Intelligent welding device for bridge and operation method of intelligent welding device for bridge

Abstract

The present application provides a bridge welding device and a bridge welding device operation method, wherein the device comprises a movable support movably disposed on a support platform; a steel bar storage and retrieval mechanism mounted on the movable support and positioned above a steel mesh; a drive mechanism and a gripper arm mounted on the movable support, the drive mechanism being transmission-connected to the steel bar storage and retrieval mechanism and configured to press the connecting steel bars on the steel bar storage and retrieval mechanism down to the welding point when there is no obstruction above the welding point; and the gripper arm being configured to clamp the connecting steel bars to the welding point when there is an obstruction above the welding point; a welding robot mounted on the movable support and configured to weld the connecting steel bars to the welding point; and a controller electrically connected to the steel bar storage and retrieval mechanism, the drive mechanism, the gripper arm, and the welding robot, respectively. The device and method have a high degree of automation and high welding efficiency, thereby achieving automation and high efficiency in welding operations.

Description

Technical Field

[0001] The present application relates to the field of bridges, and in particular to an intelligent welding device for bridges and an operating method of the intelligent welding device for bridges. Background Art

[0002] In bridge construction, the connection between the beam top plate steel frame and the bridge deck is an important link. At present, the welding method for connecting the steel bars between the beam top plate steel frame and the bridge deck mainly relies on manual welding. However, manual welding has the following disadvantages for welding in such relatively complex scenes: (1) Manual welding requires repeated grasping of the connecting steel bars for welding, which is slow and inefficient; (2) Due to limited visibility and human fatigue, manual welding can lead to unstable welding quality and welding defects; (3) Manual welding is extremely detrimental to the safety of welders; (4) The current market demand for welders continues to grow, and welder talent is in short supply in the market, resulting in high labor costs for welding operations. Summary of the Invention

[0003] One of the purposes of this application is to provide an intelligent welding device for bridges and an operating method for an intelligent welding device for bridges, aiming to solve the problem of low welding efficiency of the connecting steel bars between the existing beam top plate steel frame and the bridge deck.

[0004] The technical solution of this application is:

[0005] An intelligent welding device for bridges, used for welding connecting steel bars of bridges, comprising a support platform, a steel mesh, a movable bracket, a steel bar storage and retrieval mechanism, a driving mechanism, a gripper mechanical arm, a welding robot and a controller; the steel mesh is arranged on the support platform; the movable bracket is movably arranged on the support platform; the steel bar storage and retrieval mechanism is installed on the movable bracket and is located above the steel mesh, and is used to store and take out the connecting steel bars to be welded to the steel mesh; the driving mechanism is installed on the movable bracket and is transmission-connected to the steel bar storage and retrieval mechanism, and is configured to press the connecting steel bars on the steel bar storage and retrieval mechanism down to the point to be welded when there is no obstruction above the point to be welded, and weld the connecting steel bars to the steel bars through the welding robot. the point to be welded on the mesh; the gripper robot is installed on the movable bracket and is configured to clamp the connecting steel bar to the point to be welded when there is an obstruction above the point to be welded, and weld the connecting steel bar to the point to be welded on the steel mesh through the welding robot; the welding robot is installed on the movable bracket and is used to weld the connecting steel bar to the point to be welded on the steel mesh; the controller is electrically connected to the steel bar storage and retrieval mechanism, the driving mechanism, the gripper robot and the welding robot, respectively, and is used to control the steel bar storage and retrieval mechanism to take out the connecting steel bar, and make the driving mechanism press down the taken-out connecting steel bar or make the gripper robot clamp the taken-out connecting steel bar to the point to be welded, so that the welding robot welds the connecting steel bar.

[0006] As a technical solution of the present application, the movable bracket includes two first guide rails; the two first guide rails are installed on the support platform in parallel and at intervals, and each first guide rail is installed with a movable first slider; the steel mesh is located between the two first guide rails; a support structure is connected between the two first sliders; the steel bar storage and retrieval mechanism, the driving mechanism, the gripper robot arm and the welding robot are all installed on the support structure.

[0007] As a technical solution of the present application, the support structure includes two pillars; each of the pillars is installed on the top of the corresponding first slider, and a connecting platform is connected between the two pillars; a second guide rail is installed on the bottom of the connecting platform; a movable second slider is installed on the second guide rail, and the projection of the moving direction of the second slider on the support platform is perpendicular to the moving direction of the first slider; the steel bar storage and retrieval mechanism, the driving mechanism, the gripper robot and the welding robot are all installed on the second slider.

[0008] As a technical solution of the present application, the steel bar storage and retrieval mechanism includes a connecting rod, an access box, a pushing plate, a plurality of connecting steel bars, a rotating shaft, a plurality of rotating blocks, a servo motor, a stepping motor and a photoelectric switch; the two ends of the connecting rod are respectively connected to the movable bracket and the access box; the connecting steel bars are arranged in sequence in the access box, and both ends are movably connected to the two opposite inner side walls of the access box; the stepping motor is arranged in the access box and is transmission-connected to one side of the pushing plate; the other side of the pushing plate presses against the outermost connecting steel bar to squeeze the connecting steel bar into the rotating groove on the rotating block; the rotating shaft is rotatably installed in the opening at the other end of the access box, and a plurality of rotating blocks protruding from the opening are slidably installed on the outer peripheral wall; the servo motor is movably connected to the rotating shaft; a rotating groove is provided on the rotating block, and a clamp for clamping the connecting steel bar is installed in the rotating groove; a slidable first pressing plate and a fixed second pressing plate are installed on the rotating shaft, and a connecting spring is connected between the first pressing plate and the second pressing plate, and the second pressing plate, the connecting spring, the first pressing plate and the rotating block are arranged in sequence from bottom to top; the photoelectric switch is installed on the access box and is electrically connected to the controller, and is used to detect the position of the rotating block, the rotating shaft and the connecting steel bar in real time, and send the detected information to the controller; the controller is electrically connected to the servo motor, the stepping motor, the photoelectric switch and the clamp, respectively, and is used to control the opening and closing of the servo motor, the stepping motor and the clamp, respectively.

[0009] As a technical solution of the present application, the rotation groove runs through the top and bottom of the rotation block and cooperates with the connecting steel bar.

[0010] As a technical solution of the present application, the interior of the storage and access box is hollow, and includes a first square shell, a conical shell and a second square shell that are integrally formed and sequentially connected; a door that can open and close the first square shell is hinged on the first square shell; the inner diameter of the conical shell gradually increases from the direction close to the first square shell toward the direction close to the second square shell, and the free end of the second square shell has the opening; the rotating block protrudes out of the opening.

[0011] As a technical solution of the present application, the connecting rod includes a first connecting rod, a vertical rod and a second connecting rod that are vertically connected in sequence; the first connecting rod and the second connecting rod are parallel and respectively located on opposite sides of the vertical rod; one end of the first connecting rod is connected to the movable bracket, and one end of the second connecting rod is connected to the storage and access box.

[0012] As a technical solution of the present application, the driving mechanism includes a cylinder and a pressing block; the top end of the cylinder is connected to the movable bracket, and the driving end at the bottom is connected to the pressing block; the pressing block is located directly above the end opening of the steel bar storage and retrieval mechanism, and includes an integrally formed rectangular pressure head and a cylindrical pressing portion, and is used to press the connecting steel bars down to the point to be welded; the controller is electrically connected to the cylinder for controlling the opening and closing of the cylinder.

[0013] As a technical solution of the present application, it also includes a laser radar and an image acquisition device; the laser radar is installed on a movable bracket and is electrically connected to the controller, and is used to scan the working conditions of the working area on the steel mesh in real time, and send the scanning information to the controller in real time; the image acquisition device is installed on the front end of the welding robot and is electrically connected to the controller, and is used to detect the welding conditions of the welding points in real time, and send the detection conditions to the controller in real time.

[0014] A method for operating a bridge intelligent welding device, using the above-mentioned bridge intelligent welding device to perform welding operations on connecting steel bars of the bridge, includes the following steps:

[0015] S1, using a laser radar to scan the welding area of the steel mesh in real time, and sending the scanning information to the controller in real time, and the controller determines whether to start the operation in the working area according to the scanning situation;

[0016] S2, if the working area meets the working conditions, the steel bar storage and retrieval mechanism, the driving mechanism, the gripper arm, and the welding robot are moved to the designated position; the servo motor is started to drive the rotating shaft on the steel bar storage and retrieval mechanism to rotate; when the photoelectric switch detects that the rotating groove on the rotating shaft is aligned with the connecting steel bar on the steel bar storage and retrieval mechanism, the stepper motor is started to push the connecting steel bar into the rotating groove via the pushing plate; the clamp in the rotating groove is started to clamp the connecting steel bar;

[0017] S3, using the laser radar to detect whether the moving path below the connecting steel bar is blocked: if the moving path below the connecting steel bar is blocked, using the gripper robot arm to clamp the connecting steel bar and move it to the point to be welded, and using the welding robot to weld the welding point; if the moving path below the connecting steel bar is not blocked, starting the cylinder in the driving mechanism, using the pressing block at the bottom of the cylinder to press the connecting steel bar down to the point to be welded, and using the welding robot to weld the welding point;

[0018] S4, use image acquisition equipment to detect the weld condition at the welding point to determine whether the weld is intact; if the weld is intact, complete the welding and proceed to the next operation; if the weld has defects, continue to repair the welding until the weld is intact, and then proceed to the next operation.

[0019] Beneficial effects of this application:

[0020] The intelligent welding device and operating method for bridges disclosed in this application integrate continuous grasping, placement, and welding of connecting steel bars, significantly improving welding efficiency. Furthermore, the device utilizes laser radar and image acquisition equipment for identification and positioning during operation, significantly improving welding accuracy and efficiency. Furthermore, the operating environment is unmanned, effectively addressing worker safety concerns. Furthermore, the device's entire operation is performed by a welding robot, automating the entire welding process, replacing costly manual welding operations and significantly reducing labor costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions of the implementation methods of the present application, the following is a brief introduction to the drawings required for use in the implementation methods. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any creative work.

[0022] Figure 1 A schematic diagram of an intelligent welding device for a bridge provided in an embodiment of the present application;

[0023] Figure 2 A schematic diagram of the first angle of the intelligent welding device for bridges provided in an embodiment of the present application;

[0024] Figure 3 Schematic diagram of the steel bar storage and retrieval mechanism provided in an embodiment of the present application;

[0025] Figure 4 A schematic diagram of a steel bar storage and retrieval mechanism provided in an embodiment of the present application from a first angle;

[0026] Figure 5 This is a flow chart of the operating method of the intelligent welding device for bridges provided in an embodiment of the present application.

[0027] Icons: 1-support platform; 2-steel mesh; 3-movable bracket; 4-gripper robot; 5-welding robot; 6-connecting steel bars; 7-first guide rail; 8-welding machine; 9-first slider; 10-pillar; 11-connecting platform; 12-second guide rail; 13-second slider; 14-connecting support rod; 15-access box; 16-push plate; 17-rotating shaft; 18-rotating block; 19-stepping motor; 20-rotating groove; 21-clamp; 22-first pressing plate; 23-second pressing plate; 24-connecting spring; 25-box door; 26-cylinder; 27-pressing block; 28-laser radar. DETAILED DESCRIPTION

[0028] To make the objectives, technical solutions, and advantages of the embodiments of the present application more clear, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Generally, the components of the embodiments of the present application described and shown in the drawings herein can be arranged and designed in various different configurations.

[0029] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for protection, but merely represents selected embodiments of the present application. All other embodiments obtained by persons of ordinary skill in the art based on the embodiments in the present application without making any creative efforts shall fall within the scope of protection of the present application.

[0030] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings.

[0031] In the description of this application, it should be noted that the terms "upper" and "lower" etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, or the orientations or positional relationships in which the invented product is usually placed when in use. These are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they should not be understood as limitations on this application.

[0032] In addition, in this application, unless otherwise expressly specified or limited, the phrase "a first feature is above or below a second feature" may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Furthermore, the phrases "above, above, and above the second feature" may include the first feature being directly above and obliquely above the second feature, or simply indicate that the first feature is higher in level than the second feature. The phrases "below, below, and below the second feature" may include the first feature being directly below and obliquely below the second feature, or simply indicate that the first feature is lower in level than the second feature.

[0033] Furthermore, terms such as "horizontal" and "vertical" do not necessarily mean that a component must be absolutely horizontal or overhanging, but rather that it can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal than "vertical," and does not mean that the structure must be completely horizontal, but rather that it can be slightly tilted.

[0034] It should also be noted that, in the description of this application, unless otherwise expressly specified or limited, the terms "disposed," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on the specific circumstances.

[0035] Example:

[0036] Please refer to Figure 1 , with reference Figures 2 to 5The present application provides an intelligent welding device for bridges, which is used for welding connecting steel bars 6 of bridges. The device mainly comprises a supporting platform 1, a steel mesh 2, a movable bracket 3, a steel bar storage and retrieval mechanism, a driving mechanism, a clamping robot 4, a welding robot 5, a laser radar 28, an image acquisition device and a controller; wherein the steel mesh 2 is arranged on the supporting platform 1; at the same time, the movable bracket 3 is movably arranged on the supporting platform 1; in addition, the steel bar storage and retrieval mechanism is installed on the movable bracket 3 and is above the steel mesh 2, for storing and taking out the connecting steel bars 6 to be welded by the steel mesh 2; and the driving mechanism is installed on the movable bracket 3 and is transmission-connected with the steel bar storage and retrieval mechanism, and is configured to press the connecting steel bars 6 on the steel bar storage and retrieval mechanism down to the point to be welded when there is no obstruction above the point to be welded; at the same time, the clamping robot 4 is installed on the movable bracket 3 and is configured to press the connecting steel bars 6 on the steel bar storage and retrieval mechanism down to the point to be welded When there is an obstruction above the welding point, the connecting steel bar 6 is clamped to the point to be welded; the welding robot 5 is installed on the movable bracket 3, and is used to weld the connecting steel bar 6 to the point to be welded on the steel mesh 2; the laser radar 28 is installed on the movable bracket 3 and is electrically connected to the controller, and is used to scan the working conditions of the working area on the steel mesh 2 in real time, and send the scanning information to the controller in real time; the image acquisition device is installed on the front end of the welding robot 5 and is electrically connected to the controller, and is used to detect the welding conditions of the welding points in real time, and send the detection conditions to the controller in real time; the controller is electrically connected to the steel bar storage and retrieval mechanism, the driving mechanism, the clamping robot 4 and the welding robot 5 respectively, and is used to control the steel bar storage and retrieval mechanism to take out the connecting steel bar 6, and make the driving mechanism press down the taken out connecting steel bar 6 or the clamping robot 4 clamp the taken out connecting steel bar 6 to the point to be welded, so that the welding robot 5 welds the connecting steel bar 6.

[0037] It should be noted that, in this embodiment, the gripper robot arm 4, the welding robot 5 and the controller can all adopt structures in the prior art, and their specific structures and working principles are not described in detail here.

[0038] Furthermore, the movable bracket 3 includes two first guide rails 7; the two first guide rails 7 are installed in parallel and at intervals on opposite sides of the support platform 1, and each first guide rail 7 is installed with a movable first slider 9, which can move along the length extension direction of the support platform 1; the steel mesh 2 is located between the two first guide rails 7; a support structure is connected between the two first sliders 9, and the support structure includes two pillars 10, each pillar 10 is vertically arranged and fixedly installed on the top of the corresponding first slider 9, and a horizontally placed connecting platform 11 is connected between the two pillars 10, and the connecting platform 11 is parallel to the width direction of the support platform 1; a welding machine 8 is installed on the top of the connecting platform 11, and the welding machine 8 is connected to the welding head of the welding robot 5, and A second guide rail 12 extending along the length direction of the connecting platform 11 is provided at the bottom of the connecting platform 11, and a movable second slider 13 is installed on the second guide rail 12, and the projection of the moving direction of the second slider 13 on the supporting platform 1 is perpendicular to the moving direction of the first slider 9; the steel bar storage and retrieval mechanism, the driving mechanism, the gripping robot 4, the welding robot 5, the laser radar 28 and the image acquisition equipment are all installed on the second slider 13; when it is necessary to take out the connecting steel bars 6 in the steel bar storage and retrieval mechanism and weld them to the welding point at any point on the steel mesh 2, it is only necessary to move the first slider 9 and the second slider 13 to move the steel bar storage and retrieval mechanism, the driving mechanism, the gripping robot 4 and the welding robot 5 to the top of the welding point at any point, and then the welding operation can be carried out.

[0039] At the same time, its steel bar storage and retrieval mechanism mainly includes a connecting rod 14, a storage and retrieval box 15, a pushing plate 16, a plurality of connecting steel bars 6, a rotating shaft 17, a plurality of rotating blocks 18, a servo motor, a stepping motor 19 and a photoelectric switch; wherein, the storage and retrieval box 15 is hollow inside, and includes a first square shell, a conical shell and a second square shell that are integrally formed and sequentially connected, and a box door 25 that can open and close the first square shell is hinged on the first square shell, and the inner diameter of the conical shell gradually increases from the direction close to the first square shell toward the direction close to the second square shell, and the free end of the second square shell has an opening; the connecting rod 14 includes a first connecting rod, a vertical rod and a second connecting rod that are vertically connected in sequence, and the first connecting rod and the second connecting rod are mutually connected. The first connecting rod is parallel and located on opposite sides of the vertical rod, one end of the first connecting rod is connected to one side end of the second slider 13 by a plurality of bolts, and one end of the second connecting rod is connected to the top of the conical shell by a plurality of bolts; the connecting steel bars 6 are arranged in sequence in the first square shell, and both ends are movably connected to the two opposite inner walls of the first square shell; the stepping motor 19 is arranged in the first square shell, and is connected to one side of the push plate 16 for transmission, and the other side of the push plate 16 is pressed against the outermost connecting steel bar 6 to move the connecting steel bar 6 to squeeze it into the rotating groove 20 on the rotating block 18; the rotating shaft 17 is rotatably installed in the cavity formed by the conical shell and the second square shell, and is slidably installed on the outer wall. It is equipped with a plurality of rotating blocks 18 protruding from the opening on the second square shell; the servo motor is connected to the rotating shaft 17 for driving the rotating shaft 17 to rotate; the rotating block 18 is V-shaped as a whole, and a rotating groove 20 is provided on the rotating block 18 that runs through its top and bottom. The rotating groove 20 cooperates with the connecting steel bar 6, and a clamp 21 for clamping the connecting steel bar 6 is installed on its inner side wall; in addition, a first pressing plate 22 and a second pressing plate 23 are installed at intervals on the outer wall of the rotating shaft 17. The first pressing plate 22 can be slidably arranged on the rotating shaft 17, and the second pressing plate 23 is fixed on the rotating shaft 17, and a connecting spring 24 is connected between the first pressing plate 22 and the second pressing plate 23. The connecting spring 24, the first pressing plate 22 and the rotating block 18 are distributed in sequence from bottom to top; one end of the laser radar 28 is connected to the second slider 13, and it is arranged horizontally, directly above the steel mesh 2, and close to the gripper robot arm 4; the graphics acquisition device is installed on a side wall of the second slider 13, directly above the steel mesh 2, and close to the laser radar 28; the photoelectric switch is installed on the conical shell and electrically connected to the controller, and is used to detect the position of the rotating block 18, the rotating shaft 17 and the connecting steel bar 6 in real time, and send the detected information to the controller; the controller is electrically connected to the servo motor, the stepper motor 19, and the clamp 21 respectively, and is used to control the opening and closing of the servo motor, the stepper motor 19, and the clamp 21 respectively.

[0040] It should be noted that its driving mechanism includes a cylinder 26 and a pressing block 27; the top of the cylinder 26 is connected to the bottom of the second slider 13, and the driving end of its bottom is connected to the pressing block 27, the steel bar storage and retrieval mechanism, the cylinder 26, the gripper arm 4, and the welding robot 5 are connected to the second slider 13 in sequence, and the steel bar storage and retrieval mechanism is connected to one side end of the second slider 13, and the cylinder 26, the gripper arm 4, and the welding robot 5 are connected to the bottom of the second slider 13; the pressing block 27 is located directly above the end opening of the second square shell, and is located directly above the rotating block 18 and the connecting steel bar 6 protruding from the opening, so that it can press the rotating plate and the connecting steel bar 6 downward, and the pressing block 27 includes an integrally formed rectangular pressure head and a cylindrical pressing portion. The rectangular pressure head can press the rotating block 18 and the connecting steel bar 6 protruding from the opening downward, and then can press the connecting steel bar 6 down to the point to be welded; the controller is electrically connected to the cylinder 26 for controlling the opening and closing of the cylinder 26. The cylinder 26 is started, which can drive the pressing block 27 at the bottom to move downward, so that the pressing block 27 presses the connecting steel bar 6 located directly below it downward, and presses the connecting steel bar 6 to the point to be welded for welding.

[0041] It should be noted that in the process of pushing the pressing block 27 to press the rotating block 18 and the connecting steel bar 6 thereon downward, the first pressing plate 22 and the connecting spring 24 are compressed, which can provide a stable supporting force for the connecting steel bar 6, ensuring that the connecting steel bar 6 can be pressed into the rotating groove 20 smoothly and accurately.

[0042] Furthermore, in this embodiment, the servo motor, stepper motor 19, photoelectric switch, gripper 21, cylinder 26, and laser radar 28 can all employ existing structures, and their specific structures and operating principles are not further described herein. Furthermore, the image acquisition device can employ existing technologies such as cameras and photosensors. The camera is used to detect the welding status of the welding points in real time, and the photosensors transmit the detected information to the controller.

[0043] First, manually place a sufficient amount of connecting steel bars 6 in the storage and retrieval box 15. Before starting the device, all mechanical parts are in the initial state, the push plate 16 is in the non-activated state, and no pressure is applied to the steel bars; then the system self-checks, and the device will perform a short self-check process to check whether all parts are working properly; the rotating shaft 17 and the rotating block 18 are set to the starting position, ready for the first round of operation; the staff presses the start button, the laser radar 28 scans the working area and determines whether to start the operation, and transmits the scanning information to the controller. If the operation can be started, the movable bracket 3 is moved to move the steel bar storage and retrieval mechanism, The driving mechanism, the gripper arm 4, and the welding robot 5 move to the position just above the welding area, and the controller sends a command to the servo motor to instruct the servo motor to start working; the servo motor is started to drive the rotating shaft 17 to rotate slowly, and the photoelectric switch detects the position of the rotating shaft 17 in real time. When it detects that the rotating groove 20 on the rotating block 18 can be accurately aligned with the connecting steel bar 6, the detection information is sent to the controller, and the controller sends commands to the stepper motor 19 and the clamper 21 respectively. At this time, the stepper motor 19 starts and drives the push plate 16 to squeeze the connecting steel bar 6, and squeezes the connecting steel bar 6 into the rotating groove 20, and starts the clamper 2 1, firmly clamp the connecting steel bar 6 through the clamp 21; as the rotating shaft 17 continues to rotate, the rotating block 18 holding the connecting steel bar 6 gradually moves to the outside of the opening of the second square shell; when the rotating block 18 reaches the preset position, the photoelectric switch detects its presence and transmits a signal to the controller, which instructs the servo motor to stop running, and then the rotating shaft 17 stops rotating; at this time, the laser radar 28 scans whether there is any obstruction in the trajectory of the connecting steel bar 6 moving directly downward in the area to be welded, and sends the scanning information to the controller. If there is no obstruction, the controller sends a command to the cylinder 26 to start the cylinder 26, The cylinder 26 drives the pressing block 27 to press the connecting steel bar 6 downward and press the connecting steel bar 6 to the designated welding position. If there is an obstruction, the controller sends instructions to the clamp 21 and the gripper arm 4 respectively. The clamp 21 releases the steel bar, and the gripper arm 4 clamps the steel bar to the designated welding position. The controller instructs the welding robot 5 to weld based on the weld point information provided by the image acquisition device. After welding is completed, the image acquisition device detects the weld to determine whether the weld is complete. If the weld is incomplete, the welding robot 5 continues to repair it. If the weld is complete, the welding operation is completed and the next operation is automatically carried out. When all the connecting steel bars 6 that need to be processed are pressed into the rotating groove 20 and the welding is completed, the operator can manually stop the operation of the entire device. At this time, all mechanical components will return to the initial state and wait for the next start-up instruction.

[0044] In addition, in this embodiment, a method for operating a bridge intelligent welding device is also provided, which mainly uses the above-mentioned bridge intelligent welding device to perform welding operations on the connecting steel bars 6 of the bridge, including the following steps:

[0045] S1, using the laser radar 28 to scan the welding area on the steel mesh 2 in real time, including scanning the position of the connecting steel bars 6 in the working area and the obstruction of the moving area, to determine whether to start the work and stop the work if there is an obstruction during the work. The scanning information is sent to the controller in real time, and the controller determines whether to start the work in the working area based on the scanning situation;

[0046] S2, if the working conditions are not met, the staff will clean it up; if the working area meets the working conditions, the steel bar storage and retrieval mechanism, the driving mechanism, the gripper arm 4, and the welding robot 5 will be moved to the designated position; the servo motor will be started to drive the rotating shaft 17 on the steel bar storage and retrieval mechanism to rotate, and when the photoelectric switch detects that the rotating groove 20 on the rotating shaft 17 is aligned with the connecting steel bar 6 on the steel bar storage and retrieval mechanism, the stepper motor 19 will be started to push the connecting steel bar 6 into the rotating groove 20 through the pushing plate 16; the clamp 21 in the rotating groove 20 will be started to clamp the connecting steel bar 6;

[0047] S3, using a laser radar 28 to detect whether the moving path below the connecting steel bar 6 is blocked: if the moving path below the connecting steel bar 6 is blocked, the gripper robot 4 is used to clamp the connecting steel bar 6 and move it to the point to be welded, and the welding robot 5 welds the welding point; if the moving path below the connecting steel bar 6 is not blocked, the cylinder 26 in the drive mechanism is activated, and the pressing block 27 at the bottom of the cylinder 26 is used to press the connecting steel bar 6 down to the point to be welded, and the welding robot 5 welds the welding point;

[0048] S4, using an image acquisition device to detect the weld condition at the welding point to determine whether the weld is intact; if the image acquisition device detects that the weld is intact, the welding is completed and the next operation is carried out; if the image acquisition device detects that the weld is defective, the welding is continued until the weld is intact, and then the next operation is carried out.

[0049] In summary, the intelligent welding device for bridges and the operating method of the intelligent welding device for bridges of the present application realize the continuous grasping, placement and welding integration of the connecting steel bars 6, greatly improving the welding efficiency; it drives the multiple rotating blocks 18 to rotate synchronously through the rotating shaft 17, and uses the stepping motor 19 and the push plate 16 to realize the continuous and rapid removal of the connecting steel bars 6, which can effectively improve the movement efficiency of the connecting steel bars 6. At the same time, it uses the laser radar 28 and image acquisition equipment for identification and positioning during the operation process, greatly improving the accuracy and efficiency of welding; under the guidance of the laser radar 28, the welding robot 5 can achieve precise movement in the longitudinal and transverse directions of the support platform 1, and obtain the position and posture of the connecting steel bars 6 through the laser radar 28, and locate the position of the welding area through the image acquisition equipment, thereby accurately completing the welding operation. In addition, its operating environment is unmanned, which effectively solves the safety problem of the staff. Moreover, the entire operation process of the device is completed independently by the welding robot 5. The staff only needs to operate on the monitoring interface, realizing the automation of the entire welding process, significantly improving the intelligence level and operating efficiency of the welding robot 5, replacing the high-cost manual welding operation, greatly reducing the labor cost expenditure, and realizing the automation and efficiency of the welding operation.

[0050] The above description is merely a preferred embodiment of the present application and is not intended to limit the present application. Those skilled in the art will readily appreciate that various modifications and variations are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present application shall be included within the scope of protection of the present application.

Claims

1. A bridge welding device, used for welding connecting steel bars of bridges, characterized in that: The invention comprises a support platform, a steel mesh, a movable bracket, a steel bar storage and retrieval mechanism, a driving mechanism, a gripper robot, a welding robot and a controller; the steel mesh is arranged on the support platform; the movable bracket is movably arranged on the support platform; the steel bar storage and retrieval mechanism is installed on the movable bracket and is located above the steel mesh, and is used to store and take out the connecting steel bars to be welded by the steel mesh; the driving mechanism is installed on the movable bracket and is transmission-connected with the steel bar storage and retrieval mechanism, and is configured to press the connecting steel bars on the steel bar storage and retrieval mechanism down to the point to be welded when there is no obstruction above the point to be welded; the gripper robot is installed on the movable bracket and is configured to press the connecting steel bars on the steel bar storage and retrieval mechanism down to the point to be welded when there is no obstruction above the point to be welded When there is an obstruction above, the connecting steel bar is clamped to the point to be welded; the welding robot is installed on the movable bracket, and is used to weld the connecting steel bar to the point to be welded on the steel mesh; the controller is electrically connected to the steel bar storage and retrieval mechanism, the driving mechanism, the clamping robot and the welding robot, and is used to control the steel bar storage and retrieval mechanism to take out the connecting steel bar, and make the driving mechanism press down the taken-out connecting steel bar or the clamping robot clamp the taken-out connecting steel bar to the point to be welded, so that the welding robot welds the connecting steel bar; the steel bar storage and retrieval mechanism includes a connecting rod, an retrieval box, a pushing plate, a plurality of connecting steel bars, a rotating shaft, a plurality of rotating blocks, a servo motor, a stepping motor and a plurality of other components. and a photoelectric switch; the two ends of the connecting support rod are respectively connected to the movable bracket and the access box; the connecting steel bars are arranged in sequence in the access box, and both ends are movably connected to the two opposite inner side walls of the access box; the stepping motor is arranged in the access box and is transmission-connected to one side of the push plate; the other side of the push plate presses against the outermost connecting steel bar to squeeze the connecting steel bar into the rotating groove on the rotating block; the rotating shaft is rotatably installed in the opening at the other end of the access box, and a plurality of rotating blocks protruding from the opening are slidably installed on the outer peripheral wall; the servo motor is transmission-connected to the rotating shaft; a rotating groove is provided on the rotating block, and a rotating groove is installed There is a clamp for clamping the connecting steel bars; a slidable first pressing plate and a fixed second pressing plate are installed on the rotating shaft, a connecting spring is connected between the first pressing plate and the second pressing plate, and the second pressing plate, the connecting spring, the first pressing plate and the rotating block are arranged in sequence from bottom to top; the photoelectric switch is installed on the access box and electrically connected to the controller, and is used to detect the positions of the rotating block, the rotating shaft and the connecting steel bars in real time, and send the detected information to the controller; the controller is electrically connected to the servo motor, the stepper motor, the photoelectric switch and the clamp, respectively, and is used to control the opening and closing of the servo motor, the stepper motor and the clamp, respectively.

2. The bridge welding device according to claim 1, characterized in that: The movable bracket includes two first guide rails; the two first guide rails are installed on the support platform in parallel and at intervals, and a movable first slider is installed on each first guide rail; the steel mesh is located between the two first guide rails; a support structure is connected between the two first sliders; the steel bar storage and retrieval mechanism, the driving mechanism, the gripper robot arm and the welding robot are all installed on the support structure.

3. The bridge welding device according to claim 2, characterized in that: The supporting structure includes two pillars; each of the pillars is installed on the top of the corresponding first slider, and a connecting platform is connected between the two pillars; a second guide rail is installed on the bottom of the connecting platform; a movable second slider is installed on the second guide rail, and the projection of the moving direction of the second slider on the supporting platform is perpendicular to the moving direction of the first slider; the steel bar storage and retrieval mechanism, the driving mechanism, the gripper robot and the welding robot are all installed on the second slider.

4. The bridge welding device according to claim 1, characterized in that: The rotation groove passes through the top and bottom of the rotation block and matches the connecting steel bar.

5. The bridge welding device according to claim 1, characterized in that: The storage and access box is hollow inside and includes a first square shell, a conical shell, and a second square shell that are integrally formed and sequentially connected; a door that can open and close the first square shell is hinged on the first square shell; the inner diameter of the conical shell gradually increases from the direction close to the first square shell toward the direction close to the second square shell, and the free end of the second square shell has the opening; the rotating block protrudes out of the opening.

6. The bridge welding device according to claim 1, characterized in that: The connecting rod includes a first connecting rod, a vertical rod and a second connecting rod which are vertically connected in sequence; the first connecting rod and the second connecting rod are parallel and respectively located on opposite sides of the vertical rod; one end of the first connecting rod is connected to the movable bracket, and one end of the second connecting rod is connected to the access box.

7. The bridge welding device according to claim 1, characterized in that: The driving mechanism includes a cylinder and a pressing block; the top end of the cylinder is connected to the movable bracket, and the driving end at the bottom is connected to the pressing block; the pressing block is located directly above the end opening of the steel bar storage and retrieval mechanism, and includes an integrally formed rectangular pressure head and a cylindrical pressing portion, and is used to press the connecting steel bars down to the point to be welded; the controller is electrically connected to the cylinder for controlling the opening and closing of the cylinder.

8. The bridge welding device according to claim 1, characterized in that: It also includes a laser radar and an image acquisition device; the laser radar is installed on a movable bracket and is electrically connected to the controller, and is used to scan the working conditions of the working area on the steel mesh in real time, and send the scanning information to the controller in real time; the image acquisition device is installed on the front end of the welding robot and is electrically connected to the controller, and is used to detect the welding conditions of the welding points in real time, and send the detection conditions to the controller in real time.

9. A method for operating a bridge welding device, characterized in that: The welding operation of connecting steel bars of a bridge using the bridge welding device according to any one of claims 1 to 8 comprises the following steps: S1, using a laser radar to scan the welding area of the steel mesh in real time, and sending the scanning information to the controller in real time, and the controller determines whether to start the operation in the working area according to the scanning situation; S2, if the working area meets the working conditions, the steel bar storage and retrieval mechanism, the driving mechanism, the gripper arm, and the welding robot are moved to the designated position; the servo motor is started to drive the rotating shaft on the steel bar storage and retrieval mechanism to rotate; when the photoelectric switch detects that the rotating groove on the rotating shaft is aligned with the connecting steel bar on the steel bar storage and retrieval mechanism, the stepper motor is started to push the connecting steel bar into the rotating groove via the pushing plate; the clamp in the rotating groove is started to clamp the connecting steel bar; S3, using the laser radar to detect whether the moving path below the connecting steel bar is blocked: if the moving path below the connecting steel bar is blocked, using the gripper robot arm to clamp the connecting steel bar and move it to the point to be welded, and using the welding robot to weld the welding point; if the moving path below the connecting steel bar is not blocked, starting the cylinder in the driving mechanism, using the pressing block at the bottom of the cylinder to press the connecting steel bar down to the point to be welded, and using the welding robot to weld the welding point; S4, use image acquisition equipment to detect the weld condition at the welding point to determine whether the weld is intact; if the weld is intact, complete the welding and proceed to the next operation; if the weld has defects, continue to repair the welding until the weld is intact, and then proceed to the next operation.

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