disposed on one side of the baffle 216; a push rod 218 rotatably mounted on the rotating shaft 217; and an elastic member 219 disposed between the push rod 218 and the baffle 216. The push rod 218 has a dumbbell-shaped cross-section, with one end rotatably mounted on the rotating shaft 217 and the other end adapted to abut against the outer edge of the base plate 510. During the lateral movement of the fourth mounting base 214, the push rod 218 abuts against the outer edge of the base plate 510, and then rotates along the rotating shaft 217 until it abuts against the proximity sensor 215. When all the push rods 218 of the multiple pusher components abut against the proximity sensor, it indicates that the base plate 510 has reached the predetermined position and meets the positioning requirements.

[0083] During the centering and positioning process, the size data of the base plate 510 is input into the controller. The controller calculates the distance that each pushing mechanism needs to move, and then controls the first servo motor 213 and the first linear module 212 to drive the pushing component to move laterally. This adjusts the distance that the base plate 510 moves laterally, thereby achieving the centering and positioning of the base plate 510. When all the push rods 218 of the multiple pushing components are in contact with the contact sensor, it indicates that the base plate 510 has reached the predetermined position and meets the positioning requirements.

[0084] See appendix Figure 6 Appendix Figure 7 The lifting platform is a CNC automatic lifting platform 222, connected to a second servo motor 221. A controller is connected to the lifting platform via signals and controls the platform to rise to different heights according to the design drawings. This ensures that the line connecting the tops of the lifting rods 2221 matches the actual road slope of the steel beam box, allowing for rapid and automatic adjustment of multiple rod heights to create a virtual slope, significantly improving production efficiency. A lifting block 2222 is provided at the top of the lifting rods 2221, abutting against the base plate 510, and the upper surface of the lifting block 2222 is arc-shaped. This design ensures that regardless of the angle of the base plate 510, there is only one contact point between the lifting block 2222 and the base plate 510, guaranteeing the processing stability of the steel beam box.

[0085] See appendix Figure 8 Appendix Figure 9The transverse partition 530 positioning device 230 includes: two sets of third linear guides 231 respectively disposed on both sides of the processing platform 100 and placed parallel to the longitudinal direction of the base plate 510; two first moving trolleys 232 respectively disposed on the third linear guides 231 and moving synchronously along the third linear guides 231; at least two first telescopic modules 233 disposed on the first moving trolleys 232 and moving laterally perpendicular to the base plate 510; and positioning blocks 234 with a V-shaped cross-section disposed on the output end of the first telescopic modules 233. The positions of the four positioning blocks 234 on both sides of the base plate 510 are controlled by a multi-axis CNC system to achieve the positioning of the transverse partition 530.

[0086] In a further embodiment, the first mobile trolley 232 includes a base 2321, a frame 2323, and a power assembly. The base 2321 is slidably mounted on the third linear guide rail 231 via a bottom mounting plate 2322. The frame 2323, mounted on the base 2321, is a truss structure formed by splicing multiple profiles and is used to mount the first telescopic module 233 and the positioning block 234. The power assembly includes a rack 2324 fixedly mounted on one side of the third linear guide rail 231, a reduction motor 2325 fixedly mounted on one side of the base 2321, and a drive gear 2326 that is connected to the drive motor 113 and meshes with the rack 2324. The reduction motor 2325 outputs a gear that moves relative to the rack 2324, causing the first mobile trolley 232 to move along the third linear guide rail 231, thus achieving longitudinal positioning of the positioning block 234.

[0087] In addition, a height adjustment device is provided between the base 2321 and the frame 2323. The height adjustment device includes: multiple lifting cylinders 2327 with their bottoms fixedly mounted on the frame 2323 and their output push rods abutting against the upper surface of the base 2321; and multiple limiting guide posts 2329 and adjusting nuts 2328 disposed between the outer edge of the frame 2323 and the base 2321. During the processing of different types of steel box girders, even if the thickness of the base plate 510 changes, the height of the frame 2323 can be adjusted using the height adjustment device to meet the processing requirements of different steel box girders.

[0088] In a further embodiment, a first lifting module 235 is also provided between the first telescopic module 233 and the first mobile trolley 232. Specifically, the first lifting module 235 includes: a fourth servo motor 2351 mounted on the side of the frame 2323; a first screw jack 2352 driven by the fourth servo motor 2351; two first guide rails 2353 vertically arranged on the side of the frame 2323; and a first mounting seat 2354 slidably mounted on the first guide rails 2353, connected to the output screw of the first screw jack 2352, and extending into the frame 2323. This is used to adjust the height of the first lifting module 235 and the positioning block 234, ensuring that the height difference between the two positioning blocks 234 on the same side is greater than a predetermined value, the predetermined value being at least half the height of the transverse partition 530, ensuring that the transverse partition 530 is perpendicular to the base plate 510, and improving the positioning accuracy of the transverse partition 530.

[0089] In addition, at least two photoelectric sensors 2355 are provided on the side of the frame 2323 to detect the movement position of the first mounting base 2354, ensuring that the height difference between the two positioning blocks 234 on the upper and lower sides is greater than a predetermined value, thereby ensuring that the transverse partition 530 is perpendicular to the base plate 510 and improving the positioning accuracy of the transverse partition 530.

[0090] In a further embodiment, similar to the mechanism of the first lifting module 235, the first telescopic module 233 includes: a third servo motor 2331 located inside the frame 2323 and mounted on the first mounting base 2354; a second screw jack 2332 connected to the third servo motor 2331; a second mounting base 2333 horizontally mounted on the first mounting base 2354; a second guide rail 2334 disposed on the second mounting base 2333; and a third mounting base 2335 slidably mounted on the first guide rail 2353 and connected to the output screw of the second screw jack 2332. The third mounting base 2335 is driven by the third servo motor 2331 to move horizontally along the second mounting base 2333 (i.e., parallel to the upper part of the base plate 510), thereby achieving the lateral positioning of the positioning block 234.

[0091] In addition, a gas spring 2336 is provided on the upper part of the third mounting base 2335, and a limit rod 2337 is provided on the output end of the gas spring 2336. Under the action of the gas spring 2336, the limit rod 2337 plays a shock-absorbing role, preventing the third mounting base 2335 from rebounding and causing irreversible damage to the first telescopic module 233.

[0092] During the positioning process of the diaphragm 530, the workpiece design drawings of the base plate 510 are directly input into the control center of the diaphragm 530 positioning device 230. Then, according to the design drawings of the steel box girder, the first moving trolleys 232 on both sides move longitudinally along the base plate 510, and the positioning blocks 234 are moved laterally along the base plate 510 by the upper and lower first telescopic modules 233. A total of four positioning blocks 234 on both sides of the base plate 510 are moved to the predetermined positions, which are the designated positions for the diaphragm 530 to be installed. Then, the diaphragm 530 is adjusted to the predetermined position by the hoisting device, and manual spot welding can be performed on the diaphragm 530 for pre-installation. Compared with the prior art, this positioning device 230 can quickly position the diaphragm 530 according to the data directly input from the workpiece design drawings, improving production efficiency and product quality.

[0093] The assembly station 200 also includes a weld calibration device 240 with a C-shaped clamp structure, which is installed on one side of the processing platform 100 and driven by a hydraulic cylinder 2403. (See appendix) Figure 10 The weld calibration device 240 includes an upper clamp arm 2401 and a lower clamp arm 2402. The upper clamp arm and the lower clamp arm are connected by a telescopic component to form a "C"-shaped or approximately "C"-shaped clamp structure. A hydraulic cylinder 2403 is provided on the upper clamp arm 2401, and a shim 2404 is provided on the lower clamp arm 2402. The accommodating space formed in the vertical direction by the output end of the hydraulic cylinder 2403 and the shim 2404 is suitable for placing the assembled steel box girder.

[0094] The telescopic structure is a sleeve structure. Specifically, the telescopic assembly includes: an inner movable rod 2405, an outer fixed sleeve 2407, and a fixing pin 2408. The inner movable rod 2405 is fixedly connected to the upper caliper arm 2401, preferably as a single piece, and has multiple positioning holes 2406 in the vertical direction. The outer fixed sleeve 2407 is fixedly connected to the lower caliper arm 2402, preferably as a single piece, and has at least one positioning hole 2406 in the vertical direction. The inner movable rod 2405 is fitted inside the outer fixed sleeve 2407, and the fixing pin 2408 passes through the positioning holes 2406 on both the inner movable rod 2405 and the outer fixed sleeve 2407, connecting the upper caliper arm 2401 and the lower caliper arm 2402 together. This allows for easy adjustment of the height difference between the upper caliper arm 2401 and the lower caliper arm 2402, adapting to different workpiece heights.

[0095] In a further embodiment, the upper caliper arm 2401 is equipped with a second linear module 2409 and a fifth servo motor 2410. The output end of the second linear module 2409 is provided with a cylinder mounting base 2411. This is used to adjust the position of the hydraulic cylinder 2403, aligning it with the upper and lower gaps to improve the compression effect and better eliminate assembly gaps in the steel box girder.

[0096] In a further embodiment, the upper caliper arm 2401 is also equipped with a hydraulic straightening device 2412, and the hydraulic cylinder 2403 is connected to the hydraulic oil pump through the hydraulic straightening device 2412. The hydraulic straightening device is a pressure regulating valve, which improves the movement accuracy of the hydraulic cylinder 2403 by calibrating the hydraulic oil pressure, thereby better eliminating the assembly gaps of the steel box girder.

[0097] In a further embodiment, a crane lifting ring 2413 is provided above the upper caliper arm 2401, and the weld calibration device 240 is installed on the output end of the lifting device through the crane lifting ring 2413.

[0098] During the gap calibration process, the relative positions between the inner movable rod 2405 and the outer fixed sleeve 2407 are adjusted according to the type of steel box girder to be processed to meet the height dimensions of the steel box girder to be processed. The weld calibration device 240 is placed on one side of the steel box girder to be processed by the hoisting device. Then, the upper clamp arm 2401 and the lower clamp arm 2402 are inserted above the top plate and below the bottom plate 510 of the steel box girder to be processed, respectively. The positions are then adjusted to align the hydraulic cylinder 2403 with the upper and lower gaps as much as possible. Then, the output end of the hydraulic cylinder 2403 is lowered by a predetermined distance to squeeze the steel box girder to be processed, thereby eliminating the assembly gaps of the steel box girder.

[0099] See appendix Figures 11 to 12 The welding station 300 includes a first welding device 310, which is set on the outside of the steel box girder to be welded and always maintains a constant distance and a constant angle with the weld surface on the outside of the steel box girder; and a second welding device 320, which is set above the steel box girder to be welded and always maintains a constant distance and a constant angle with the weld surface on the inside of the steel box girder.

[0100] See appendix Figure 13 The first welding device 310 includes a first linear guide rail 311 disposed on both sides of the transmission device 110, at least two second moving trolleys 312 respectively slidably mounted on the first guide rail 2353, two first industrial robots 313 respectively disposed on the second moving trolleys 312, and two first welding guns 314 disposed at the output end of the first industrial robot 313 and always maintaining a constant distance and constant angle with the weld surface outside the steel box girder.

[0101] The second moving trolley 312 has the same structure as the first moving trolley 232. A rack 2324 is provided on the first linear guide rail 311, and a reduction motor 2325 is provided on the second moving trolley 312. The output gear connected to the reduction motor 2325 meshes with the rack 2324. The second moving trolley 312 and the first welding torch 314 are driven by the retrieving motor to move along the steel box girder to be welded. Since the steel box girder to be welded is heavy, if the position between the steel box girder to be welded and the first welding torch 314 is directly adjusted by the transmission device 110, the required transmission power is large, the energy consumption is large, and the moving speed is difficult to control. Therefore, in this embodiment, the second moving trolley 312 drives the first welding torch 314 to move, which has higher welding accuracy.

[0102] The first industrial robot 313 includes at least six degrees of freedom. Through the cooperation of the six-axis robot and the first welding torch 314, the entire first welding device 310 can not only compensate for the spatial position of the weld seam, but also automatically adjust the posture of the welding torch, ensuring that the welding torch is always perpendicular to the weld seam path or maintains a constant angle with the weld seam path, thereby achieving a more perfect welding effect. (See appendix) Figure 14 This embodiment provides an exemplary structure of a six-axis robot. The first industrial robot 313 includes: a base 3131, a waist rotation mechanism 3132 rotatably mounted on the base 3131, a large arm mechanism 3133 rotatably mounted on the waist rotation mechanism 3132, a forearm mechanism 3134 rotatably mounted on the other end of the large arm mechanism 3133, a wrist mechanism 3135 rotatably disposed on the other end of the forearm mechanism 3134, and an end effector 3136 rotatably mounted on the other end of the wrist mechanism 3135 for mounting a welding torch.

[0103] Since the weld between the top web plate 520 and the bottom plate 510 has a certain arc-shaped wavy line, and all weld tracking systems on the market, including those imported from abroad, can only track the spatial position of the weld, but cannot automatically adjust the posture of the welding torch, requiring manual preset of the robot welding torch posture at a fixed position, the laser tracking device 330 in this embodiment combines the laser tracking system 334 with the linear motion module to obtain the position of the weld between the top web plate 520 and the bottom plate 510. The second moving trolley 312 is also equipped with a laser tracking device 330, which is configured to detect the actual position of the upper weld 540 and lower weld 550 of the steel box girder to be welded.

[0104] See appendix Figure 15The laser tracking device 330 includes: a column 331 disposed on one side of the transmission device 110; a linear motion module mounted on the column 331 and parallel to the transmission surface of the transmission device 110; and a laser tracking system 334 mounted on the output end of the linear motion module and whose distance relative to the weld seam remains consistent or within a predetermined range. The laser tracking system 334 maintains an optimal tracking range at all times. Furthermore, laser tracking systems 334 are disposed on both sides of the plate to be welded. By superimposing the detection data from both laser tracking systems 334, the true spatial coordinates of the weld seam are obtained.

[0105] The column 331 is vertically installed on the working plane, and a transmission device 110 is provided on the working plane to transport the plates to be welded, facilitating the transportation of the plates and improving the automation level of the entire equipment. In this embodiment, the column 331 is located on one side of the transmission device 110, and the laser tracking device 330 is installed on one side of the transmission device 110.

[0106] The linear motion module includes: a fifth mounting base 337, a sixth servo motor 333 fixedly mounted on the fifth mounting base 337, a lead screw mounted on the fifth mounting base 337 and drivenly connected to the sixth servo motor 333, guide rails disposed on both sides of the lead screw, and a sliding seat 338 slidably mounted on the lead screw and the guide rails. Of course, those skilled in the art will recognize that the linear motion module can also be other types of programmable linear modules, which will not be elaborated upon here.

[0107] In addition, a drag chain 339 is provided on the linear motion module, which is suitable for accommodating control lines and power supply lines. The control lines and power supply lines are connected to the sixth servo motor 333 and are suitable for controlling the opening, closing and speed of the sixth servo motor 333.

[0108] The laser tracking system 334 is mounted on the output end of the linear motion module, forming a predetermined angle with the working plane. The predetermined angle ranges from 15° to 75°, preferably 45°. Furthermore, driven by the linear motion module, the distance between the laser tracking system 334 and the weld seam remains constant or within a predetermined range, ensuring that the weld seam is always within the optimal measurement range of the laser tracking system 334.

[0109] The laser tracking system 334 is a commercially available product. In this embodiment, the laser tracking system 334 includes: a mounting bracket 3221 fixedly mounted on the sliding seat 338; a laser generator mounted on the mounting bracket 3221 with its emission port always facing the weld; and a laser detector mounted on the mounting bracket 3221 and adapted to acquire the laser signal reflected from the target.

[0110] In a further embodiment, a second lifting module 336 is also provided on the column 331, and a second telescopic module 332 is installed on the output end of the second lifting module 336. An angle adjustment device 335 is also provided between the sliding seat 338 and the laser tracking system 334. When producing products of different types and specifications, users can adjust the height of the laser tracking system 334 relative to the working plane and the predetermined angle with the working plane through the second lifting module 336 and the angle adjustment device 335, optimize relevant detection parameters, and improve the application range of the laser weld seam tracking device.

[0111] Electrical control cabinets 340 are respectively installed on the upper surface of the second mobile trolley 312 and on the gantry 322. These electrical control cabinets 340 are signal-connected to the first welding device 310 and the second welding device 320. On one hand, the electrical control cabinets 340 are electrically connected to the first welding device 310 and the second welding device 320, providing power for the movement of the laser tracking device 330, the first industrial robot 313, and the second industrial robot 323. On the other hand, the electrical control cabinets 340 are signal-connected to the first welding device 310 and the second welding device 320, used to control the precise movement of the laser tracking device 330 and the welding devices, ensuring the coordinated movement of the first welding device 310 and the second welding device 320.

[0112] See appendix Figure 16 The second welding device 320 includes a second linear guide rail 321 disposed outside the first linear guide rail 311, a gantry frame 322 slidably mounted on the second linear guide rails 321 on both sides, two second industrial robots 323 mounted on the lower surface of the crossbeam 3222 of the gantry frame 322, and two second welding guns 324 disposed at the output end of the second industrial robots 323 and always maintaining a constant distance and constant angle with the weld surface inside the steel box girder.

[0113] Similarly, a rack 2324 is provided on the second linear guide rail 321, and a reduction motor 2325 is provided at the bottom of the gantry 322. The output gear, which is connected to the reduction motor 2325, meshes with the rack 2324. The gantry 322 and the second welding torch 324 are moved along the steel box girder to be welded by the retrieval motor. The second industrial robot 323 and the first industrial robot 313 have the same structure. The second industrial robot 323 has at least 6 degrees of freedom to compensate for the spatial position of the second welding torch 324 relative to the weld seam, and can automatically adjust the posture of the second welding torch 324. Since the installation direction is opposite, the second industrial robot 323 can be inserted into the steel box girder to be welded from the opening between the top plates to achieve welding inside the steel box girder. In this way, it is ensured that the first welding torch 314 and the second welding torch 324 move along the weld seam at a predetermined speed, and the welding points corresponding to the first welding torch 314 and the second welding torch 324 are located on the outer and inner sides of the same position of the weld seam of the steel box girder to be welded.

[0114] The gantry 322 includes: a mounting frame 2323 spanning the processing platform 100 and the steel box beam to be welded, with a rectangular mounting area at the top; two crossbeams 3222 mounted on the frame 2323 and parallel to the placement direction of the steel box beam to be welded; a telescopic rod 3223 between the two crossbeams 3222; a third linear module 3224 mounted on the crossbeams 3222 and moving parallel to the placement direction of the steel box beam to be welded; and a fourth linear module 3225 mounted on the output end of the third linear module 3224 and moving vertically inside the steel box beam to be welded; the base 3131 of the second industrial robot 323 is mounted on the output end of the fourth linear module 3225, and the second industrial robot 323 moves downwards. Specifically, based on the specifications of the steel box girder to be welded, the position of the second industrial robot 323 is adjusted by the combined action of the telescopic rod 3223, the third linear module 3224, and the fourth linear module 3225, so that it is located exactly at the opening formed between the top web plates 520 of the steel box girder to be welded, thereby improving the applicability of the entire device.

[0115] See appendix Figure 17 The correction station 400 includes a third moving trolley 410 disposed on one or both sides of the processing platform 100 and capable of moving longitudinally along the steel box girder 500 to be processed. The structure of the third moving trolley 410 is the same as that of the first moving trolley 232, and will not be described in detail here. Workers can stand on the third moving trolley 410 to inspect and / or repair the steel box girder manually or with equipment.

[0116] To facilitate understanding of the technical solutions for the assembly line and assembly methods of steel structure bridge components, a brief description of the assembly process is provided below:

[0117] Step 1: Place the base plate 510 on the processing platform 100; control the output distance of multiple centering push devices 210 according to the design drawings of the base plate 510, adjust the distance of the lateral movement of the base plate 510, and realize the centering and positioning of the base plate 510.

[0118] Step 2: Then, according to the design drawings, control the height of the output end of the elevator to form a virtual slope that is the same as the inclination of the steel box girder 500 to be processed under the installation conditions;

[0119] Step 3: Move the position of the diaphragm 530 positioning device 230 to the designated area according to the design drawings, and push the multiple positioning blocks 234 located on both sides of the steel box girder 500 to be processed to the predetermined position. Then, place the diaphragm 530 between the positioning blocks 234 using hoisting equipment, fix the diaphragm 530 on the base plate 510, and keep the diaphragm 530 perpendicular to the processing plane.

[0120] Step 4: Assemble the top web plates 520 on both sides of the bottom plate 510 and the transverse diaphragm 530 using hoisting equipment, with the tops of the top web plates 520 on both sides spaced a predetermined distance apart, and then fix them to form the steel box girder 500 to be processed.

[0121] Step 5: Determine whether the welds between the steel box girders 500 to be processed meet the design requirements. If yes, proceed to the next step; otherwise, use hydraulic cylinder 2403 to drive C-shaped clamps to squeeze the steel box girders to be processed, eliminating the assembly gaps between the steel box girders 500 to be processed.

[0122] Step 6: Transfer the steel box girder to be welded to the processing platform 100 at welding station 300, and move the second welding device 320 to one end of the steel box girder to be welded;

[0123] Step 7: Since the laser tracking device 330 is always located in front of the first welding device 310 and the second welding device 320 in the direction of movement, the weld path of the outside of the steel box girder to be welded can be obtained in advance through the laser tracking device 330, and the weld path of the inside of the steel box girder to be welded can be calculated according to the dimensions of the bottom plate 510, the top web plate 520, and the transverse diaphragm 530.

[0124] Step 8: During the welding process, the first industrial robot 313 and the second industrial robot 323 adjust the positions of the first welding torch 314 and the second welding torch 324 so that the first welding torch 314 and the second welding torch 324 are located on both sides of the top web plate 520, and the first welding torch 314 and the second welding torch 324 always maintain a constant distance from the weld and a constant angle with the normal vector of the upper weld 540 and lower weld 550 of the bottom plate 510; then, the first welding torch 314 is moved at a predetermined speed along the weld on the outside of the steel box girder to be welded by the moving trolley, and the first welding torch 314 is moved at a predetermined speed along the weld on the inside of the steel box girder to be welded by the third linear module 3224, and the welding point of the first welding torch 314 and the second welding torch 324 is always located on the outside and inside of the same position of the weld of the steel box girder; at the same time, the welding between the bottom of the bottom plate 510 and the bottom of the two top web plates 520 is completed.

[0125] Step 9: Then, the positions of the two second welding torches 324 are adjusted by the two second industrial robots 323, so that the two second welding torches 324 are located on both sides of the transverse diaphragm 530, and the two second welding torches 324 always maintain a constant distance from the weld and a constant angle with the normal vector of the upper weld 540 and lower weld 550 of the transverse diaphragm 530; then, the two second welding torches 324 are driven by the third linear module 3224 to move along the welds on both sides of the transverse diaphragm 530 at a predetermined speed, and the welding points of the two second welding torches 324 are always located on the outer and inner sides of the same position of the weld of the steel box girder; the welding between the transverse diaphragm 530 and the sides of the two top web plates 520 and the upper surface of the bottom plate 510 is completed;

[0126] Step 10: Adjust the position of gantry 322, and repeat steps 8 and 9 to complete the welding of the entire steel box girder to be welded;

[0127] Step 11: Transfer the steel box girder to be welded to the processing platform 100 at the straightening station 400, and inspect and / or repair the steel box girder manually or with equipment.

[0128] It should also be noted that the various specific technical features described in the above embodiments can be combined in any suitable manner without contradiction. To avoid unnecessary repetition, the present invention will not describe the various possible combinations separately.

Claims

1. A steel structure bridge component assembly line, characterized in that, include: A processing platform suitable for placing the steel box girder to be processed, and assembly stations, welding stations and straightening stations distributed along the transmission direction of the steel box girder to be processed; the steel box girder to be processed includes a bottom plate, two top web plates with a T-shaped cross-section and a predetermined distance between their tops, and multiple transverse diaphragms disposed between the top web plates and the bottom plate; The assembly station includes multiple centering and pushing devices set on both sides of the steel box girder to be processed, which push the bottom plate of the steel box girder to be processed to move towards the center of symmetry or a predetermined position; multiple lifting platforms spaced apart between the processing platforms, which make the bottom plate of the steel box girder to be processed match the actual road slope; and transverse diaphragm positioning devices set on both sides of the processing platform and which can move parallel to both sides of the steel box girder to be processed. The welding station includes a first welding device located on the outside of the steel box girder to be processed, which always maintains a constant distance and a constant angle with the weld surface on the outside of the steel box girder; and a second welding device located above the steel box girder to be processed, which always maintains a constant distance and a constant angle with the weld surface on the inside of the steel box girder. The straightening station includes a mobile trolley located on one or both sides of the processing platform and capable of moving longitudinally along the steel box girder to be processed; The centering and pushing device includes: a frame disposed on both sides of the processing platform, a first linear module disposed on the frame, a first servo motor drivenly connected to the first linear module, a mounting base mounted on the output end of the first linear module, an elastic pushing member fixedly mounted on the mounting base, a proximity sensor disposed on the mounting base and adapted to detect changes in the position of the elastic pushing member, and a controller connected to the first servo motor and the proximity sensor. The elastic pusher includes: a baffle disposed on the mounting base, a rotating shaft disposed on one side of the baffle, a push rod rotatably mounted on the rotating shaft, and an elastic element disposed between the push rod and the baffle.

2. The steel structure bridge component assembly line according to claim 1, characterized in that, The detection head of the proximity sensor is aligned with the movable end of the elastic pusher.

3. The steel structure bridge component assembly line according to claim 1, characterized in that, The diaphragm positioning device includes: two sets of third linear guides respectively arranged on both sides of the processing platform and placed parallel to the longitudinal direction of the steel box girder to be processed; two first moving trolleys respectively arranged on the third linear guides and moving synchronously along the third linear guides; at least two telescopic modules arranged on the first moving trolleys and moving laterally perpendicular to the base plate; and a positioning block with a V-shaped cross-section arranged on the output end of the telescopic module.

4. The steel structure bridge component assembly line according to claim 3, characterized in that, A lifting module is also provided between the telescopic module and the first mobile trolley, which is suitable for adjusting the height of the lifting module and the distance between the two positioning blocks.

5. The steel structure bridge component assembly line according to claim 1, characterized in that, The assembly station also includes a weld calibration device with a C-shaped caliper structure, which is set on one side of the processing platform and driven by a hydraulic cylinder.

6. The steel structure bridge component assembly line according to claim 5, characterized in that, The weld calibration device includes an upper caliper arm and a lower caliper arm, which are connected by a telescopic assembly to form a "C"-shaped or approximately "C"-shaped caliper structure. A hydraulic cylinder is provided on the upper caliper arm, and a shim is provided on the lower caliper arm. The accommodating space formed in the vertical direction by the output end of the hydraulic cylinder and the shim is suitable for placing the assembled steel box girder.

7. The steel structure bridge component assembly line according to claim 1, characterized in that, The processing platform is a transmission device; The first welding device includes a first linear guide rail disposed on both sides of the transmission device, at least two second moving trolleys slidably mounted on the first linear guide rails, two first industrial robots disposed on the second moving trolleys, and two first welding torches disposed at the output end of the first industrial robots and always maintaining a constant distance and constant angle between them and the weld surface outside the steel box girder. The second welding device includes a second linear guide rail disposed outside the first linear guide rail, a gantry frame slidably mounted on the second linear guide rails on both sides, two second industrial robots mounted on the lower surface of the crossbeam of the gantry frame, and two second welding torches disposed at the output end of the second industrial robots and always maintaining a constant distance and constant angle between them and the weld surface inside the steel box girder. The first welding torch and the second welding torch move along the weld at a predetermined rate, and the welding points corresponding to the first welding torch and the second welding torch are located on the outer and inner sides of the same position of the weld of the steel box girder to be processed.

8. The steel structure bridge component assembly line according to claim 7, characterized in that, The second mobile trolley is also equipped with a laser tracking device, which is configured to detect the actual position of the weld on the steel box girder to be processed; The laser tracking device includes a column disposed on one side of the transmission device, a linear motion module mounted on the column and parallel to the transmission surface of the transmission device, and a laser tracking system mounted on the output end of the linear motion module and whose spacing relative to the weld seam is always consistent or within a predetermined range.

9. An assembly method based on the steel structure bridge component assembly line according to any one of claims 1 to 8, characterized in that, include: Step 1: Place the base plate on the processing platform; The output distance of multiple centering push devices is controlled according to the base plate design drawings, and the distance of the base plate's lateral movement is adjusted to achieve the centering and positioning of the base plate. Step 2: Then, according to the design drawings, control the height of the output end of the elevator to form a virtual slope that is the same as the inclination of the steel box girder to be processed under the installation conditions; Step 3: Move the diaphragm positioning device to the designated area according to the design drawings, and push the multiple positioning blocks located on both sides of the steel box girder to be processed to the predetermined position. Then, place the diaphragm between the positioning blocks using hoisting equipment, fix the diaphragm on the base plate, and keep the diaphragm perpendicular to the processing plane. Step 4: Assemble the top web plates on both sides of the bottom plate and the transverse diaphragm using hoisting equipment, with the tops of the top web plates on both sides spaced a predetermined distance apart, and then fix them to form the steel box girder to be processed; Step 5: Determine whether the welds between the steel box girders to be processed meet the design requirements. If so, proceed to the next step. Conversely, the C-shaped clamps are driven by hydraulic cylinders to squeeze the steel box girders to be processed, eliminating the assembly gaps between the steel box girders to be processed; Step 6: Transfer the steel box girder to be processed to the processing platform at the welding station, and move the second welding device to one end of the steel box girder to be processed; Step 7: Since the laser tracking device is always located in front of the first welding device and the second welding device in the direction of movement, the weld path of the outside of the steel box girder to be processed can be obtained in advance through the laser tracking device, and the weld path of the inside of the steel box girder to be processed can be calculated according to the dimensions of the bottom plate, top web plate and transverse diaphragm. Step 8: During the welding process, the first industrial robot and the second industrial robot adjust the positions of the first welding gun and the second welding gun so that the first welding gun and the second welding gun are located on both sides of the top web plate, and the first welding gun and the second welding gun always maintain a constant distance from the weld and a constant angle with the normal vector of the weld on the bottom plate; then the first welding gun and the second welding gun move along the weld on the outside and inside of the steel box girder to be processed at the same speed to complete the welding between the bottom plate and the bottom of the two top web plates. Step 9: Then, the positions of the two second welding torches are adjusted by the two second industrial robots so that the two second welding torches are located on both sides of the transverse diaphragm, and the two second welding torches always maintain a constant distance from the weld and a constant angle with the normal vector of the weld on the transverse diaphragm; the two second welding torches move along the weld on both sides of the transverse diaphragm at the same speed, and the welding points of the two second welding torches are always located on the outside and inside of the same position of the weld on the steel box girder; the welding between the transverse diaphragm and the two top web sides and the upper surface of the bottom plate is completed. Step 10: Adjust the position of the gantry frame, and repeat steps 8 and 9 to complete the welding of the entire steel box girder to be processed; Step 11: Transfer the steel box girder to be processed to the processing platform at the straightening station, and inspect and / or repair the steel box girder manually or with equipment.

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