Automatic steel box girder flange plate welding trolley device

Abstract

The invention relates to the technical field of steel beam welding, in particular to an automatic steel box beam flange plate welding trolley device which comprises a walking trolley, a shear fork lifting table is arranged on the walking trolley, a mounting table is mounted at the top of the shear fork lifting table, and a flange plate containing frame used for containing a flange plate is arranged on the mounting table. The mounting table is further provided with a vacuum suction cup assembly used for grabbing a flange plate on the flange plate containing frame, the vacuum suction cup assembly is mounted on the mounting frame, the mounting frame is fixedly mounted at the working end of the mechanical arm, the side, located on the mounting table and away from the flange plate containing frame, of the mechanical arm is provided with a first sliding rail extending horizontally, and a sliding table is arranged on the first sliding rail. According to the technical scheme, a plurality of flange plates are placed through the flange plate placing frame, so that the flange plates can be moved with materials, and the manipulator is matched with the vacuum suction cup assembly and the welding robot to achieve mounting, positioning and automatic welding of the flange plates.

Description

Technical Field

[0001] The invention relates to the technical field of steel beam welding, and in particular to an automated steel box beam flange plate welding trolley device. Background Art

[0002] As an important structural material, steel box girders are widely used in bridge construction and other fields. During the construction of large-span steel box girders, after the main body of the steel box girder is installed, the flange plate and the side web of the steel box girder need to be welded together, and the welded welds and the outer surface of the flange plate need to be coated with anti-corrosion paint. Traditionally, when welding and painting flange plates, most of the construction is done by renting aerial platforms, or setting up supports on the lower side of the flange plate of the steel box girder, and the construction workers climb up the supports to carry out the construction; renting aerial platforms is expensive, and is greatly restricted by the terrain. Setting up supports is cumbersome, and is difficult to move and climb. At the same time, it is also affected to a certain extent by the terrain.

[0003] Chinese patent CN219925030U discloses a steel box girder flange plate welding trolley, which includes a first mounting frame, first brackets are fixedly connected to the upper two sides of the first mounting frame, a second mounting frame is correspondingly arranged on one side of the first mounting frame, and second brackets are also fixedly connected to the upper two ends of the second mounting frame, a connecting beam is fixedly connected to the middle of the first mounting frame and the second mounting frame, a mounting base plate is arranged on one side of the connecting beam, a control box is arranged above the mounting base plate, and walking wheels are arranged at the bottom of the first mounting frame and the second mounting frame.

[0004] This equipment only serves as a aerial platform and cannot carry the flange plates that need to be welded. Therefore, the flange plates still need to be positioned one by one before welding, and the degree of automation is low. Summary of the invention

[0005] In view of the above problems, it is necessary to provide an automated steel box girder flange plate welding trolley device to address the existing technical problems.

[0006] In order to solve the problems of the prior art, the technical solution adopted by the present invention is:

[0007] An automated steel box girder flange plate welding trolley device comprises a traveling vehicle, a scissor lift platform is provided on the traveling vehicle, a mounting platform is installed on the top of the scissor lift platform, a flange plate placement rack for placing the flange plate is provided on the mounting platform, a vacuum suction cup assembly, a mounting rack and a manipulator are also provided on the mounting platform, the vacuum suction cup assembly for grabbing the flange plate on the flange plate placement rack is installed on the mounting rack, the mounting rack is fixedly installed on the working end of the manipulator, and the manipulator drives the vacuum suction cup assembly for adsorbing the flange plate to move to the installation position of the steel box girder; the mounting platform is provided with a horizontally extending first slide rail on the side of the manipulator away from the flange plate placement rack, a slide is provided on the first slide rail, a welding robot is fixedly installed on the slide, and the slide drives the welding robot to move along the first slide rail to weld the connection position of the flange plate and the steel box girder.

[0008] Preferably, the mounting platform is provided with a horizontal second slide rail, the second slide rail extends in the direction of the vacuum suction cup assembly, the flange plate placing rack is slidably installed on the second slide rail, and a vertical rear baffle is provided on the side of the flange plate placing rack away from the vacuum suction cup assembly, and front baffles are provided on both sides of the flange plate placing rack of the mounting platform, the flange plate is vertically placed on the flange plate placing rack and kept clamped on both sides by the rear baffle and the front baffle; the mounting platform is provided with a vertical back plate on the side of the rear baffle away from the vacuum suction cup assembly, a plurality of vertically extending first vertical grooves are provided on the rear baffle, a plurality of vertically extending second vertical grooves are provided on the back plate, and a lower pressure plate is slidably installed on the back plate, and the lower pressure plate is located in the first vertical groove and the second vertical groove and moves to press and fix the upper side of the flange plate.

[0009] Preferably, a vertically extending third slide rail is provided on the side of the back plate away from the rear baffle, the lower pressure plate is fixedly connected to the horizontal first mounting seat, both ends of the first mounting seat are provided with shaft rods, the shaft rods are rotatably mounted on the moving seat, and the moving seat is slidably mounted on the third slide rail; a first linear drive for driving the moving seat to move along the third slide rail is provided on the mounting table; a rotating drive for driving the first mounting seat to rotate around the axis of the shaft rod is provided on the moving seat.

[0010] Preferably, the lower pressure plate consists of a mounting sleeve and an adjusting plate, the mounting sleeve is connected to the first mounting seat, the adjusting plate is slidably installed in the mounting sleeve, a screw is provided on the upper side of the adjusting plate, a limiting hole extending along the length direction of the mounting sleeve is provided on the upper side of the mounting sleeve, the screw moves along the limiting hole, and a locking nut is spirally installed on the screw; the locking nut fixes the position of the adjusting plate in the mounting sleeve to keep the minimum straight-line distance between the top of the adjusting plate and the front baffle greater than or equal to the thickness of a single flange plate and less than twice the thickness of the flange plate.

[0011] Preferably, a lower groove is provided on the mounting table, and a top plate extending into the lower groove is provided at the bottom of the flange plate placement rack, and a second linear drive is fixedly installed in the lower groove, and the second linear drive is located on a side of the top plate close to the vacuum suction cup assembly, and a push plate is provided on the working end of the second linear drive, and the second linear drive drives the push plate to fit the top plate to push the flange plate placement rack to move toward the back plate; a guide rod extending along the length direction of the lower groove is provided on the side of the top plate away from the second linear drive, and the guide rod is inserted in a guide sleeve provided on the back plate, and a spring is provided on the guide sleeve, which elastically connects the top plate and the back plate, and the elastic force of the spring causes the flange plate placement rack to move toward the front baffle.

[0012] Preferably, the flange plate placement rack is provided with a slot with an opening toward one side of the rear baffle, and the mounting platform is provided with a horizontal positioning plate, which is inserted into the slot.

[0013] Preferably, the front baffle is fixedly mounted on the second mounting seat, and the bottom of the second mounting seat is fixedly connected to the first rack; horizontally extending extension rods are provided on both sides of the push plate, the extension rods are perpendicular to the length direction of the lower groove, and the extension rods are fixedly connected to the second rack; the first rack and the second rack are both slidably mounted on the bottom of the mounting platform and extend along the length direction of the second slide rail, and the first rack and the second rack are respectively meshed and connected with the rotating gear rotatably mounted on the bottom of the mounting platform.

[0014] Preferably, a first limiting hole is provided on the mounting platform, the second mounting seat and the first rack are connected through the first limiting hole, and the first limiting hole extends along the length direction of the second slide rail; second limiting holes are provided on both sides of the lower groove, the second limiting holes extend along the length direction of the lower groove, and the extension rod moves in the second limiting hole for limiting movement.

[0015] Preferably, a mounting groove extending along the length direction of the second slide rail is provided on the top of the second slide rail, and a plurality of rollers are rotatably installed in the mounting groove. The axes of the rollers are horizontally arranged perpendicular to the length direction of the second slide rail, and the surfaces of the rollers protrude from the surface of the second slide rail.

[0016] Preferably, a counterweight block and a support arm are respectively provided at both ends of the connection position between the first slide rail and the mounting platform.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] Firstly, the trolley device in the present invention places multiple flange plates through the flange plate placement frame, so that the material can be moved, and the manipulator cooperates with the vacuum suction cup assembly and the welding robot to realize the installation, positioning and automatic welding of the flange plates, thereby improving the welding efficiency. The presence of the manipulator and the scissor lift table can ensure that the device can place the flange plates at various height positions of the steel box girder.

[0019] Secondly, the flange panels in the present invention are arranged vertically and in sequence on the flange panel placement rack, and the minimum straight-line distance between the top of the lower pressure plate and the front baffle is greater than or equal to the thickness of a single flange panel and less than twice the thickness of the flange panel. Therefore, only the flange panel that is attached to the front baffle can be grasped by the vacuum suction cup assembly and moved upward to separate from the flange panel placement rack. When the manipulator drives the vacuum suction cup assembly to grasp the flange panel and separate from the flange panel placement rack, the flange panel placement rack can move along the second slide rail to move the subsequent flange panel to a position that is attached to the front baffle, which not only maintains the stability of the flange panel, but also enables the subsequent manipulator to drive the vacuum suction cup assembly to reset and then grasp the flange panel at the same position. By positioning the position of the flange panel, the accuracy of grasping is guaranteed.

[0020] Thirdly, all the lower pressure plates in the present invention are installed on the first mounting seat, and the first mounting seat is installed on the movable seat by rotating the shaft rod. The first linear drive can push the movable seat to move along the third slide rail, thereby changing the height position of the lower pressure plate, which is convenient for the lower pressure plate to clamp and fix flange plates of different widths. The rotary drive can drive the first mounting seat to rotate around the axis of the shaft rod to flip the lower pressure plate to a vertical state, releasing the space above the flange plate placement rack, which is convenient for the staff to arrange and place the flange plates. The lower pressure plate is composed of a mounting sleeve and an adjusting plate. The adjusting plate can be moved in the mounting sleeve to change the overall length of the lower pressure plate, thereby adjusting the thickness of different flange plates to ensure that only the flange plates adsorbed by the vacuum suction cup assembly can move up and leave the flange plate placement rack.

[0021] Fourthly, the second linear drive in the present invention can drive the push plate to move when it is started. After the push plate contacts the top plate, it pushes the flange plate placement rack to move toward the back plate, thereby increasing the distance between the rear baffle and the front baffle of the flange plate placement rack. When the flange plate placement rack moves away from the front baffle, the front baffle also moves in the opposite direction, making it convenient for the flange plate to be loaded and placed. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a three-dimensional automated steel box girder flange welding trolley device. Figure 1 ;

[0023] Figure 2 It is a three-dimensional automated steel box girder flange welding trolley device. Figure 2 ;

[0024] Figure 3 yes Figure 2 A local enlarged view of point A;

[0025] Figure 4 It is a front view of an automated steel box girder flange plate welding trolley device;

[0026] Figure 5 yes Figure 4 A cross-sectional view of the section at BB;

[0027] Figure 6 It is a three-dimensional installation platform for the automatic steel box girder flange plate welding trolley device and the flange plate placement frame. Figure 1 ;

[0028] Figure 7 yes Figure 6 A partial enlarged view of point C;

[0029] Figure 8 It is a three-dimensional installation platform for the automatic steel box girder flange plate welding trolley device and the flange plate placement frame. Figure 2 ;

[0030] Fig. 9 The three-dimensional structure of the mounting platform and flange plate placement frame of the automated steel box girder flange plate welding trolley device is decomposed Figure 1 ;

[0031] Fig.10 The three-dimensional structure of the mounting platform and flange plate placement frame of the automated steel box girder flange plate welding trolley device is decomposed Figure 2 .

[0032] The numbers in the figure are: 1, walking car; 11, scissor lift platform; 2, mounting platform; 21, first slide rail; 211, slide platform; 212, counterweight block; 213, support arm; 22, second slide rail; 221, mounting groove; 222, roller; 23, front baffle; 231, second mounting seat; 232, first rack; 233, rotating gear; 234, first limiting hole; 24, back plate; 241, second vertical groove; 242, third slide rail; 243, first linear drive; 245, spring; 246, positioning plate; 25, lower pressure plate; 251, first Mounting seat; 252, shaft; 253, moving seat; 254, rotating driver; 255, mounting sleeve; 256, adjusting plate; 257, screw; 258, limiting hole; 259, locking nut; 26, lower groove; 261, second linear driver; 262, push plate; 263, extension rod; 264, second rack; 265, second limiting hole; 3, flange plate placement rack; 31, rear baffle; 311, first vertical slot; 32, top plate; 33, slot; 4, vacuum suction cup assembly; 41, mounting rack; 42, manipulator; 5, welding robot. DETAILED DESCRIPTION

[0033] In order to further understand the features, technical means, specific objectives and functions of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0034] Reference Figures 1 to 10 :

[0035] An automated steel box girder flange plate welding trolley device comprises a traveling vehicle 1, a scissor lift platform 11 is provided on the traveling vehicle 1, a mounting platform 2 is installed on the top of the scissor lift platform 11, a flange plate placement rack 3 for placing the flange plate is provided on the mounting platform 2, a vacuum suction cup assembly 4, a mounting frame 41 and a manipulator 42 are also provided on the mounting platform 2, the vacuum suction cup assembly 4 for grabbing the flange plate on the flange plate placement rack 3 is installed on the mounting frame 41, the mounting frame 41 is fixedly installed on the working end of the manipulator 42, and the manipulator 42 drives the vacuum suction cup assembly 4 for adsorbing the flange plate to move to the installation position of the steel box girder; the mounting platform 2 is located on a side of the manipulator 42 away from the flange plate placement rack 3 and is provided with a horizontally extending first slide rail 21, a slide 211 is provided on the first slide rail 21, a welding robot 5 is fixedly installed on the slide 211, and the slide 211 drives the welding robot 5 to move along the first slide rail 21 to weld the connection position of the flange plate and the steel box girder.

[0036] The welding trolley device of the present invention comprises a traveling vehicle 1 for movement, the traveling vehicle 1 drives the scissor lift 11 and the mounting platform 2 on the working end of the scissor lift 11 to move, the staff arranges the flange plates to be installed neatly and places them on the flange plate placement rack 3 set on the mounting platform 2, the flange plates follow the traveling vehicle 1 to move, the traveling vehicle 1 moves to one side of the steel box girder, the manipulator 42 on the mounting platform 2 is started, the working end of the manipulator 42 drives the mounting rack 41 to move, so that the vacuum suction cup assembly 4 on the mounting rack 41 contacts one side of one of the flange plates, and the vacuum suction cup assembly 4 contacts the flange plate After adsorption, the manipulator 42 drives the adsorbed flange plate to move to the welding position and align it with the steel box girder. Then, the welding robot 5 on the mounting platform 2 moves along the first slide rail 21 to automatically weld the contact position between the flange plate and the steel box girder. The vacuum suction cup assembly 4, the manipulator 42 and the welding robot 5 in this embodiment are all prior art, and any prior art that can achieve the required functions is available. No further elaboration is given here. The slide 211 on the first slide rail 21 can be driven by a driving element, so that the slide 211 can drive the welding robot 5 to move linearly in the horizontal direction on the first slide rail 21. The trolley device in this embodiment places multiple flange plates through the flange plate placement rack 3, so that it can be moved with materials. The manipulator 42 cooperates with the vacuum suction cup assembly 4 and the welding robot 5 to realize the installation, positioning and automatic welding of the flange plate, thereby improving the welding efficiency. The presence of the manipulator 42 and the scissor lift 11 can ensure that the device can place the flange plate at various height positions of the steel box girder.

[0037] In order to solve the problem of how to stabilize a plurality of neatly arranged flange panels on the flange panel placement rack 3, the following features are specifically set:

[0038] A horizontal second slide rail 22 is provided on the mounting platform 2, and the second slide rail 22 extends toward the direction of the vacuum suction cup assembly 4. The flange plate placing rack 3 is slidably installed on the second slide rail 22. A vertical rear baffle 31 is provided on the side of the flange plate placing rack 3 away from the vacuum suction cup assembly 4. Front baffles 23 are provided on both sides of the flange plate placing rack 3 of the mounting platform 2. The flange plate is vertically placed on the flange plate placing rack 3 and is kept clamped on both sides by the rear baffle 31 and the front baffle 23; a vertical back plate 24 is provided on the side of the rear baffle 31 away from the vacuum suction cup assembly 4 of the mounting platform 2, and a plurality of vertically extending first vertical grooves 311 are provided on the rear baffle 31, and a plurality of vertically extending second vertical grooves 241 are provided on the back plate 24. A lower pressing plate 25 is slidably installed on the back plate 24, and the lower pressing plate 25 is located in the first vertical groove 311 and the second vertical groove 241 and moves to press and fix the upper side of the flange plate.

[0039] The staff arranges the flange panels vertically and in sequence on the flange panel placement rack 3. The first flange panel placed fits the rear baffle 31 on one side of the flange panel placement rack 3 to maintain a vertical placement state. Since the flange panel placement rack 3 is slidably mounted on the first slide rail 21 of the mounting platform 2, when the flange panels are placed, the flange panel placement rack 3 can move along the first slide rail 21, so that the flange panel away from the rear baffle 31 is fitted with the front baffle 23 set on the mounting platform 2, and the lower pressure plate 25 slidably mounted on the back plate 24 of the mounting platform 2 can be vertically Moving upward and downward, the lower pressure plate 25 moves in the second vertical groove 241 of the back plate 24 and the first vertical groove 311 of the rear baffle plate 31 until it is in contact with the upper side of the flange plate. In this embodiment, the rear baffle plate 31 cooperates with the front baffle plate 23 to clamp the arranged flange plates in the horizontal direction, and the lower pressure plate 25 cooperates with the flange plate placement rack 3 to clamp the flange plates in the vertical direction, thereby maintaining the stability of the vertical state of the flange plates. When the traveling vehicle 1 moves, the position of the flange plates will not change, which facilitates the manipulator 42 to drive the vacuum suction cup assembly 4 to adsorb and grasp the flange plates.

[0040] In order to prevent the lower pressing plate 25 from causing obstruction when placing the flange plate, the following features are specifically provided:

[0041] A vertically extending third slide rail 242 is provided on the side of the back plate 24 away from the rear baffle 31, and the lower pressure plate 25 is fixedly connected to the horizontal first mounting seat 251. Both ends of the first mounting seat 251 are provided with shafts 252, and the shafts 252 are rotatably mounted on the moving seat 253, and the moving seat 253 is slidably mounted on the third slide rail 242; a first linear drive 243 for driving the moving seat 253 to move along the third slide rail 242 is provided on the mounting platform 2; a rotating drive 254 for driving the first mounting seat 251 to rotate around the axis of the shaft 252 is provided on the moving seat 253.

[0042] The lower pressing plate 25 in this embodiment can be provided with multiple ones, and all of the lower pressing plates 25 are installed on the first mounting seat 251. The first mounting seat 251 is rotatably installed on the moving seat 253 through the shafts 252 at both ends. The moving seat 253 is slidably installed on the third slide rail 242 on one side of the back plate 24. The first linear drive 243 can be a cylinder, an oil cylinder or an electric push rod. The first linear drive 243 can push the moving seat 253 to move along the third slide rail 242, thereby changing the height position of the lower pressing plate 25, which is convenient for the lower pressing plate 25 to clamp and fix flange plates of different widths. In this embodiment, a rotating drive 254 is installed on the moving seat 253. The rotating drive 254 can be a servo motor. The rotating drive 254 can drive the first mounting seat 251 to rotate around the axis of the shaft 252, so that the lower pressing plate 25 is flipped to a vertical state, releasing the space above the flange plate placement rack 3, which is convenient for the staff to arrange and place the flange plates.

[0043] In order to ensure the accuracy of the manipulator 42 in grabbing the flange plate, the manipulator 42 can be set to drive the vacuum suction cup assembly 4 to reset to a specified position to adsorb the flange plate each time. How to achieve the purpose of the manipulator 42 driving the vacuum suction cup assembly 4 to move to a fixed position to clamp and adsorb the flange plate, specifically set the following features:

[0044] The lower pressure plate 25 is composed of a mounting sleeve 255 and an adjustment plate 256. The mounting sleeve 255 is connected to the first mounting seat 251. The adjustment plate 256 is slidably installed in the mounting sleeve 255. A screw 257 is arranged on the upper side of the adjustment plate 256. A limiting hole 258 extending along the length direction of the mounting sleeve 255 is arranged on the upper side of the mounting sleeve 255. The screw 257 moves along the limiting hole 258. A locking nut 259 is spirally installed on the screw 257. The locking nut 259 fixes the position of the adjustment plate 256 in the mounting sleeve 255 to keep the minimum straight-line distance between the top end of the adjustment plate 256 and the front baffle 23 greater than or equal to the thickness of a single flange plate and less than twice the thickness of the flange plate.

[0045] The lower pressing plate 25 in this embodiment is composed of a mounting sleeve 255 and an adjusting plate 256. The mounting sleeve 255 is connected to the first mounting seat 251. The adjusting plate 256 can be moved in the mounting sleeve 255 to change the overall length of the lower pressing plate 25. After the staff adjusts the adjusting plate 256 to a suitable position, they rotate the locking nut 259 on the screw 257 to fix the position of the adjusting plate 256, ensuring that the minimum straight-line distance between the top of the adjusting plate 256 and the front baffle 23 is greater than or equal to the thickness of a single flange plate and less than twice the thickness of the flange plate. Therefore, only the fitting The flange plate at the front baffle 23 can be grabbed by the vacuum suction cup assembly 4 and moved upward to separate from the flange plate placement rack 3. When the manipulator 42 drives the vacuum suction cup assembly 4 to grab the flange plate and separate from the flange plate placement rack 3, the flange plate placement rack 3 can move along the second slide rail 22 to move the subsequent flange plate to a position that fits the front baffle 23. This not only maintains the stability of the flange plate, but also enables the subsequent manipulator 42 to drive the vacuum suction cup assembly 4 to reset and then grab the flange plate at the same position. By positioning the position of the flange plate, the accuracy of grabbing is guaranteed.

[0046] In order to achieve the purpose that the flange plate placement rack 3 can automatically move after the vacuum suction cup assembly 4 grabs the flange plate so that the subsequent flange plate fits the front baffle 23, the following features are specifically set:

[0047] A lower groove 26 is provided on the mounting table 2, and a top plate 32 extending into the lower groove 26 is provided at the bottom of the flange plate placement rack 3, and a second linear driver 261 is fixedly installed in the lower groove 26, and the second linear driver 261 is located on the side of the top plate 32 close to the vacuum suction cup assembly 4, and a push plate 262 is provided on the working end of the second linear driver 261, and the second linear driver 261 drives the push plate 262 to fit the top plate 32 to push the flange plate placement rack 3 to move toward the back plate 24; a guide rod extending along the length direction of the lower groove 26 is provided on the side of the top plate 32 away from the second linear driver 261, and the guide rod is inserted in a guide sleeve provided on the back plate 24, and a spring 245 is provided on the guide sleeve, and the spring 245 elastically connects the top plate 32 and the back plate 24, and the elastic force of the spring 245 causes the flange plate placement rack 3 to move toward the front baffle 23.

[0048] The flange plate placement rack 3 is provided with a slot 33 with an opening toward one side of the rear baffle 31 , and the mounting platform 2 is provided with a horizontal positioning plate 246 , which is inserted into the slot 33 .

[0049] The flange plate placement rack 3 in this embodiment is provided with a top plate 32 extending in the lower groove 26 at the bottom, and the second linear drive 261 in the lower groove 26 can be started to drive the push plate 262 to move, and the push plate 262 pushes the flange plate placement rack 3 to move toward the side of the back plate 24 after contacting the top plate 32, so that the distance between the rear baffle plate 31 and the front baffle plate 23 of the flange plate placement rack 3 is increased, which is convenient for the loading and placement of the flange plate, and the flange plate placement rack 3 moves to the side of the back plate 24 after the positioning plate 246 is fully inserted into the slot 33 of the flange plate placement rack 3, and stops moving, and the flange plate placement rack 3 moves toward the side of the back plate 24 During the process of loading the flange plate, the spring 245 is compressed. When the flange plate is loaded, the second linear driver 261 drives the push plate 262 to reset. The flange plate placement rack 3 moves to the front baffle 23 under the elastic force of the spring 245 until the frontmost flange plate fits with the front baffle 23. The flange plate placement rack 3 stops moving. The subsequent vacuum suction cup assembly 4 adsorbs the flange plate and drives the flange plate to move up and away from the flange plate placement rack 3. At this time, the flange plate placement rack 3 continues to move under the elastic force of the spring 245 until the subsequent flange plate fits with the front baffle 23 and reaches the grabbing position of the vacuum suction cup assembly 4. The second linear driver 261 in this embodiment can be a cylinder, an oil cylinder, or an electric push rod.

[0050] In order to achieve the purpose that the front baffle 23 moves in the opposite direction while the flange plate placement frame 3 moves away from the front baffle 23, the following features are specifically provided:

[0051] The front baffle 23 is fixedly mounted on the second mounting seat 231, and the bottom of the second mounting seat 231 is fixedly connected to the first rack 232; horizontally extending extension rods 263 are provided on both sides of the push plate 262, and the extension rods 263 are perpendicular to the length direction of the lower groove 26, and the extension rods 263 are fixedly connected to the second rack 264; the first rack 232 and the second rack 264 are both slidably mounted on the bottom of the mounting platform 2 and extend along the length direction of the second slide rail 22, and the first rack 232 and the second rack 264 are respectively meshed and connected with the rotating gear 233 rotatably mounted on the bottom of the mounting platform 2.

[0052] The second mounting seat 231 in this embodiment installs the front baffle 23, and the second mounting seat 231 is connected to the first rack 232 at the bottom of the mounting platform 2, and the first rack 232 is meshed with the rotating gear 233. The other side of the rotating gear 233 is meshed with the second rack 264 slidably installed at the bottom of the mounting platform 2, and an extension rod 263 is provided on the push plate 262 to connect the second rack 264. Therefore, in the process of the second linear drive 261 driving the push plate 262 to move toward the flange plate placement rack 3, the second rack 264 follows the push plate 262 to move, and the movement of the second rack 264 drives the rotating gear 233 to rotate. Therefore, the first rack 232 drives the front baffle 23 and the second mounting seat 231 to move in the opposite direction, so that the distance between the front baffle 23 and the flange plate placement rack 3 is further increased, which is convenient for the flange plates to be placed and arranged.

[0053] A first limiting hole 234 is provided on the mounting platform 2, and the second mounting seat 231 and the first rack 232 are connected through the first limiting hole 234, and the first limiting hole 234 extends along the length direction of the second slide rail 22; second limiting holes 265 are provided on both sides of the lower groove 26, and the second limiting holes 265 extend along the length direction of the lower groove 26, and the extension rod 263 moves in the second limiting hole 265.

[0054] When the first rack 232 moves, the second mounting seat 231 moves along the first limiting hole 234, and the first limiting hole 234 can limit the starting position of the front baffle 23. When the second mounting seat 231 moves to the first limiting hole 234 close to one end of the flange plate placement rack 3, it stops moving to limit the position of the front baffle 23. When the staff places the flange plate, it ensures that the flange plate does not exceed the first limiting hole 234, so that the flange plate placement rack 3 and the front baffle 23 can clamp and fix the flange plate. The extension rod 263 on the push plate 262 passes through the second limiting holes 265 on both sides of the lower groove 26 and is connected to the second rack 264, ensuring that the second linear drive 261 can drive the push plate 262 to move and can drive the second rack 264 to move synchronously.

[0055] In order to make the loading method of this embodiment more convenient than lifting the horizontally placed flange plate, the following features are specifically set:

[0056] A mounting groove 221 extending along the length direction of the second slide rail 22 is provided at the top of the second slide rail 22 , and a plurality of rollers 222 are rotatably installed in the mounting groove 221 . The axes of the rollers 222 are horizontally arranged perpendicular to the length direction of the second slide rail 22 , and the surfaces of the rollers 222 protrude from the surface of the second slide rail 22 .

[0057] The flange plate in this embodiment is placed horizontally on the flange plate placement rack 3 in a vertical state. Therefore, after the vacuum suction cup assembly 4 grabs the flange plate that fits the front baffle 23, the flange plate placement rack 3 can move horizontally to make the subsequent flange plate reach the specified loading position. The positioning of the flange plate is simple. The movement of the flange plate is achieved by moving the flange plate placement rack 3 along the second slide rail 22. A roller 222 is installed in the mounting groove 221 on the second slide rail 22. The roller 222 converts the sliding friction between the second slide rail 22 and the flange plate placement rack 3 into rolling friction, thereby ensuring that the elastic force of the spring 245 can push the flange plate placement rack 3 to move horizontally. Compared with the horizontal placement of the flange plate to drive the flange plate to be lifted, the external force required in this embodiment is smaller, which reduces the number of electrical components and makes it more convenient to position the flange plate.

[0058] In order to ensure the stability of the welding robot 5 when it moves to both ends of the first slide rail 21, the following features are specifically set:

[0059] A counterweight block 212 and a support arm 213 are respectively provided at both ends of the connection position between the first slide rail 21 and the mounting platform 2 .

[0060] In this embodiment, counterweights 212 are provided on both sides of the position where the first slide rail 21 is connected to the mounting platform 2. The counterweights 212 ensure the overall balance of the equipment when the welding robot 5 moves to both ends of the first slide rail 21, and the support arms 213 support both ends of the first slide rail 21 to prevent the first slide rail 21 from being deformed by force.

[0061] Working principle: the staff arranges the flange panels to be installed neatly and places them on the flange panel placement rack 3 set on the installation platform 2. The rear baffle 31 of the flange panel placement rack 3 cooperates with the front baffle 23 on the installation platform 2 to clamp the flange panels in the horizontal direction. The lower pressure plate 25 cooperates with the flange panel placement rack 3 to clamp the flange panels in the vertical direction. The flange panels move with the traveling vehicle 1. The traveling vehicle 1 moves to one side of the steel box girder. The manipulator 42 on the installation platform 2 is started. The working end of the manipulator 42 drives the installation rack 41 to move, so that the vacuum suction cup assembly 4 on the installation rack 41 contacts the flange panel fitted with the front baffle 23. After the vacuum suction cup assembly 4 adsorbs the flange plate, the manipulator 42 drives the adsorbed flange plate to move up and detach from the flange plate placement rack 3 and the front baffle 23, and moves to the welding position to align with the steel box girder. Then the welding robot 5 on the mounting table 2 moves along the first slide rail 21 to automatically weld the contact position between the flange plate and the steel box girder. After the flange plate detaches from the flange plate placement rack 3, the flange plate placement rack 3 moves along the second slide rail 22 to allow subsequent flange plates to continue to fit the front baffle 23. After the welding robot 5 completes the welding work, the manipulator 42 drives the vacuum suction cup assembly 4 to reset, and the grabbing and welding operations can be repeated.

[0062] The above embodiments only express one or several implementation modes of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present invention. It should be pointed out that, for a person of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the present invention patent shall be subject to the attached claims.

Claims

1. An automated steel box girder flange plate welding trolley device, characterized in that: The invention comprises a traveling vehicle (1), a scissor lift platform (11) is arranged on the traveling vehicle (1), a mounting platform (2) is installed on the top of the scissor lift platform (11), a flange plate placement frame (3) for placing flange plates is arranged on the mounting platform (2), a vacuum suction cup assembly (4), a mounting frame (41) and a manipulator (42) are also arranged on the mounting platform (2), the vacuum suction cup assembly (4) for grabbing the flange plate on the flange plate placement frame (3) is installed on the mounting frame (41), the mounting frame (41) is fixedly installed on the working end of the manipulator (42), and the manipulator (42) drives the vacuum suction cup assembly (4) for adsorbing the flange plate to move to the installation position of the steel box girder; The mounting platform (2) is located on a side of the manipulator (42) away from the flange plate placement frame (3) and is provided with a first slide rail (21) extending horizontally, a slide platform (211) is provided on the first slide rail (21), a welding robot (5) is fixedly installed on the slide platform (211), and the slide platform (211) drives the welding robot (5) to move along the first slide rail (21) to weld the connection position of the flange plate and the steel box beam.

2. The automated steel box girder flange plate welding trolley device according to claim 1, characterized in that: The mounting platform (2) is provided with a horizontal second slide rail (22), the second slide rail (22) extends in the direction of the vacuum suction cup assembly (4), the flange plate placement rack (3) is slidably mounted on the second slide rail (22), a vertical rear baffle (31) is provided on the side of the flange plate placement rack (3) away from the vacuum suction cup assembly (4), the mounting platform (2) is provided with front baffles (23) on both sides of the flange plate placement rack (3), the flange plate is vertically placed on the flange plate placement rack (3) and is held on both sides by the rear baffle (31) and the front baffle (23); The mounting platform (2) is provided with a vertical back plate (24) on one side of the rear baffle (31) away from the vacuum suction cup assembly (4); the rear baffle (31) is provided with a plurality of vertically extending first vertical grooves (311); the back plate (24) is provided with a plurality of vertically extending second vertical grooves (241); a lower pressing plate (25) is slidably installed on the back plate (24); the lower pressing plate (25) is located in the first vertical grooves (311) and the second vertical grooves (241) and moves to press and fix the upper side of the flange plate.

3. The automated steel box girder flange plate welding trolley device according to claim 2 is characterized in that: A vertically extending third slide rail (242) is provided on one side of the back plate (24) away from the rear baffle (31); the lower pressing plate (25) is fixedly connected to a horizontal first mounting seat (251); shafts (252) are provided at both ends of the first mounting seat (251); the shafts (252) are rotatably mounted on a moving seat (253); and the moving seat (253) is slidably mounted on the third slide rail (242); A first linear drive (243) for driving the moving seat (253) to move along the third slide rail (242) is provided on the mounting platform (2); The movable seat (253) is provided with a rotation driver (254) for driving the first mounting seat (251) to rotate around the axis of the shaft rod (252).

4. The automated steel box girder flange plate welding trolley device according to claim 2, characterized in that: The lower pressing plate (25) is composed of a mounting sleeve (255) and an adjusting plate (256), the mounting sleeve (255) is connected to the first mounting seat (251), the adjusting plate (256) is slidably mounted in the mounting sleeve (255), a screw rod (257) is arranged on the upper side of the adjusting plate (256), a limiting hole (258) extending along the length direction of the mounting sleeve (255) is arranged on the upper side of the mounting sleeve (255), the screw rod (257) moves along the limiting hole (258), and a locking nut (259) is spirally mounted on the screw rod (257); The locking nut (259) fixes the position of the adjustment plate (256) in the installation sleeve (255) to maintain the minimum straight-line distance between the top of the adjustment plate (256) and the front baffle (23) to be greater than or equal to the thickness of a single flange plate and less than twice the thickness of the flange plate.

5. The automated steel box girder flange plate welding trolley device according to claim 4, characterized in that: The mounting platform (2) is provided with a lower groove (26), the bottom of the flange plate placement rack (3) is provided with a top plate (32) extending into the lower groove (26), a second linear drive (261) is fixedly installed in the lower groove (26), the second linear drive (261) is located on a side of the top plate (32) close to the vacuum suction cup assembly (4), a push plate (262) is provided on the working end of the second linear drive (261), and the second linear drive (261) drives the push plate (262) to fit the top plate (32) to push the flange plate placement rack (3) to move toward the back plate (24); A guide rod extending along the length direction of the lower groove (26) is arranged on one side of the top plate (32) away from the second linear drive (261), and the guide rod is inserted into a guide sleeve arranged on the back plate (24), and a spring (245) is arranged on the guide sleeve. The spring (245) elastically connects the top plate (32) and the back plate (24), and the elastic force of the spring (245) causes the flange plate placement frame (3) to move toward the front baffle (23).

6. The automated steel box girder flange plate welding trolley device according to claim 5, characterized in that: The flange plate placement rack (3) is provided with a slot (33) with an opening facing one side of the rear baffle (31), and the mounting platform (2) is provided with a horizontal positioning plate (246), which is inserted into the slot (33).

7. The automated steel box girder flange plate welding trolley device according to claim 5, characterized in that: The front baffle (23) is fixedly mounted on the second mounting seat (231), and the bottom of the second mounting seat (231) is fixedly connected to the first rack (232); Horizontally extending extension rods (263) are provided on both sides of the push plate (262), the extension rods (263) are perpendicular to the length direction of the lower groove (26), and the extension rods (263) are fixedly connected to the second rack (264); The first rack (232) and the second rack (264) are both slidably mounted on the bottom of the mounting platform (2) and extend along the length direction of the second slide rail (22); the first rack (232) and the second rack (264) are respectively meshed and connected with a rotating gear (233) rotatably mounted on the bottom of the mounting platform (2).

8. The automated steel box girder flange plate welding trolley device according to claim 7, characterized in that: The mounting platform (2) is provided with a first limiting hole (234), the second mounting seat (231) and the first rack (232) are connected via the first limiting hole (234), and the first limiting hole (234) extends along the length direction of the second slide rail (22); Second limiting holes (265) are provided on both sides of the lower groove (26), the second limiting holes (265) extend along the length direction of the lower groove (26), and the extension rod (263) moves in a limited manner in the second limiting holes (265).

9. The automated steel box girder flange plate welding trolley device according to claim 7, characterized in that: The top of the second slide rail (22) is provided with a mounting groove (221) extending along the length direction of the second slide rail (22), and a plurality of rollers (222) are rotatably mounted in the mounting groove (221), the axes of the rollers (222) are arranged horizontally and perpendicular to the length direction of the second slide rail (22), and the surfaces of the rollers (222) protrude from the surface of the second slide rail (22).

10. The automated steel box girder flange plate welding trolley device according to claim 7, characterized in that: A counterweight block (212) and a support arm (213) are respectively provided at both ends of the connection position between the first slide rail (21) and the mounting platform (2).

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