A road bridge steel structure welding device

Abstract

The present invention relates to the technical field of steel structure welding, and more specifically to a road and bridge steel structure welding device, comprising a steel structure welding mechanism, the steel structure welding mechanism comprising a welding device, an ultrasonic probe, a connecting line, and a central control system. The welding device is used to weld a welding area, and the ultrasonic probe is connected to the central control system via a connecting line. The central control system determines whether there is a defect in the welding area and the type of defect that exists based on the echo signal obtained by the ultrasonic probe. If a defect exists, the central control system determines whether the defect actually exists based on the echo signals at different positions in the welding area. If a defect actually exists, the power change rate of the welding device during the secondary welding process of the welding area is obtained. The present invention monitors the defects in the welding area in real time through the central control system, and simultaneously obtains the power change rate of the welding device during the secondary welding process, so that defects in the welding area can be promptly processed, thereby improving the quality and efficiency of road and bridge steel structure welding.

Description

Technical Field

[0001] The present invention relates to the technical field of steel structure welding, and in particular to a road bridge steel structure welding device. Background Art

[0002] Road and bridge steel structures refer to structures whose primary load-bearing and stress-bearing components are made of steel. Due to their high strength and light weight, they are widely used in road and bridge construction across highways, railways, municipal administration, water conservancy, and other sectors. Welding is a critical process in bridge steel structure fabrication, and its quality directly impacts the bridge's load-bearing capacity, rigidity, and lifespan. Defects such as cracks and pores in welded areas can degrade the performance of welded joints and easily lead to safety incidents. Therefore, timely and accurate defect detection of welded areas is crucial and a key task for bridge steel structure manufacturers.

[0003] In the prior art, according to the patent application number CN109332985A, entitled "A Steel Structure Welding Device," welding is performed on welded areas within steel structures. In this prior art, the welding process focuses solely on the welding of the steel structure. After welding is completed, manual inspection of defects in the welded areas is performed to determine whether secondary welding is required to prevent defects in the welded areas, which can pose hazards to road and bridge steel structure welding. In practice, manual inspection of welded area defects is inaccurate and consumes significant manpower and material resources, resulting in an inability to identify defects within the welded areas. Consequently, accurate secondary welding of the welded areas is impossible, resulting in low efficiency and quality throughout the welding process for the road and bridge steel structures. Summary of the Invention

[0004] In order to solve the technical problem that manual defect detection of the welding area is inaccurate, resulting in low efficiency and quality of the welding process of the entire road and bridge steel structure, the present invention provides a road and bridge steel structure welding device, and the technical solution adopted is as follows:

[0005] A road bridge steel structure welding device includes a steel structure welding mechanism, the steel structure welding mechanism including a welding device, a connecting plate, an ultrasonic probe, a connecting line, and a central control system. The welding device and the ultrasonic probe are respectively set below the midpoint of the bottom of the connecting plate. The welding device is used to weld the welding area. The ultrasonic probe is connected to the central control system via the connecting line.

[0006] The ultrasonic probe is used to obtain the echo signal of the welding area;

[0007] The central control system is used to determine whether there are defects in the welding area and the type of defects based on the received echo signals;

[0008] If it is determined that there is a defect, then the similarity of the echo signals obtained by the ultrasonic probe at different positions in the welding area within a preset time period is used to determine whether there is indeed a defect in the welding area;

[0009] If it is determined that there is indeed a defect in the welding area, the power change rate of the welding device during the secondary welding process of the welding area is obtained based on the similarity between the echo signal of the welding area and the defect echo signal corresponding to the existing defect type, as well as the power change of the welding device during the current welding process in the welding area.

[0010] Furthermore, the method for determining whether there is a defect in the welding area is:

[0011] According to the similarity between the echo signal of the welding area and the corresponding defect echo signal of each defect type, the matching value between the welding area and each defect type is obtained;

[0012] When there is a matching value greater than a preset matching value threshold, it is determined that there is a defect in the welding area;

[0013] When all matching values ​​are less than or equal to a preset matching value threshold, it is determined that there is no defect in the welding area.

[0014] Furthermore, the matching value is obtained by:

[0015] Obtaining the duration of the defect echo signal corresponding to each defect type as the first duration of each defect type;

[0016] For any defect type, twice the first duration of the defect type is used as the reference duration;

[0017] The time period corresponding to the forward reference time length from the current time as the starting point is used as the reference time period;

[0018] The DTW value of the defect echo signal corresponding to the defect type and the echo signal of the welding area in the reference time period is obtained as the difference degree value through the dynamic time rule algorithm;

[0019] The result of negative correlation and normalization of the difference degree values ​​is used as the matching value between the welding area and the defect type.

[0020] Furthermore, the method for obtaining the defect type is:

[0021] When it is determined that there is a defect in the welding area, the defect type corresponding to the largest matching value is used as the defect type of the welding area.

[0022] Furthermore, the acquisition method of the ultrasonic probe at different positions in the welding area is:

[0023] When it is determined that there is a defect in the welding area, the operation of the welding device is temporarily suspended, and the static position of the ultrasonic probe at the current moment is used as the initial position;

[0024] The ultrasonic probe is deflected left and right at preset angles at the initial position, and both are used as adjustment positions.

[0025] Furthermore, the method for determining whether there is a defect in the welding area is:

[0026] Acquire echo signals of the initial position and each adjusted position within a preset time period through an ultrasonic probe;

[0027] The DTW values ​​of the echo signals at the initial position and each adjusted position within a preset time length are obtained by a dynamic time rule algorithm as signal difference values ​​between the initial position and each adjusted position;

[0028] The mean of the signal distinction values ​​is used as the pseudo defect degree value of the welding area;

[0029] When the pseudo defect level value is less than or equal to the preset defect level threshold, it is determined that there is a real defect in the welding area;

[0030] When the pseudo defect degree value is greater than the preset defect degree threshold, it is determined that there is no real defect in the welding area.

[0031] Furthermore, the time period corresponding to the current welding process is a reference time period corresponding to the defect type corresponding to the welding area.

[0032] Furthermore, the method for obtaining the power change rate of the welding device during the secondary welding process of the welding area is:

[0033] The power change rate of the welding device during the secondary welding process of the welding area is obtained according to the matching value between the welding area and the corresponding defect type, and the power change rate of the welding device during the corresponding time period of the current welding process of the welding area.

[0034] Furthermore, the calculation formula for obtaining the power change rate of the welding device during the secondary welding process of the welding area is: Where v is the power change rate of the welding device during the secondary welding process of the welding area; τ is the matching value between the welding area and the corresponding defect type; L is the first duration of the corresponding defect type in the welding area; 2L is the duration of the corresponding time period of the current welding process; P is the preset normal power during the welding process; P min It is the minimum power during welding; It is the power change rate of the welding device in the welding area during the corresponding time period of the current welding process.

[0035] Furthermore, the preset duration is set to 5 seconds.

[0036] The present invention has the following beneficial effects:

[0037] The ultrasonic probe and central control system are set in the steel structure welding mechanism to monitor whether there are defects in the welding area in real time, which is conducive to accurately analyzing the quality of road and bridge steel structure welding. The central control system can accurately determine whether there are defects in the welding area and the type of defects by analyzing the echo signal of the welding area obtained by the ultrasonic probe. If it is determined that there is a defect, the ultrasonic probe obtains the echo signal of the welding area at different positions within the preset time period. The similarity of the echo signal is used to determine whether the welding area really has a defect, effectively avoiding the interference of false defects and improving the working efficiency of the welding device. If it is determined that there is a defect in the welding area, the power change rate of the welding device during the secondary welding process of the welding area is obtained based on the similarity between the echo signal of the welding area and the defect echo signal corresponding to the defect type, as well as the power change of the welding device during the current welding process of the welding area. The welding area is accurately welded during the secondary welding process, the hazards of welding defects are eliminated in time, and the normal welding area is avoided from being over-welded, thereby avoiding the adverse effect on the material properties of the steel structure around the normal welding area, thereby improving the quality and efficiency of road and bridge steel structure welding. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions and advantages of the embodiments of the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the prior art descriptions. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0039] Figure 1 A structural cross-sectional view of a front view of a road bridge steel structure welding device provided by the present invention;

[0040] Figure 2 for Figure 1 A partial enlarged view of middle A;

[0041] Figure 3 for Figure 1 Structural cross-section of the left view of the middle BB area;

[0042] Figure 4 A schematic diagram of the data processing flow corresponding to a road bridge steel structure welding device provided by the present invention;

[0043] Figure 5 Defect waveform diagrams of some defect types provided by the present invention;

[0044] In the figure, 1 is the base, 2 is the support plate, 3 is the connecting plate, 4 is the telescopic cylinder, 5 is the welding device, 6 is the movable shaft, 7 is the cross bar, 8 is the baffle, 9 is the top plate, 10 is the bottom plate, 11 is the bolt, 12 is the threaded groove, 13 is the slide groove, 14 is the slider, 15 is the clamping plate, 16 is the limit groove, 17 is the limit block, 18 is the block, 19 is the slot, 20 is the clamping rod, 21 is the operating rod, 22 is the reinforcement plate, 23 is the groove, 24 is the ball bearing, 25 is the fixing plate, 26 is the reset spring, 27 is the operating handle, 28 is the rotating handle, 29 is the ultrasonic probe, 30 is the connecting pipe, 31 is the telescopic cylinder, 32 is the connecting line, and 33 is the central control system. DETAILED DESCRIPTION

[0045] The present embodiment provides a road bridge steel structure welding device, including a steel structure welding mechanism, wherein the steel structure welding mechanism includes a welding device, a connecting plate, an ultrasonic probe, a connecting line, and a central control system. The function of the steel structure welding device in the known publication number CN109332985A, titled "A Steel Structure Welding Device", only includes welding the welding area, and does not include detecting the quality of the welding area after welding, resulting in an inability to timely determine whether the welding area has defects and whether secondary welding is required. Therefore, the present embodiment adds an ultrasonic probe and a central control system to the steel structure welding mechanism in the known publication number CN109332985A, titled "A Steel Structure Welding Device", such as Figures 1 to 3As shown, the steel structure welding mechanism of this embodiment includes a base 1, and the left and right sides of the top of the base 1 are fixedly connected to support plates 2, and the bottoms of the front and back of the support plates 2 are fixedly connected to reinforcing plates 22, and the side of the reinforcing plate 22 close to the support plate 2 is fixedly connected to it. By arranging the reinforcing plate 22, the connection between the support plate 2 and the base 1 is more stable, and the tops of the two support plates 2 are fixedly connected by a connecting plate 3, and the midpoints of the bottoms of the connecting plates 3 are fixedly connected to a telescopic cylinder 4 and a telescopic cylinder 31 respectively, and the output end of the telescopic cylinder 4 is fixedly connected to a welding device 5, and the output end of the telescopic cylinder 31 is fixedly connected to a connecting pipe 30, and the lower end of the connecting pipe 30 is fixedly connected to an ultrasonic probe 29, and the ultrasonic probe 29 is connected by a connecting line 32. It is connected to the central control system 33, wherein the central control system 33 is located above the connecting plate 3, and the midpoints of the opposite sides of the two support plates 2 are movably connected to a cross bar 7 through a movable shaft 6, and the side of the cross bar 7 away from the movable shaft 6 is fixedly connected to a symmetrically arranged baffle 8, and the top and bottom of the two baffles 8 are fixedly connected by a top plate 9 and a bottom plate 10 respectively. A bolt 11 is provided above the top plate 9, and a threaded groove 12 adapted to the bolt 11 is provided on the top of the top plate 9. The bottom of the bolt 11 passes through the threaded groove 12 and extends to the bottom of the top plate 9. A slide groove 13 is provided on the opposite side of the two baffles 8 on the same side, and the slide groove 13 is movably connected to a slider 14 adapted thereto, and the side of the slider 14 away from the slide groove 13 passes through the slide groove 13 and The two sliders 14 are fixedly connected by a clamping plate 15 at the top of the clamping plate 15 and at the position corresponding to the bolt 11. The internal movability connection of the limit groove 16 is provided with a limit block 17 adapted thereto. The bottom of the limit block 17 is provided with grooves 23 arranged at equal distances. The internal movability connection of the groove 23 is provided with a ball 24 adapted thereto. The bottom of the ball 24 passes through the groove 23 and extends to the outside to contact the bottom of the inner wall of the limit groove 16. By setting the groove 23 and the ball 24, the friction caused by the limit block 17 directly contacting the limit groove 16 is avoided. The bottom of the bolt 11 passes through the limit groove 16 and extends to the inside to be fixedly connected to the top of the limit block 17. The notch of the limit groove 16 is fixedly connected There is a stopper 18 used in conjunction with the limit block 17, and a slot 19 is provided on the side of the top plate 9 and the bottom plate 10 close to the support plate 2. The internal movability of the slot 19 is connected with a card rod 20 adapted thereto. The surface of the card rod 20 is fixedly connected to a fixing plate 25 on the side close to the slot 19. A return spring 26 is sleeved on the surface of the card rod 20 and located between the support plate 2 and the fixing plate 25. The support plate 2 and the fixing plate 25 are fixedly connected by the return spring 26. By providing the fixing plate 25 and the return spring 26, the card rod 20 can be better stuck into the slot 19 and prevented from being separated from the slot 19 when no force is applied. The side of the card rod 20 away from the slot 19 sequentially penetrates the slot 19 and the support plate 2 and extends to the outside of the support plate 2.The two clamping rods 20 on the same side are fixedly connected by an operating rod 21. An operating handle 27 is fixedly connected to the side of the operating rod 21 away from the clamping rod 20. The provision of the operating handle 27 makes it more convenient for workers to operate the operating rod 21. Through the mutual cooperation among the telescopic cylinder 4, welding device 5, telescopic cylinder 31, connecting pipe 30, ultrasonic probe 29, central control system 33, movable shaft 6, cross bar 7, baffle 8, top plate 9, bottom plate 10, bolt 11, threaded groove 12, slide 13, slider 14, clamping plate 15, limit groove 16, limit block 17, block 18, clamping groove 19, clamping rod 20 and operating rod 21, a steel structure welding device with a rotation function and simultaneous defect detection of the welding area is realized, greatly improving the efficiency and stability of the entire steel structure welding process.

[0046] In this embodiment, during the welding process of a steel structure, an ultrasonic probe 29 slides across the surface of the welded area after welding to obtain an echo signal from the welded area. The obtained echo signal is then transmitted to a central control system 33 via a connecting line 32. The central control system 33 processes the received echo signal to determine whether the welded area has a defect. If a defect is determined to be present, the welding device 5 is temporarily suspended. The ultrasonic probe obtains echo signals at different positions in the welded area and transmits them to the central control system 33. The central control system 33 further analyzes whether the welded area actually has a defect. If a defect is determined to be present, the central control system 33 adaptively obtains the power change rate of the welding device during the secondary welding process of the welded area. The connecting plate 3 is moved to move the welding device 5 and the ultrasonic probe 29 to the initial position of the welded area where the defect was detected. The welding device is then started and a secondary welding process is performed on the welded area based on the obtained power change rate of the welding device during the secondary welding process, thereby improving the accuracy of the secondary welding. The central control system 33 is a conventional processor chip such as a single-chip microcomputer, such as an FPGA, a CPU, or an MCU.

[0047] The central control system processes the echo signal of the welding area obtained by the ultrasonic probe, such as Figure 4 The figure shows a data processing flow diagram corresponding to a road bridge steel structure welding device, which includes the following steps:

[0048] Step S1: Determine whether there is a defect in the welding area and the type of defect based on the received echo signal.

[0049] Specifically, during the steel structure welding process, the ultrasonic probe slides along the welding direction on the welded steel structure surface, i.e., the welding area. The existing welding defect types include slag inclusion defect type, porosity defect type, poor welding defect type and other defect types. Different types of defect types correspond to different defect waveforms, such as Figure 5As shown, in Figure 5 It includes slag inclusion defect waveform, porosity defect waveform and poor welding waveform, among which, Figure 5 The horizontal axis represents time, and the vertical axis represents echo amplitude. The defect waveform corresponding to each defect type is the defect echo signal for that defect type. Therefore, this embodiment compares the received echo signal with the defect echo signals of different defect types to determine whether a defect exists in the weld area and what type of defect exists.

[0050] As the welding device welds the steel structure, the ultrasonic probe subsequently moves to the welded area where the welding is completed, acquiring real-time echo signals from the welded area. Therefore, the echo signals in the central control system are real-time echo signals from the welded area where the welding is completed, and thus the echo signals from the welded area are continuous. However, in actual situations, the durations of the echo signals for different defect types are fixed and different. At the same time, the durations of the echo signals corresponding to the defects in the welded area may be greater or less than the durations corresponding to the echo signals for different defect types. To accurately compare the echo signals of the welded area with the echo signals of different defect types, this embodiment first acquires the duration of the defect echo signal corresponding to each defect type as the first duration for each defect type. For any defect type, twice the first duration of the defect type is used as the reference duration. The implementer can set the reference duration based on actual conditions and the value is not limited here. The time period corresponding to the reference duration forward in time from the current moment is used as the reference time period, ensuring that the reference time period always ends at the current moment, which facilitates the timely detection of defects in the welded area. The echo signal of the welding area within the reference time period is used as the echo signal segment to be compared with the echo signal of the defect type, and then the DTW value of the defect echo signal corresponding to the defect type and the echo signal of the welding area within the reference time period is obtained through the dynamic time rule algorithm as the difference degree value; wherein, the smaller the difference degree value, the more likely the defect type is the defect type of the welding area at the current moment, that is, the more the defect type matches the welding area. Therefore, this embodiment negatively correlates and normalizes the difference degree value as the matching value between the welding area and the defect type. The larger the matching value, the more likely the welding area is to have a defect and the more likely it is to be the defect type at the current moment. The calculation formula of the matching value is: τ m =exp(-D m ); where τ m is the matching value between the welding area and the mth defect type; D mis the difference between the weld area and the mth defect type; exp is an exponential function with a natural constant as its base. At this point, the matching value between the weld area and each defect type is obtained. The dynamic time rule algorithm is well known and will not be described in detail here.

[0051] It is known that the larger the matching value, the more likely the weld area is defective at the current moment, and the more likely it is of the corresponding defect type. Therefore, when a matching value is greater than a preset matching value threshold, the weld area is determined to be defective, and the defect type corresponding to the largest matching value is used as the defect type of the weld area at the current moment. When all matching values ​​are less than or equal to the preset matching value threshold, the weld area is determined to be free of defects. In this embodiment, the preset matching value threshold is set to 0.5. Implementers can set the preset matching value threshold to a higher or lower value based on actual conditions, and this is not limited here.

[0052] Step S2: If it is determined that there is a defect, whether there is indeed a defect in the welding area is determined based on the similarity of the echo signals obtained by the ultrasonic probe at different positions in the welding area within a preset time period.

[0053] When using an ultrasonic instrument to inspect the weld quality of a weld area, the surface of the weld area is typically required to remain flat. However, in practice, due to factors such as the material of the steel structure and the special structure of the weld, the surface of the weld area is often uneven. Therefore, the echo signal obtained by the ultrasonic probe may contain echo signals of pseudo-defects, that is, the defect determined by the matching value may be a pseudo-defect. It is known that when a defect actually exists in the weld area, the echo signals of the defect at different angles are similar. When a pseudo-defect exists in the weld area, because the echo signal corresponding to the pseudo-defect can only appear at a specific location, the echo signals of the pseudo-defect at different angles must be significantly different. Therefore, when determining whether a defect exists in the weld area, this embodiment adjusts the ultrasonic probe at a preset angle at the weld area. Then, based on the similarity of the echo signals obtained by the ultrasonic probe at different locations within a preset time period, it is further determined whether the weld area actually exists.

[0054] Preferably, in one possible implementation of this embodiment, the ultrasonic probe acquires echo signals at different locations in the weld area using the following method: When a defect is determined in the weld area, the welding apparatus is first temporarily suspended to prevent the subsequent welds from being analyzed promptly and defects in the weld area from being addressed promptly, potentially leading to instability in the road or bridge steel structure. The ultrasonic probe's current static position is then used as the initial position, and the ultrasonic probe acquires echo signals from the initial position within a preset duration. Finally, the ultrasonic probe is deflected left and right by a preset angle from the initial position, each of which is considered an adjusted position. The ultrasonic probe then sequentially acquires echo signals from each adjusted position within a preset duration. In this embodiment, the preset duration is set to 5 seconds, and the preset angle is set to 5°. The preset duration and angle can be adjusted by the implementer based on actual circumstances and are not limited herein. Thus, the echo signals for the initial position and each adjusted position, as well as the echo signals for the initial position and each adjusted position within the preset duration, are determined. It should be noted that the echo signals for the initial position and each adjusted position within the preset duration are acquired while the welding apparatus is suspended.

[0055] To analyze the likelihood that the defect in the weld region at the current moment is a pseudo-defect, a dynamic time rule algorithm is used to obtain the DTW values ​​of the echo signals at the initial position and each adjusted position within a preset time period. These values ​​serve as the signal difference between the initial position and each adjusted position. A larger signal difference value indicates a more significant difference between the echo signals at different positions within the defect region at the current moment, indirectly indicating that the defect within the defect region at the current moment may also be a pseudo-defect. To accurately determine the likelihood that the weld region at the current moment is a pseudo-defect, this embodiment uses the mean of the signal difference values ​​as the pseudo-defect severity value for the weld region. A larger pseudo-defect severity value indicates a less likely presence of a true defect in the weld region at the current moment. Therefore, when the pseudo-defect severity value is less than or equal to a preset defect severity threshold, the weld region is considered to be defective. When the pseudo-defect severity value is greater than the preset defect severity threshold, the weld region is considered to be defective. In this embodiment, the preset defect severity threshold is set to 1. Implementers can adjust the preset defect severity threshold based on actual circumstances and are not limited here.

[0056] Step S3: If it is determined that there is indeed a defect in the welding area, the power change rate of the welding device during the secondary welding process of the welding area is obtained based on the similarity between the echo signal of the welding area and the defect echo signal corresponding to the existing defect type, as well as the power change of the welding device during the current welding process of the welding area.

[0057] Specifically, when it is determined that the welding area at the current moment is truly defective, the defect type corresponding to the welding area at the current moment can be determined simultaneously. Then, based on the first duration L of the corresponding defect type, a corresponding reference duration 2L is obtained. The current moment is used as the starting point, and the moment 2L away from the current moment is used as the reference moment in the chronological order. The position of the welding device at the reference moment is used as the reference position. The welding area between the reference position and the corresponding position of the welding device at the current moment must have a defect. The time period corresponding to the welding device welding from the reference position to the corresponding position at the current moment is the reference time period corresponding to the defect type corresponding to the welding area. The welding within this reference time period is the current welding process. Knowing that the current welding process has defects, in order to improve the stability of the steel structure welding, the welding device is moved to the reference position, and a secondary welding is performed on the welding area corresponding to the current welding process. The duration of the secondary welding of the welding device is also 2L.

[0058] In practice, the welding area corresponding to the current welding process may contain some normal welding areas. If the secondary welding process for the welding areas corresponding to the current welding process is performed at the preset normal power, some of the normal welding areas may be over-welded, thereby affecting the material properties of the steel structure surrounding the normal welding areas, such as hardness and toughness. Therefore, this embodiment requires adaptive adjustment of the welding device power during the secondary welding process. Given that the acquired echo signals are continuous in time, when a welding defect is detected, it can be inferred that the later the echo signal in the current welding process becomes, the more similar it is to the defect echo signal, i.e., the later the defect appears in the current welding process. Therefore, the power of the welding device should be gradually varied from small to large during the secondary welding process. Considering that the duration and power of the secondary welding process and the current welding process are the same, i.e., the duration is 2L and the power is the preset normal power, this embodiment obtains the power change rate of the welding device during the current welding process based on the power change of the welding device in the welding area during the current welding process. This is the power change rate of the welding device during the secondary welding process without considering any external factors.

[0059] Considering that the closer the echo signal of the weld area is to the defect echo signal corresponding to the existing defect type during the corresponding time period of the current welding process, the more obvious the defect in the weld area is during the current welding process, and the higher the welding device power should be. Therefore, when it is determined that a defect truly exists in the weld area, this embodiment obtains the rate of change of the welding device power during the secondary welding process of the weld area based on the similarity between the echo signal of the weld area and the defect echo signal corresponding to the existing defect type, as well as the change in the welding device power during the current welding process.

[0060] From the process of obtaining the matching value in step S1, it can be inferred that the more similar the echo signal of the welding area is to the defect echo signal corresponding to the existing defect type during the corresponding time period of the current welding process, the greater the matching value between the welding area and the corresponding defect type at the current moment. Therefore, this embodiment obtains the power change rate of the welding device during the secondary welding process of the welding area based on the matching value between the welding area and the corresponding defect type, as well as the power change rate of the welding device during the corresponding time period of the current welding process. The calculation formula for obtaining the power change rate of the welding device during the secondary welding process of the welding area is: Where v is the power change rate of the welding device during the secondary welding process of the welding area; τ is the matching value between the welding area and the corresponding defect type; L is the first duration of the corresponding defect type in the welding area; 2L is the duration of the corresponding time period of the current welding process; P is the preset normal power during the welding process; P min It is the minimum power during welding; It is the power change rate of the welding device in the welding area during the corresponding time period of the current welding process.

[0061] The welding device starts at a reference position and welds using the power change rate obtained during the secondary welding process until it stops at the corresponding position at the current moment. Simultaneously, the ultrasonic probe is moved to the reference position to promptly capture the echo signal from the weld area after the welding device completes the welding. Once the secondary welding is complete, the welding device continues welding normally according to the set route and at the preset normal power. Simultaneously, the ultrasonic probe monitors the completed weld area. This allows for welding quality monitoring throughout the entire welding process of the road and bridge steel structure, allowing for timely secondary welding of any defects. The entire road and bridge steel structure welding device is then stopped until the welding process is complete.

[0062] In summary, this embodiment includes a steel structure welding mechanism, which includes a welding device, an ultrasonic probe, a connecting line, and a central control system. The welding device is used to weld the welding area, and the ultrasonic probe is connected to the central control system via a connecting line. The central control system determines whether there is a defect in the welding area and the type of defect that exists based on the echo signal obtained by the ultrasonic probe. If a defect exists, it determines whether the defect actually exists based on the echo signals at different positions in the welding area. If a defect actually exists, the power change rate of the welding device during the secondary welding process of the welding area is obtained. The present invention monitors the defects in the welding area in real time through the central control system, and simultaneously obtains the power change rate of the welding device during the secondary welding process, so that defects in the welding area are promptly processed, thereby improving the quality and efficiency of road and bridge steel structure welding.

[0063] It should be noted that the order in which the embodiments of the present invention are described above is for illustrative purposes only and does not necessarily represent the superiority or inferiority of the embodiments. The processes depicted in the accompanying drawings do not necessarily require the specific order or sequential order shown to achieve the desired results. In certain embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0064] The various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referred to each other. Each embodiment focuses on the differences from other embodiments.

Claims

1. A road bridge steel structure welding device, including a steel structure welding mechanism, characterized in that: The steel structure welding mechanism includes a welding device, a connecting plate, an ultrasonic probe, a connecting line and a central control system. The welding device and the ultrasonic probe are respectively set below the midpoint of the bottom of the connecting plate. The welding device is used to weld the welding area. The ultrasonic probe is connected to the central control system via the connecting line. The ultrasonic probe is used to obtain the echo signal of the welding area; The central control system is used to determine whether there are defects in the welding area and the type of defects based on the received echo signals; If it is determined that there is a defect, then the similarity of the echo signals obtained by the ultrasonic probe at different positions in the welding area within a preset time period is used to determine whether there is indeed a defect in the welding area; If it is determined that there is a defect in the welding area, the power change rate of the welding device during the secondary welding process of the welding area is obtained based on the similarity between the echo signal of the welding area and the defect echo signal corresponding to the existing defect type, as well as the power change of the welding device during the current welding process of the welding area; The acquisition method of the ultrasonic probe at different positions in the welding area is as follows: When it is determined that there is a defect in the welding area, the operation of the welding device is temporarily suspended, and the static position of the ultrasonic probe at the current moment is used as the initial position; Deflect the ultrasonic probe left and right at the initial position by a preset angle, both of which serve as adjustment positions; The method for determining whether there is a defect in the welding area is: Acquire echo signals of the initial position and each adjusted position within a preset time period through an ultrasonic probe; The DTW values ​​of the echo signals at the initial position and each adjusted position within a preset time length are obtained by a dynamic time rule algorithm as signal difference values ​​between the initial position and each adjusted position; The mean of the signal distinction values ​​is used as the pseudo defect degree value of the welding area; When the pseudo defect level value is less than or equal to the preset defect level threshold, it is determined that there is a real defect in the welding area; When the pseudo defect degree value is greater than the preset defect degree threshold, it is determined that there is no real defect in the welding area.

2. A road bridge steel structure welding device as claimed in claim 1, characterized in that: The method for determining whether a welding area has defects is as follows: According to the similarity between the echo signal of the welding area and the corresponding defect echo signal of each defect type, the matching value between the welding area and each defect type is obtained; When there is a matching value greater than a preset matching value threshold, it is determined that there is a defect in the welding area; When all matching values ​​are less than or equal to a preset matching value threshold, it is determined that there is no defect in the welding area.

3. A road bridge steel structure welding device as claimed in claim 2, characterized in that: The method for obtaining the matching value is: Obtaining the duration of the defect echo signal corresponding to each defect type as the first duration of each defect type; For any defect type, twice the first duration of the defect type is used as the reference duration; The time period corresponding to the forward reference time length from the current time as the starting point is used as the reference time period; The DTW value of the defect echo signal corresponding to the defect type and the echo signal of the welding area in the reference time period is obtained as the difference degree value through the dynamic time rule algorithm; The result of negative correlation and normalization of the difference degree values ​​is used as the matching value between the welding area and the defect type.

4. A road bridge steel structure welding device as claimed in claim 2, characterized in that: The method for obtaining the defect type is: When it is determined that there is a defect in the welding area, the defect type corresponding to the largest matching value is used as the defect type of the welding area.

5. A road bridge steel structure welding device as claimed in claim 3, characterized in that: The time period corresponding to the current welding process is a reference time period corresponding to the defect type corresponding to the welding area.

6. A road bridge steel structure welding device as claimed in claim 5, characterized in that: The method for obtaining the power change rate of the welding device during the secondary welding process of the welding area is: The power change rate of the welding device during the secondary welding process of the welding area is obtained according to the matching value between the welding area and the corresponding defect type, and the power change rate of the welding device during the corresponding time period of the current welding process of the welding area.

7. A road bridge steel structure welding device as claimed in claim 6, characterized in that: The calculation formula for obtaining the power change rate of the welding device during the secondary welding process of the welding area is: Where, The rate of change of power of the welding device during the secondary welding process in the welding area; is the matching value between the welding area and the corresponding defect type; is the first duration of the corresponding defect type in the welding area; The duration of the corresponding time period of the current welding process; P is the normal power preset during welding; It is the minimum power during welding; It is the power change rate of the welding device in the welding area during the corresponding time period of the current welding process.

8. A road bridge steel structure welding device as claimed in claim 1, characterized in that: The preset duration is set to 5 seconds.

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