Bridge top web production line

Abstract

This invention discloses a bridge top and web plate production line, belonging to the field of bridge welding. It includes a conveying device and, sequentially arranged along the conveying device, a splicing device, a grinding device, a side-bending device, a laser tracking device, a welding system, and a turning device. The production line transports the top plate to the beginning of the line. Several top plates are first spliced ​​together by the splicing device, then spot-welded, and ground and leveled by equipment. Next, the top plates are conveyed by rollers to the side-bending device processing station. A semi-gantry crane lifts the corrugated web plates one by one above the top plate, and they are side-bent by the side-bending device. Spot welding is then performed at corresponding positions. The spot-welded workpieces are conveyed to the welding system station via a conveyor roller conveyor, where corrugated welds are performed by the welding device. Finally, the bridge corrugated web plates are repaired and ground. This invention solves the problem of low efficiency and high manpower requirements in the assembly and welding of bridge top and web plates.

Description

Technical Field

[0001] This invention belongs to the field of bridge welding, and in particular to a production line for bridge top and web plates. Background Technology

[0002] Corrugated steel web composite girder bridges possess advantages such as light weight, high prestressing efficiency, high web buckling resistance, and no need for stiffeners, making them a promising new type of bridge. A corrugated steel web composite girder bridge generally consists of three parts: a bottom plate, a top web, and transverse diaphragms. The top web is formed by welding the corrugated web to the top plate. After welding, it is assembled with the bottom plate and transverse diaphragms to form the bridge component.

[0003] Existing bridge top and web plates are generally processed manually or semi-automatically, which results in low assembly and welding efficiency, requires a lot of manpower, and makes it difficult to guarantee the processing quality. Summary of the Invention

[0004] To overcome the above-mentioned technical defects, the present invention provides a bridge top web plate production line to solve the problems involved in the background art.

[0005] This invention provides a bridge top web plate production line, comprising:

[0006] The transmission device and, in sequence along the transmission device, a grinding device, a side bending device, a laser tracking device, and a welding system;

[0007] The grinding device is mounted above the transmission device and grinds the upper surface of the first plate according to a predetermined weld path.

[0008] The bending device includes at least three limiting components; the limiting components cause the second plate to move to one side or have a tendency to move to one side, so as to correspond to the weld path on the upper surface of the first plate; after the second plate is placed on the weld path of the first plate at a predetermined angle, the first plate and the second plate are pre-installed by manual spot welding.

[0009] The laser tracking device is respectively installed on both sides of the transmission device, and is suitable for acquiring the weld between the first plate and the second plate under actual working conditions.

[0010] The welding system includes two linear motion systems respectively arranged on both sides of the transmission device, two welding devices respectively located on the linear motion systems, and the welding torch always maintains a constant distance and constant angle with the weld.

[0011] Preferably or optionally, the bridge top web production line further includes a splicing device;

[0012] The splicing device is mounted above the transmission device and welds multiple plates located on the transmission device to form a first plate.

[0013] Preferably or optionally, the bridge top web production line further includes a tilting device;

[0014] The flipping device includes at least two flipping components spaced at a predetermined distance, which drive the combination of the first plate and the second plate to rotate 90 degrees, making it convenient for users to inspect and repair the combination of the first plate and the second plate.

[0015] Preferably or optionally, the flipping assembly includes: a frame, two flipping elements hinged at the middle of the frame, and an encoder mounted on the frame and drivenly connected to the flipping elements.

[0016] Preferably or optionally, the polishing device includes:

[0017] The first gantry frame is erected above the conveying device, and the plate to be polished moves along the conveying direction of the conveying device;

[0018] A transverse component is disposed above the first gantry frame, and its output end can move perpendicular to the transmission direction of the transmission device of the plate.

[0019] A turning component is disposed on the output end of the lateral component, and its output end can rotate left and right by a predetermined angle along the transmission direction of the transmission device of the plate.

[0020] A grinding component is disposed on the output end of the transverse component. Its output end abuts against the plate to be ground and moves relative to it to achieve grinding of the plate to be ground.

[0021] Driven by the lateral movement component and the transmission device, the grinding component moves in a curved motion relative to the material to be ground; driven by the turning component, the grinding direction of the grinding component is always consistent with the direction of the curved motion of the grinding component relative to the material to be ground.

[0022] Preferably or optionally, the limiting component includes:

[0023] The second gantry includes two columns located on both sides of the conveying device and / or workbench, and a crossbeam erected on the upper end of the two columns and located above the conveying device and / or workbench; a corrugated plate to be bent is vertically placed on the conveying device and / or workbench.

[0024] Two positioning components are arranged in a mirror image on two columns. They can move horizontally along the longitudinal direction of the plate to be bent and abut against the side of the corrugated plate to be bent, so that the corrugated plate to be bent moves to one side or has a tendency to move to one side.

[0025] A clamping assembly is positioned above the crossbeam and abuts against the top of the corrugated plate to be bent laterally.

[0026] Preferably or optionally, the positioning component includes: a mounting bracket mounted on the column, a first hydraulic cylinder disposed on the mounting bracket, two limiting guide posts sliding on the mounting bracket, and a movable push plate fixedly mounted on the other side of the limiting guide posts and connected to the output rod of the first hydraulic cylinder.

[0027] Preferably or optionally, 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.

[0028] Preferably or optionally, the welding device includes: an industrial robot respectively disposed on the linear motion system, and a welding torch disposed at the output end of the industrial robot and always maintaining a constant distance and constant angle with the weld seam;

[0029] The industrial robot has at least 6 degrees of freedom.

[0030] Preferably or optionally, the conveying device is a roller conveying mechanism.

[0031] This invention relates to a bridge roof and web plate production line, which offers the following advantages compared to existing technologies: The production line uses transport vehicles such as logistics cars and overhead cranes to transport the roof plates to the beginning of the production line. Several roof plates are first spliced ​​together by a splicing device, then spot-welded, and subsequently ground and leveled by equipment. Next, roller conveyors transport the roof plates to the side-bending device processing station. A semi-gantry crane lifts the corrugated web plates one by one above the roof plates, and the side-bending device performs side bending. Spot welding is then performed at corresponding positions. The spot-welded workpieces are transported to the welding system station via conveyor rollers, where corrugated welds are performed. Finally, after welding, the workpieces are hoisted to the turning device processing station for repair and grinding. After grinding, the workpieces are turned over by the turning device and then stored in the storage area. This solves the problem of low efficiency in assembling and welding bridge roof and web plates, saving labor costs. Attached Figure Description

[0032] Figure 1 This is a schematic diagram of the production line in this invention.

[0033] Figure 2 This is a schematic diagram of the structure of the first part of the production line in this invention.

[0034] Figure 3 This is a schematic diagram of the splicing device in this invention.

[0035] Figure 4 This is a schematic diagram of the second part of the production line in this invention.

[0036] Figure 5 This is a schematic diagram of the grinding device in this invention.

[0037] Figure 6 This is a side view of the grinding device in this invention.

[0038] Figure 7 This is a front view of the grinding device in this invention.

[0039] Figure 8 This is a schematic diagram of the side bending device in this invention.

[0040] Figure 9 This is a front view of the limiting component in this invention.

[0041] Figure 10 This is a schematic diagram of the third part of the production line in this invention.

[0042] Figure 11 This is a schematic diagram of the laser tracking device and welding system in this invention.

[0043] Figure 12 This is a schematic diagram of the laser tracking device in this invention.

[0044] Figure 13 This is a schematic diagram of the welding device in this invention.

[0045] Figure 14 This is a schematic diagram of the fourth part of the production line in this invention.

[0046] Figure 15 This is a schematic diagram of the flipping device in this invention.

[0047] Figure 16 This is a schematic diagram of the flipping component in this invention.

[0048] Figure 17 This is a cross-sectional schematic diagram of the flipping component in this invention.

[0049] Figure 18 This is a schematic diagram of the connection between the encoder and the rotating shaft in this invention.

[0050] The attached figures are labeled as follows:

[0051] Transmission device 100, positioning device 110

[0052] splicing device 200, press 210,

[0053] Grinding device 300, first gantry frame 310, lateral movement assembly 320, turning assembly 330, grinding assembly 340, first lifting module 350, clamping assembly 360, detection assembly 370, first servo motor 321, first linear module 322, first mounting base 323, second servo motor 331, output gear 332, transmission gear 333, second mounting base 334, third servo motor 341, grinding wheel 342, guide wheel 361, first elastic element 362, pressure wheel 371, second elastic element 372.

[0054] Side bending device 400, limit component 4000, second gantry frame 410, positioning component 420, clamping component 430, lifting component 440, traveling unit 450, support frame 411, crossbeam 412, reinforcing rib 413, mounting frame 421, first hydraulic cylinder 422, limit guide column 423, push rod 424, movable push plate 425, second lifting module 432, lower pressing component 433, fourth servo motor 441, lifting platform 442, sliding guide rail 451, frame seat 452, roller 453, drive motor 454.

[0055] Laser tracking device 500, column 510, telescopic module 520, laser tracking system 530, angle adjustment device 540, third lifting module 550, third mounting base 521, fifth servo motor 522, second linear module 523, sliding base 524, cable chain 525.

[0056] Welding device 600, industrial robot 610, welding torch 620, base 611, waist rotation mechanism 612, upper arm mechanism 613, forearm mechanism 614, wrist mechanism 615, end effector 616.

[0057] Linear motion system 700, linear guide rail 710, moving trolley 720

[0058] Tilting device 800, tilting assembly 810, frame 811, encoder 812, rotating shaft 813, tilting arm 814, second hydraulic cylinder 815, main body 814a, bending part 814b, positioning pin 814c, synchronous gear 813a, encoding gear 812a, corrugated plate A, top plate B, weld path C, bevel D. Detailed Implementation

[0059] 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.

[0060] See appendix Figures 1 to 18 A bridge top web plate production line includes: a conveying device 100 and a splicing device 200, a grinding device 300, a side bending device 400, a laser tracking device 500, a welding system, and a flipping device 800 arranged sequentially along the conveying device 100.

[0061] To facilitate understanding of the technical solution of this application, the first plate, the second plate, and the combination of the first and second plates are first defined. In the production process of the bridge top web, the first plate is the top plate B, which has a relatively large longitudinal length and is generally composed of multiple plates spliced ​​together. Furthermore, to improve the structural strength of the bridge, the top web has a certain lateral curvature; therefore, the top plate B itself has a certain lateral curvature. The second plate is a corrugated plate A, whose cross-sectional shape is wavy, but the centerline of the cross-section remains straight. During assembly and welding, the corrugated plate A needs to be bent to one side to a preset lateral curvature before being placed on the top plate B for welding. The combination of the first and second plates constitutes the bridge top web during the processing.

[0062] The conveying device 100 is a roller conveying mechanism, suitable for conveying the plates to be welded to different processing stations. Of course, those skilled in the art will recognize that the conveying device 100 also includes a positioning device 110. This fixes the plates to be welded at a predetermined position on the conveying device 100 to meet the processing requirements of that station. For example, at the processing station of the splicing device 200, the positioning device 110 can be a centering device, aligning multiple plates longitudinally before welding them using the splicing device 200. At the processing station of the welding system, because the corrugated plate A is relatively high, the center of gravity of the entire plate to be welded is high. Therefore, a fixing bracket is provided outside the conveying device 100 to fix the upper part of the corrugated plate A, ensuring the stability of the entire plate to be welded.

[0063] See appendix Figures 2 to 3The splicing device 200 is mounted above the conveying device 100 and welds multiple plates located on the conveying device 100 to form a first plate. Based on existing automated welding equipment, the splicing device 200 combines a submerged arc welding torch and a gas shielded welding torch into a single automated welding machine, enabling simultaneous welding of a single weld seam, thus improving efficiency and weld quality. Furthermore, a press 210 is located at the rear end of the splicing device 200. The distance between the splicing device 200 and the press 210 is generally equal to the longitudinal length of a single plate. The press 210 corrects deformation at the butt joint after welding.

[0064] Due to the special shape of the bridge's top web, the weld between the corrugated web A and the top plate B is a wavy line with a certain degree of lateral curvature, which existing grinding machines cannot meet.

[0065] See appendix Figure 4 The grinding device 300 is mounted above the conveying device 100 and grinds the upper surface of the top plate B according to a predetermined weld path. (See appendix) Figures 5 to 7 The grinding device 300 includes: a first gantry frame 310, a transverse component 320, a turning component 330, a grinding component 340, a lifting module 350, a clamping component 360, and a detection component 370.

[0066] The first gantry 310 is erected above the conveying device 100, and the plate to be polished moves along the conveying direction of the conveying device 100.

[0067] A lateral movement assembly 320 is disposed above the first gantry 310. Specifically, the lateral movement assembly 320 includes: a first servo motor 321 disposed on one side of the first gantry 310; a linear module 322 disposed on one side of the first gantry 310 and drivenly connected to the first servo motor 321; and a first mounting base 323 slidably mounted on the linear module 322. The linear module 322 can be a lead screw mechanism, which drives the first mounting base 323 to move perpendicularly to the transmission direction of the transmission device 100 of the plate material via the first servo motor 321.

[0068] A turning assembly 330 is disposed on the output end of the lateral movement assembly 320. Specifically, the turning assembly 330 includes a second servo motor 331 disposed on the first mounting base 323, an output gear 332 drivenly connected to the second servo motor 331, a transmission gear 333 meshing with the output gear 332, and a second mounting base 334 coaxially connected to the transmission gear 333. The second servo motor 331 drives the second mounting base 334 to rotate left and right by a predetermined angle along the transmission direction of the conveying device 100 of the plate.

[0069] A grinding assembly 340 is disposed on the output end of the transverse assembly 320. Specifically, the grinding assembly 340 includes: a third servo motor 341 disposed on the second mounting base 334, and a grinding wheel 342 which is rotatably mounted on the bottom of the second mounting base 334 and perpendicular to the upper surface of the transmission device 100, and is connected to the third servo motor 341 in a transmission manner. The grinding wheel rotates by the third servo motor 341, and the grinding wheel abuts against and moves relative to the upper surface of the material to be ground, thereby achieving the grinding of the material to be ground.

[0070] The clamping assembly 360 includes two guide wheels 361 slidably mounted on the other side of the first gantry 310 and moving along both sides of the plate to be ground, and a first elastic element 362 disposed between the two guide wheels 361. The first elastic element 362 is a cylinder or a gas spring. Under the action of the first elastic element 362, the guide wheels 361 on both sides are always in contact with the sides of the plate to be ground, thereby achieving the positioning and fixing of the plate to be ground. Even if the plate to be ground has a lateral curvature, the grinding assembly can automatically adapt to the plate to be ground, automatically find the center position of the workpiece, and complete the predetermined curved trajectory grinding, thereby improving the accuracy of the curved grinding of the grinding device.

[0071] The detection component 370 includes: a pressure roller 371 disposed between two guide rollers 361 and moving along the upper surface of the material to be polished; and a second elastic element 372 disposed between the pressure roller 371 and the first gantry 310. The first elastic element 362 is a cylinder or a gas spring. By measuring the extension and contraction of the second elastic element 372, the distance between the material to be polished and the polishing component 340 is obtained, thereby adjusting the height of the polishing component 340 in a timely manner. Correspondingly, a lifting module 340 is also provided on the first mounting base 323. The lifting module 340 can be a lifting cylinder, suitable for driving the turning component 330 and the polishing component 340 to move up and down, so that the polishing component 340 floats together with the upper surface of the material to be polished, and the polishing component 340 abuts against the upper surface of the material to be polished.

[0072] During the polishing process, driven by the transverse component 320 and the transmission device 100, the polishing component 340 moves in a curved motion relative to the plate to be polished; driven by the turning component 330, the polishing direction of the polishing component 340 is always consistent with the direction of the curved motion of the polishing component 340 relative to the plate to be polished, thereby realizing curved polishing of the plate to be polished.

[0073] In bridge engineering, to improve the structural strength of the bridge, the top web has a certain lateral curvature. The top web is composed of corrugated web A and top plate B welded together. See appendix. Figure 2The top plate B itself has a certain lateral curvature. During the assembly and welding process, the corrugated plate A needs to be bent to one side to a preset lateral curvature (the same as the lateral curvature of the top plate B), and then placed on the top plate B. The corrugated plate A and the top plate B are fixed by manual spot welding, thus achieving the pre-assembly of the top and web plates. However, the weight of a single corrugated plate A is relatively large, and bending it manually alone is difficult and inefficient.

[0074] See appendix Figure 4 The lateral bending device 400 includes at least three limiting components 4000; the limiting components 4000 cause the second plate to move to one side or tend to move to one side, so as to correspond to the weld path on the upper surface of the first plate, thereby achieving lateral bending and limiting of the second plate. After the second plate is placed on the weld path of the first plate at a predetermined angle, the first plate and the second plate are pre-installed by manual spot welding.

[0075] See appendix Figures 8 to 9 The limiting component 4000 includes: a second gantry frame 410, two positioning components 420, a pressing component 430, a lifting component 440, and a traveling unit 450.

[0076] The second gantry 410 includes two support frames 411 located on both sides of the transmission device 100, a crossbeam 412 mounted on the upper ends of the two support frames 411 and located above the transmission device 100, and a plurality of reinforcing ribs 413 disposed between the support frames 411 and the crossbeam 412. In this embodiment, a top plate B is horizontally placed on the transmission device 100, and the corrugated plate A to be bent is vertically placed on the top plate B.

[0077] Positioning components 420 are mirror-distributed on two support frames 411 and can move horizontally along the longitudinal direction perpendicular to the plate to be bent. They abut against the side of the corrugated plate A to be bent, causing the corrugated plate A to move to one side or tend to move to one side, thereby achieving bending of the corrugated plate A. The positioning components 420 include: a mounting frame 421 mounted on the support frame 411; a first hydraulic cylinder 422 mounted on the mounting frame 421; two limiting guide posts 423 sliding on the mounting frame 421; a movable push plate 425 fixedly mounted on the other side of the limiting guide posts 423; and a push rod 424 connecting the output rod of the first hydraulic cylinder 422 and the movable push plate 425. The first hydraulic cylinder 422 pushes the movable push plate 425 closer to the corrugated plate A until it abuts against the corrugated plate A. Then, the two first hydraulic cylinders 422 move in coordination, causing the corrugated plate A to move to one side, thus bending the corrugated plate A.

[0078] The clamping assembly 430 is disposed above the crossbeam 412 and abuts against the top of the corrugated plate A to be bent laterally. Specifically, the clamping assembly 430 includes a lateral movement assembly disposed on the crossbeam 412, a second lifting module 432 disposed on the output end of the lateral movement assembly, and a pressing member 433 disposed on the output end of the second lifting module 432. The lateral movement assembly can be a linear motion mechanism such as a lead screw mechanism, a gear and rack mechanism, or a hydraulic cylinder pushing mechanism, and the second lifting module 432 can be a lifting hydraulic cylinder. Both the lateral movement assembly and the second lifting module 432 are prior art, and their structures will be further described here.

[0079] A lifting assembly 440 is disposed between the positioning assembly 420 and the support frame 411, and the lifting assembly 440 is adapted to drive the positioning assembly 420 to move up and down. The lifting assembly 440 includes: a fourth servo motor 441 fixedly mounted on the support frame 411, and a screw lift 442 driven by the fourth servo motor 441. The mounting frame 421 is slidably mounted on the support frame 411 and is axially connected to the output of the lift 442. The fourth servo motor 441 drives the screw lift 442 to adjust the position of the positioning assembly 420. When processing corrugated plates A of different specifications, the height of the positioning assembly 420 can be appropriately adjusted to ensure that the positioning assembly 420 is located at or near the center of the corrugated plate A, improving clamping stability.

[0080] The traveling unit 450 is disposed at the bottom of the support frame 411 and is adapted to control the longitudinal movement of the limiting component 4000 along the corrugated plate A to be bent. The traveling unit 450 includes: two guide rails 451 disposed on both sides of the transmission device 100, a frame seat 452 fixedly installed at the bottom of the support frame 411, a plurality of rollers 453 disposed at the bottom of the frame seat 452 and slidably mounted on the guide rails 451, and a drive motor 454 pultrusively connected to at least one of the rollers 453.

[0081] Due to the special shape of the bridge's top web, the weld between the corrugated web A and the top plate B is a wavy line. The laser tracking system, with its small measurement range of about 150 mm, cannot be used for such a large-scale curved weld.

[0082] See appendix Figure 10 The laser tracking devices 500 are respectively disposed on both sides of the transmission device 100, and are suitable for acquiring the weld seam between the first plate and the second plate under actual working conditions; see appendix. Figure 11 , 12 The laser tracking device 500 includes: a column 510, a telescopic module 520, a laser tracking system 530, an angle adjustment device 540, and a third lifting module 550.

[0083] The telescopic module 520 includes a mounting base 521 fixedly mounted on the column 510 and parallel to the working plane, and a second linear module 523 disposed on the third mounting base 521. Specifically, the second linear module 523 includes: a fifth servo motor 522 fixedly mounted on the third mounting base 521, a lead screw mounted on the third mounting base 521 and drivenly connected to the fifth servo motor 522, guide rails disposed on both sides of the lead screw, and a sliding seat 524 slidably mounted on the lead screw and the guide rails. Of course, those skilled in the art will recognize that the second linear module 523 can also be other types of programmable linear modules, which will not be elaborated here.

[0084] In addition, a drag chain 525 is provided on the third mounting base 521, which is suitable for accommodating control lines and power supply lines. The control lines and power supply lines are connected to the fifth servo motor 522 and are suitable for controlling the opening, closing and speed of the fifth servo motor 522.

[0085] The laser tracking system 530 is mounted on the output end of the second linear module 523, forming a predetermined angle with the working plane, the predetermined angle ranging from 15° to 75°; preferably 45°. Furthermore, driven by the moving linear module, the distance between the laser tracking system 530 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 530. The laser tracking system 530 is a commercially available product; in this embodiment, the laser tracking system 530 includes: a mounting bracket fixedly mounted on the sliding seat 524; a laser generator mounted on the mounting bracket with its output port always facing the weld seam; and a laser detector mounted on the mounting bracket, suitable for acquiring laser signals reflected from the target.

[0086] The column 510 is also equipped with a third lifting module 550, and a telescopic module 520 is installed on the output end of the third lifting module 550. An angle adjustment device 540 is also provided between the sliding seat 524 and the laser tracking system 530. When producing products of different types and specifications, users can adjust the height of the laser tracking system 530 relative to the working plane and the predetermined angle with the working plane through the third lifting module 550 and the angle adjustment device 540 to optimize relevant detection parameters and improve the application range of the laser weld seam tracking device.

[0087] See appendix Figure 11 The welding system includes two linear motion systems 700 respectively disposed on both sides of the transmission device, two welding devices 600 respectively located on the linear motion systems 700, and the welding torch always maintains a constant distance and constant angle with the weld.

[0088] Specifically, two linear motion systems 700 are respectively positioned on both sides of the transmission device 100 and move along the weld seam direction on the plate to be welded at the same speed. The plate to be welded includes a horizontally placed top plate B, a corrugated plate A placed at a predetermined angle on the top plate B, and a bevel D located on one side of the corrugated plate A. Two laser tracking devices 500 and a welding device 600 are mounted on the linear motion systems 700, respectively located on both sides of the plate to be welded. The welding device 600 includes an industrial robot 610 mounted on the linear motion systems 700, and a welding torch 620 located at the output end of the industrial robot 610, maintaining a constant distance and angle from the weld seam. The weld path C is obtained by the laser tracking device 500. Then, according to the position and posture of the welding gun 620 relative to the weld path C, the position and posture of the welding gun 620 are adjusted by the industrial robot 610, and the welding devices 600 on both sides are controlled to weld the plates to be welded at the same time. This not only eliminates the need to grind the bevel D, which greatly saves costs and reduces materials, but also saves 66% of the working time by welding on both sides at the same time.

[0089] The welding apparatus 600 includes: an industrial robot 610 disposed on one side of the transmission device, and a welding torch 620 disposed at the output end of the industrial robot 610, maintaining a constant angle with the weld seam. The industrial robot 610 has at least six degrees of freedom. Through the cooperation of the six-axis robot and the welding torch 620, the entire welding apparatus 600 can not only compensate for the spatial position of the weld seam, but also automatically adjust the posture of the welding torch 620, ensuring that the welding torch 620 is always perpendicular to the weld seam path C or maintains a constant angle with the weld seam path C, thereby achieving a more perfect welding effect. (See appendix) Figure 13 This embodiment provides an exemplary structure of a six-axis robot. The industrial robot 610 includes: a base 611; a waist rotation mechanism 612 rotatably mounted on the base 611; a large arm mechanism 613 rotatably mounted on the waist rotation mechanism 612; a forearm mechanism 614 rotatably mounted on the other end of the large arm mechanism 613; a wrist mechanism 615 rotatably disposed on the other end of the forearm mechanism 614; and an end effector 616 rotatably mounted on the other end of the wrist mechanism 615 for mounting a welding torch 620.

[0090] Both welding torches 620 on either side are deep penetration welding torches, selected from Fronius TPS series welding machines and Krus QINEO NexT welding machines. Because the deep penetration welding torch utilizes digitally controlled arc curve parameters to further compress the arc, the arc heat is more concentrated and has better penetration capability, increasing the welding depth. Therefore, there is no need for reverse root cleaning, ensuring the penetration depth while optimizing the bevel size, reducing welding material consumption, reducing costs, and improving efficiency.

[0091] The linear motion system 700 includes: a linear guide rail 710 disposed on one side of the transmission device, and a trolley 720 slidably mounted on the linear guide rail 710; the laser tracking device 500 and the welding device 600 are mounted on the upper surface of the trolley 720. Compared with the transmission device, the linear motion system 700 adopts a geared motor plus a rack and pinion drive method, which has higher motion accuracy. During the welding process, a linear telemetry system is used to control the movement of the laser tracking device 500 and the welding device 600.

[0092] Whether inspecting and repairing the bridge top web, or transferring and assembling it, the bridge top web needs to be flipped. However, due to the large length of the bridge top web, multiple flipping mechanisms are required. Since these mechanisms operate independently, achieving synchronous and stable flipping is difficult. Therefore, it is necessary to design a flipping mechanism specifically for the unique structure of the bridge top web.

[0093] See appendix Figures 15 to 17 The flipping device includes at least two flipping components spaced at a predetermined interval, driving the combination of the first and second plates (i.e., the bridge top web) to rotate 90 degrees, facilitating user inspection and repair of the combination of the first and second plates. Each flipping component includes: a frame, two flipping parts hinged to the middle of the frame, and an encoder mounted on the frame and drivenly connected to the flipping parts.

[0094] The tilting component includes a rotating shaft 813, a tilting arm 814, and a hydraulic cylinder 815. The rotating shaft 813 is located in the middle of the frame 811. The tilting arm 814 has an L-shaped or approximately L-shaped cross-section and includes a main body 814a, a bent portion 814b located at the bottom of the main body 814a and bent at a predetermined angle towards the hydraulic cylinder 815, and a mounting hole located at the connection between the main body 814a and the bent portion 814b, rotatably mounted on the rotating shaft 813. The hydraulic cylinder 815 is externally hinged inside the frame 811, and its other end is hinged to the bottom of the tilting arm 814. The tilting arm 814 is pulled or pushed by the hydraulic cylinder 815 to rotate along the rotation axis 813 between being perpendicular to and parallel to the frame 811; that is, a single tilting arm 814 in the tilting assembly 810 can tilt by ±90 degrees or be in a horizontally open state, and each tilting arm 814 can be controlled individually. The tilting assemblies 810 are distributed at predetermined intervals among the transmission devices 100. When multiple tilting assemblies 810 are used in conjunction, the movement state of the tilting arm 814 is detected by the encoder wheel, and the tilting arm 814 is automatically controlled to operate synchronously, ensuring the synchronicity of the entire tilting device and enabling the bridge top web to tilt smoothly.

[0095] See appendix Figure 18 A synchronous gear 813a is disposed near the rotating shaft 813, meshing with the encoding gear 812a of the encoder 812. The encoder 812 is a dual-output rotary encoder 812. The rotary encoder 812 can output two sets of pulses (A / B) with a 90-degree phase difference. These two sets of pulses can not only measure the rotational speed but also determine the direction of rotation. By comparing whether phase A or phase B comes first, the forward or reverse rotation of the encoder 812 can be determined, thus indicating the motion state of the detection tilting arm 814.

[0096] In a further embodiment, since the bridge top web is composed of corrugated web A and top plate B welded together, and corrugated web A is perpendicular to top plate B, the cross-sectional shape of the bridge top web is "T". If it is directly flipped, it will cause the bridge top web to tilt. Therefore, multiple positioning pins 814c are provided on the flipping arm 814, and the height of the positioning pins 814c is exactly equal to the distance between the side plate of top plate B and the weld. This allows the bridge top web to be kept horizontal, facilitating the inspection and repair of the bridge top web.

[0097] To facilitate understanding of the technical solution for the bridge top web plate production line, its workflow is briefly described below:

[0098] During the splicing process, the positioning device 110 on the transmission device 100 aligns multiple plates in the longitudinal direction, and then the welding of a single weld seam is completed simultaneously by a submerged arc welding gun and a gas-shielded welding gun to complete the welding of the top plate. The deformation at the butt joint after the butt welding is corrected by a press 210.

[0099] During the polishing process, the top plate B, along with the transmission device 100, enters the area below the polishing device 300. Under the action of the first elastic element 362, the guide wheels 361 on both sides are always in contact with the side of the material to be polished, thus achieving positioning and fixing of the material to be polished. Then, by measuring the extension and contraction of the second elastic element 372, the distance between the material to be polished and the polishing assembly 340 is obtained. Subsequently, the height of the polishing assembly 340 is adjusted by the lifting module 340, so that the polishing assembly 340 floats together with the upper surface of the material to be polished. When the material to be polished comes into contact with the polishing assembly 340, under the drive of the transverse component 320 and the transmission device 100, the polishing assembly 340 moves in a curved motion relative to the material to be polished. Under the drive of the turning component 330, the polishing direction of the polishing assembly 340 is always consistent with the direction of the curved motion of the polishing assembly 340 relative to the material to be polished, thus achieving curved polishing of the material to be polished. The entire grinding device 300 adopts contour tracking, which can automatically adapt to the plate to be ground, automatically find the center position of the workpiece, and complete the grinding of the predetermined curve trajectory, thereby improving efficiency and welding quality.

[0100] During the side bending process, the top plate B is fed into the processing station of the side bending device 400 via the transmission device 100. Then, the corrugated plate A is hoisted onto the top plate B. The three limiting components 4000 are moved to predetermined positions via the moving walking unit 450. The movable push plate 425 is pushed close to the corrugated plate A by the first hydraulic cylinder 422 until the corrugated plate A is against it. Then, the two first hydraulic cylinders 422 move in coordination, causing the corrugated plate A to be bent to one side, so that the bending of the corrugated plate A matches the side bending arc of the top plate B. Then, the three pressing components 430 move downward to the lower pressure plate to press the corrugated plate A tightly, and manual spot welding is performed to achieve the pre-installation of the top plate B and the corrugated plate A. Finally, the top plate B and the corrugated plate A are transported to the next processing station for welding via the transmission device 100 to form the plate to be welded. The weld between the corrugated plate A and the top plate B is a wavy line. This method solves the problems of difficulty and time-consuming manual assembly of the corrugated plate A for side bending.

[0101] During the inspection process, the top plate B is sent to the processing station of the welding system via the transmission device 100. The weld between the corrugated plate A and the top plate B is a wavy line. The relevant parameters of the wavy line are input to the fifth servo motor 522 and the linear motion system 700. With the cooperation of the telescopic module 520 and the linear motion system 700, the distance between the laser tracking system 530 and the weld is kept consistent or within a predetermined range. The laser tracking system 530 is located within its optimal measurement range, which can accurately obtain the position information of the weld path C under actual working conditions. This effectively expands the application scenarios of the laser tracking system 530.

[0102] Welding is performed simultaneously with inspection. During the welding process, with the cooperation of a six-axis robot and a linear motion system 700, the six-axis robot adjusts the spatial position and attitude of the welding torches 620 on both sides to compensate for the spatial position of the weld seam. The attitude adjustment of the welding torches 620 ensures that they are always perpendicular to the weld seam path C or maintain a constant angle with the weld seam path C. With the cooperation of the linear motion system 700, the welding torches 620 on both sides of the plate to be welded move along the weld seam at a predetermined rate, and the welding points of the welding torches 620 on both sides are always located at the same position on the weld seam path C, thereby achieving a more perfect welding effect.

[0103] During the flipping process, taking a single flipping component 810 as an example, the bottom of the bridge top web is placed on a horizontal flipping arm 814, and the side of the corrugated web A is located on one side of another vertical flipping arm 814. The position of the positioning pin 814c on the vertical flipping arm 814 is manually adjusted so that it abuts against the corrugated web A. Then, the hydraulic cylinder 815 pulls or pushes the flipping arm 814 to rotate along the rotation axis 813 between being perpendicular to the frame 811 and parallel to the frame 811. The flipping component 810 at the bottom of the original bridge top web rotates 90 degrees to become vertical, and the flipping component on one side of the original bridge top web rotates 90 degrees to become horizontal, thus flipping the bridge top web. The flipped bridge top web is then placed horizontally, facilitating inspection and repair of the bridge top web.

[0104] 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 bridge top deck production line, characterized by, include: A conveying device and a grinding device, a side-bending device, a laser tracking device, and a welding system arranged sequentially along the conveying device; the top plate moves along the conveying direction of the conveying device; The grinding device is mounted above the transmission device and grinds the upper surface of the top plate according to a predetermined weld path; the weld path is a wavy line with a certain lateral curvature. The side bending device includes at least three limiting components; the limiting components cause the corrugated plate to move to one side or have a tendency to move to one side, so as to correspond to the weld path on the upper surface of the top plate; after the corrugated plate is placed on the weld path of the top plate at a predetermined angle, the top plate and the corrugated plate are pre-installed by manual spot welding. The laser tracking device is respectively installed on both sides of the transmission device, and is suitable for acquiring the weld between the top plate and the corrugated plate under actual working conditions. The welding system includes two linear motion systems respectively arranged on both sides of the transmission device, two welding devices respectively located on the linear motion systems, and the welding gun of the welding device always maintains a constant distance and constant angle with the weld. The polishing device includes: The first gantry crane is erected above the transmission device; A transverse component is disposed above the first gantry frame. The transverse component includes a first mounting base, which can move perpendicular to the transmission direction of the transmission device. The clamping assembly includes two guide wheels that are slidably mounted on the side of the first gantry away from the transverse assembly and move along both sides of the top plate, and a first elastic element disposed between the two guide wheels; The detection assembly includes a pressure roller disposed between two guide rollers and moving along the upper surface of the top plate, and a second elastic member disposed between the pressure roller and the first gantry frame; A turning component is disposed on the output end of the lateral component, and its output end can rotate left and right by a predetermined angle along the transmission direction of the transmission device. A grinding component is installed on the output end of the turning component. Its output end abuts against the top plate and moves relative to it to grind the top plate. A lifting module is mounted on the first mounting base and is adapted to drive the turning component and the grinding component to move up and down. Under the action of the first elastic element, the guide wheels on both sides always abut against the side of the top plate, automatically finding the center position of the top plate; by measuring the extension and contraction of the second elastic element, the distance between the top plate and the grinding assembly is obtained; the height of the grinding assembly is adjusted by the lifting module, so that the grinding assembly floats together with the upper surface of the top plate; driven by the transverse component and the transmission device, the grinding assembly moves in a curved motion relative to the top plate; driven by the turning component, the grinding direction of the grinding assembly is always consistent with the direction of the curved motion of the grinding assembly relative to the top plate.

2. The bridge top deck web line of claim 1, wherein, The bridge top web plate production line also includes a splicing device; The splicing device is mounted above the transmission device and welds multiple plates located on the transmission device to form a top plate.

3. The bridge top web plate production line according to claim 1, characterized in that, The bridge top web plate production line also includes a tilting device; The flipping device includes at least two flipping components spaced at a predetermined distance, which drive the combination of the top plate and the corrugated plate to rotate 90 degrees, making it convenient for users to inspect and repair the combination of the top plate and the corrugated plate.

4. The bridge top web plate production line according to claim 3, characterized in that, The flipping assembly includes: a frame, two flipping components hinged at the middle of the frame, and an encoder mounted on the frame and drivenly connected to the flipping components.

5. The bridge top web line of claim 1, wherein, The limiting component includes: The second gantry includes two columns located on both sides of the transmission device and / or workbench, and a crossbeam erected on the upper end of the two columns and located above the transmission device and / or workbench; a corrugated plate to be bent is vertically placed on the transmission device and / or workbench. Two positioning components are arranged in a mirror image on two columns. They can move horizontally along the longitudinal direction of the corrugated plate to be bent and abut against the side of the corrugated plate to be bent, so that the corrugated plate to be bent moves to one side or has a tendency to move to one side. A clamping assembly is positioned above the crossbeam and abuts against the top of the corrugated plate to be bent laterally.

6. The bridge top web line of claim 5, wherein, The positioning component includes: a mounting bracket installed on the column, a first hydraulic cylinder disposed on the mounting bracket, two limiting guide pillars sliding on the mounting bracket, and a movable push plate fixedly installed on the other side of the limiting guide pillars and connected to the output rod of the first hydraulic cylinder.

7. The bridge top web line of claim 1, wherein, 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.

8. The bridge top web line of claim 1, wherein, The welding device includes: an industrial robot respectively mounted on the linear motion system, and a welding torch mounted at the output end of the industrial robot and always maintaining a constant distance and constant angle with the weld seam; The industrial robot has at least 6 degrees of freedom.

9. The bridge top web line of claim 1, wherein, The transmission device is a roller-type transmission mechanism.

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