An automated welding trolley device for the flange plate of a steel box girder

Abstract

The present invention relates to the technical field of steel beam welding, and specifically to an automated steel box beam flange plate welding trolley device, comprising 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 for grabbing the flange plate on the flange plate placement rack is also provided on the mounting platform, the vacuum suction cup assembly is installed on the mounting rack, and the mounting rack is fixedly installed at the working end of a manipulator, and the mounting platform is located on a side of the manipulator away from the flange plate placement rack and is provided with a horizontally extending first slide rail, a slide is provided on the first slide rail, and a welding robot is fixedly installed on the slide. This technical solution places multiple flange plates through the flange plate placement rack, so that they can be moved with materials, 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.

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 plates and side webs of the steel box girder need to be welded together, and the welded seams and the outer surfaces of the flange plates need to be coated with anti-corrosion paint. Traditionally, when welding and painting flange plates, most people use a rental aerial platform for construction, or set up a support on the lower side of the flange plate of the steel box girder, and the construction workers climb up the support to carry out construction; renting an aerial platform is expensive and is greatly restricted by the terrain. Setting up the support is cumbersome, and it 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 provided 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 is provided on one side of the connecting beam, a control box is provided above the mounting base, and walking wheels are provided 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 located on the side of the manipulator away from the flange plate placement rack and is provided with a horizontally extending first slide rail, the first slide rail is provided with a slide, 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 placement rack is slidably installed on the second slide rail, and a vertical rear baffle is provided on the side of the flange plate placement rack away from the vacuum suction cup assembly, and the mounting platform is provided with front baffles on both sides of the flange plate placement rack, the flange plate is vertically placed on the flange plate placement 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, the rear baffle is provided with several vertically extending first vertical slots, the back plate is provided with several vertically extending second vertical slots, and a lower pressure plate is slidably installed on the back plate, and the lower pressure plate is located in the first vertical slot and the second vertical slot 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, and shafts are provided at both ends of the first mounting seat, the shafts are rotatably mounted on the movable seat, and the movable seat is slidably mounted on the third slide rail; a first linear drive for driving the movable seat to move along the third slide rail is provided on the mounting table; a rotary drive for driving the first mounting seat to rotate around the axis of the shaft is provided on the movable seat.

[0010] Preferably, the lower pressure plate consists of a mounting sleeve and an adjustment plate, the mounting sleeve is connected to the first mounting seat, the adjustment plate is slidably installed in the mounting sleeve, a screw is provided on the upper side of the adjustment 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 adjustment plate in the mounting sleeve to keep the minimum straight-line distance between the top of the adjustment 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 the 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 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 a limited manner in the second limiting hole.

[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] First, the trolley device in the present invention places multiple flange plates through the flange plate placement rack, so that it can be moved with the material. 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 scissors lift platform can ensure that the equipment 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. 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 it 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. This 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 grab the flange panel at the same position. By positioning the position of the flange panel, the accuracy of grabbing is guaranteed.

[0020] Third, 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. 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, so that the lower pressure plate is flipped 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 it for the thickness of different flange plates, ensuring that only the flange plates adsorbed by the vacuum suction cup assembly can move up and out of 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 side of the back plate, so that the distance between the rear baffle and the front baffle of the flange plate placement rack increases. When the flange plate placement rack moves away from the front baffle, the front baffle also moves in the opposite direction, which is convenient for loading and placing the flange plates. 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 This is a front view of an automated steel box girder flange welding trolley device;

[0026] Figure 5 yes Figure 4 Cross-sectional view at BB;

[0027] Figure 6 It is a three-dimensional installation platform for the automated 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 automated steel box girder flange plate welding trolley device and the flange plate placement frame. Figure 2 ;

[0030] Figure 9 This is a three-dimensional structural decomposition of the mounting platform and flange plate placement frame of an automated steel box girder flange plate welding trolley device. Figure 1 ;

[0031] Figure 10 This is a three-dimensional structural decomposition of the mounting platform and flange plate placement frame of an automated steel box girder flange plate welding trolley device. Figure 2 .

[0032] The numbers in the figure are: 1, traveling vehicle; 11, scissor lift platform; 2, mounting platform; 21, first slide rail; 211, slide platform; 212, counterweight; 213, support arm; 22, second slide rail; 221, mounting slot; 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 slot; 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, rotary drive; 255, mounting sleeve; 256, adjustment plate; 257, screw; 258, limiting hole; 259, locking nut; 26, lower groove; 261, second linear drive; 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 achieved by the present invention, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0034] Reference Figures 1 to 10 :

[0035] An automated steel box girder flange plate welding trolley device includes 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 rack 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 rack 41, the mounting rack 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 the 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, and 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 includes 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, and 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 the flange plates, and the vacuum suction cup assembly 4 contacts the flange plates. After adsorption, the manipulator 42 drives the adsorbed flange plate to move to the welding position and aligns 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, manipulator 42 and welding robot 5 in this embodiment are all existing technologies. Any existing technology that can achieve the required functions is available. No further details will be 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 the material. 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 plates, thereby improving the efficiency of welding. The presence of the manipulator 42 and the scissors lift 11 can ensure that the device can place the flange plates at various height positions on the steel box girder.

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

[0038] The mounting platform 2 is provided with a horizontal second slide rail 22, and the second slide rail 22 extends in the direction of the vacuum suction cup assembly 4, and the flange plate placing frame 3 is slidably installed on the second slide rail 22, and a vertical rear baffle 31 is provided on the side of the flange plate placing frame 3 away from the vacuum suction cup assembly 4. The mounting platform 2 is located at both sides of the flange plate placing frame 3 and a front baffle 23 is provided. The flange plate is placed vertically on the flange plate placing frame 3 and keeps both sides clamped by the rear baffle 31 and the front baffle 23; the mounting platform 2 is located at the side of the rear baffle 31 away from the vacuum suction cup assembly 4 and a vertical back plate 24 is provided on the rear baffle 31. Several vertically extending first vertical slots 311 are provided on the rear baffle 31, and several vertically extending second vertical slots 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 slot 311 and the second vertical slot 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 is fitted with 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 table 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 table 2. The lower pressure plate 25 slidably mounted on the back plate 24 of the mounting table 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 31 until it fits into the upper side of the flange plate. In this embodiment, the rear baffle 31 cooperates with the front baffle 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. The position of the flange plates will not change when the traveling vehicle 1 moves, which makes it convenient for 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 set:

[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 movable seat 253, and the movable seat 253 is slidably mounted on the third slide rail 242; a first linear drive 243 for driving the movable seat 253 to move along the third slide rail 242 is provided on the mounting platform 2; a rotation drive 254 for driving the first mounting seat 251 to rotate around the axis of the shaft 252 is provided on the movable seat 253.

[0042] The first and second mounting brackets 251 are connected to the first and second mounting brackets 253, respectively, and the first and second mounting brackets 253 are connected to the first and second mounting brackets 253. The first and second mounting brackets 251 are connected to the first and second mounting brackets 253, respectively.

[0043] In order to ensure the accuracy of the manipulator 42 in grasping the flange plate, the manipulator 42 can be set to drive the vacuum suction cup assembly 4 to reset to a specified position each time to adsorb the flange plate. 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 consists 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 provided on the upper side of the adjustment plate 256. A limiting hole 258 extending along the length direction of the mounting sleeve 255 is provided 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 is 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 panel at the front baffle 23 can be grabbed by the vacuum suction cup assembly 4 and moved upward to separate from the flange panel placement rack 3. When the manipulator 42 drives the vacuum suction cup assembly 4 to grab the flange panel and separate from the flange panel placement rack 3, the flange panel placement rack 3 can move along the second slide rail 22 to move the subsequent flange panel to a position that fits the front baffle 23, which not only maintains the stability of the flange panel, but also enables the subsequent manipulator 42 to drive the vacuum suction cup assembly 4 to reset and then grab the flange panel at the same position. By positioning the position of the flange panel, 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 drive 261 is fixedly installed in the lower groove 26, and the second linear drive 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 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 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 drive 261, and the guide rod is inserted in the guide sleeve provided on the back plate 24, and a spring 245 is provided on the guide sleeve, which 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. When the second linear drive 261 in the lower groove 26 is started, the push plate 262 can be driven to move. After the push plate 262 contacts the top plate 32, the flange plate placement rack 3 is pushed to move toward the side of the back plate 24, so that the distance between the rear baffle 31 and the front baffle 23 of the flange plate placement rack 3 is increased, which is convenient for loading and placing the flange plate. 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. During the process of loading the flange plate, the spring 245 is compressed. When the flange plate is loaded, the second linear actuator 261 drives the push plate 262 to reset. The flange plate placement frame 3 moves toward the front baffle 23 under the elastic force of the spring 245 until the frontmost flange plate is in contact with the front baffle 23. The flange plate placement frame 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 frame 3. At this time, the flange plate placement frame 3 continues to move under the elastic force of the spring 245 until the subsequent flange plate is in contact with the front baffle 23 and reaches the grasping position of the vacuum suction cup assembly 4. The second linear actuator 261 in this embodiment can be a pneumatic cylinder, an oil cylinder, or an electric push rod.

[0050] In order to achieve the purpose of moving the front baffle 23 in the opposite direction while the flange plate placement rack 3 is 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 engaged with the rotating gear 233 rotatably mounted on the bottom of the mounting platform 2.

[0052] The second mounting seat 231 in this embodiment is installed with 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 mounted on 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 placement and arrangement of the flange plates.

[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 is limited and moved in the second limiting hole 265.

[0054] When the second mounting seat 231 moves to the first limiting hole 234 close to the end of the flange plate placement rack 3, it stops moving, limiting the position of the front baffle 23. When the staff places the flange plate, they ensure 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 driver 261 can drive the push plate 262 to move and 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 provided:

[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. 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 moves horizontally to enable the subsequent flange plate to reach the specified loading position. The positioning of the flange plate is simple. The movement of the flange plate is achieved by the flange plate placement rack 3 moving along the second slide rail 22. The mounting groove 221 on the second slide rail 22 is equipped with a roller 222. 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, and the electrical components are reduced while making 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 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 that is in contact 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 away from the flange plate placement rack 3 and the front baffle 23, and moves to the welding position, aligned with the steel box girder, and then the welding robot 5 on the mounting table 2 moves along the first slide rail 21 to automatically weld the contact position of the flange plate and the steel box girder. After the flange plate is separated from the flange plate placement rack 3, the flange plate placement rack 3 moves along the second slide rail 22, so that the subsequent flange plates 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 repeats the grabbing and welding operations.

[0062] The above embodiments merely represent one or several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art would be able to make various modifications and improvements without departing from the spirit of the present invention, and these modifications and improvements fall within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be determined by the appended 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 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 flange plates is provided on the mounting platform (2), a vacuum suction cup assembly (4), a mounting rack (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 rack (41), the mounting rack (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 horizontally extending first slide rail (21), 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; The mounting platform (2) is provided with a horizontal second slide rail (22), the second slide rail (22) extends toward 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 kept clamped 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 a 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 slots (311); the back plate (24) is provided with a plurality of vertically extending second vertical slots (241); a lower pressing plate (25) is slidably mounted on the back plate (24); the lower pressing plate (25) is located in the first vertical slots (311) and the second vertical slots (241) and moves to press and fix the upper side of the flange plate; 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 movable seat (253); and the movable seat (253) is slidably mounted on the third slide rail (242); A first linear drive (243) is provided on the mounting platform (2) for driving the movable seat (253) to move along the third slide rail (242); 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 (252).

2. The automated steel box girder flange plate welding trolley device according to claim 1, characterized in that: 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 mounted in the mounting sleeve (255), a screw (257) is provided on the upper side of the adjustment plate (256), a limiting hole (258) extending along the length direction of the mounting sleeve (255) is provided on the upper side of the mounting sleeve (255), the screw (257) moves along the limiting hole (258), and a locking nut (259) is spirally mounted on the screw (257); The locking nut (259) fixes the position of the adjustment plate (256) in the mounting 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.

3. The automated steel box girder flange plate welding trolley device according to claim 2, 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 provided on one side of the top plate (32) away from the second linear actuator (261). The guide rod is inserted into a guide sleeve provided on the back plate (24). A spring (245) is provided on the guide sleeve. The spring (245) elastically connects the top plate (32) and the back plate (24). The elastic force of the spring (245) causes the flange plate placement frame (3) to move toward the front baffle (23).

4. The automated steel box girder flange plate welding trolley device according to claim 3, characterized in that: 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).

5. The automated steel box girder flange plate welding trolley device according to claim 3, 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).

6. The automated steel box girder flange plate welding trolley device according to claim 5, 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), and 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).

7. The automated steel box girder flange plate welding trolley device according to claim 5, characterized in that: 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 arranged horizontally 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).

8. The automated steel box girder flange plate welding trolley device according to claim 5, characterized in that: A counterweight (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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