A welding device and method suitable for welding I-beams and end plates of bridges

Abstract

The present application relates to the technical field of welding robots, and specifically to a welding device and method suitable for bridge I-beams and end plates. The device includes a vehicle body, a welding device and an obstacle avoidance welding mechanism; the vehicle body is provided with wheels; the welding device is connected to the vehicle body, and the welding device has a welding gun; the obstacle avoidance welding mechanism is connected to the vehicle body; wherein the obstacle avoidance welding mechanism includes a mounting seat, a fixed seat, a movable seat and a driving slide rod; an arched slide groove is constructed on the mounting seat; the fixed seat slides with the arched slide groove through a first slide rod, an elastic reset member is connected between the first slide rod and the mounting seat, and a sliding column is arranged on the fixed seat; a strip slide groove is constructed on the movable seat, a second slide rod is arranged on the movable seat, the welding gun is connected to the movable seat, and an elastic member is connected between one end of the strip slide groove and the sliding column; one end of the driving slide rod passes between the first slide rod and the second slide rod, and a limiting groove is constructed on the driving slide rod. The present application has the advantages of simple structure and can ensure the continuity of the weld.

Description

Technical Field

[0001] The present application relates to the technical field of welding robots, and in particular to a welding device and method suitable for welding I-beams and end plates of bridges. Background Art

[0002] During the welding process of bridge steel structure, it is necessary to weld the corrugated plate and the I-beam. Multiple corrugated plates are overlapped between two I-beams along the length direction of the I-beam. The end plate of each corrugated plate is located on the upper wing plate of the I-beam. After the adjacent corrugated plates are overlapped and welded, the corrugated plates are temporarily positioned, and the end plates are welded to the I-beam. After the end plates of multiple corrugated plates are connected, they have a considerable length with the I-beam. During the welding process, it is necessary to ensure the continuity of the weld as much as possible, so as to ensure the overall connection strength between the corrugated plate and the I-beam. There are multiple shear nails welded vertically on the upper wing plate of the I-beam. After the shear nails are welded to the I-beam, some of the shear nails may have a small deflection during the stress release process. At the same time, the shear nails may also have a small deflection due to bumps during transportation, which will cause the distance between the shear nails and the end plates to be reduced. The shear nails may interfere with the welding gun. The corresponding position of the deflected shear nails cannot be welded, and later welding is required, which reduces the welding continuity. Summary of the invention

[0003] The present application provides a welding device and method suitable for bridge I-beams and end plates. By rotating the welding gun and translating the end of the welding gun, the end of the welding gun can enter under the skewed shear nail to weld the I-beam and the end plate. After welding, the skewed shear nail can quickly avoid obstacles when the vehicle body moves by relying on the cooperation of the slide bar and the slide groove, ensuring that the welding quality before and after the corresponding position of the skewed shear nail is basically the same, thereby solving the problem of reduced welding continuity in the existing welding method.

[0004] This application is implemented through the following technical solutions:

[0005] In a first aspect, the present application provides a welding device suitable for a bridge I-beam and an end plate, comprising:

[0006] A car body, wherein the car body is provided with wheels for running on the end plates of the corrugated plates on both sides of the I-beam;

[0007] A welding device, the welding device being connected to the vehicle body and having a welding gun;

[0008] An obstacle avoidance welding mechanism, wherein the obstacle avoidance welding mechanism is connected to the vehicle body, and the welding gun cooperates with the obstacle avoidance welding mechanism to weld the end plate and the I-beam under the drive of the obstacle avoidance welding mechanism;

[0009] Wherein, the obstacle avoidance welding mechanism comprises:

[0010] A mounting seat, wherein the mounting seat is provided with an arched sliding groove;

[0011] A fixed seat, wherein the fixed seat is slidably matched with the arched slide groove through a first slide rod, an elastic reset member is connected between the first slide rod and the mounting seat, the elastic reset member is rotationally matched with the first slide rod, and a sliding column is arranged on the fixed seat;

[0012] A movable seat, wherein the movable seat is provided with a strip-shaped slide groove which forms a sliding fit with the sliding column, and the movable seat is also provided with a second slide rod, and the welding gun is connected to the movable seat, wherein an elastic member is connected between one end of the strip-shaped slide groove and the sliding column to keep the movable seat in a state relative to the fixed seat;

[0013] A driving slide bar, one end of which is rotatably connected to the mounting seat, and the other end of which passes between the first slide bar and the second slide bar. The driving slide bar is also provided with a limiting groove adapted to the second slide bar to limit the movement of the second slide bar relative to the driving slide bar in the length direction of the driving slide bar when the driving slide bar contacts the second slide bar.

[0014] The welding device for bridge I-beams and end plates provided by the present application, when encountering a deflected shear pin resulting in a spacing between the shear pin and the end plate being too small to allow the welding gun to pass through, the second sliding bar is driven to rotate by the driving sliding bar, so that the movable seat can rotate on the sliding column, and at the same time, the movable seat and the sliding column move relative to each other, thereby changing the angle between the welding gun as a whole and the vertical direction, and the end of the welding gun is translated in the horizontal direction so that the welding gun can enter between the deflected shear pin and the end plate, at this time, the position corresponding to the deflected shear pin can be welded to the I-beam and the end plate; after the welding is completed, the driving sliding bar is driven to rotate in the opposite direction, the movable seat is reset under the elastic force of the elastic member, and the driving sliding bar drives the first sliding bar to slide in the arched sliding groove, so that the end of the welding gun has an arc path, so that the welding gun can pass over the deflected shear pin after the vehicle body moves forward to achieve rapid obstacle avoidance, the welding interval at the corresponding position of the deflected shear pin is short, and the weld structural characteristics before and after this position are basically similar, which ensures the welding quality on the one hand and the welding continuity between the I-beam and the end plate on the other hand.

[0015] In some optional embodiments, the arched slide groove includes an arc segment and a straight segment, and the mounting seat is also rotatably connected to a guide arc plate, which is located at one end of the straight segment and can be rotated into the arc segment.

[0016] In some optional embodiments, a torsional elastic member is arranged between the guide arc plate and the mounting seat.

[0017] In some optional embodiments, a first magnetic adsorption portion is provided on the inner wall of one end of the arc segment, and a second adsorption portion corresponding to the first magnetic adsorption portion is provided on the first slide bar so that the first slide bar is adsorbed and positioned at one end of the arc segment.

[0018] In some optional embodiments, the mounting seat is connected to a posture stabilizing mechanism, and the posture stabilizing mechanism includes:

[0019] A slide rail connected to the mounting seat;

[0020] A guide slide bar, one end of which is slidably matched with the slide rail, and the other end is connected to the fixing seat, and the guide slide bar is configured as a telescopic rod.

[0021] In some optional embodiments, a plurality of balls are provided on the first slide bar through a groove locking ball process, and the balls are in contact with the groove wall of the arched slide groove.

[0022] In some optional embodiments, the sliding column is rotatably connected to the movable seat, wherein a stabilizing rod is connected in the strip slide groove, and both ends of the stabilizing rod are respectively connected to the two ends of the strip slide groove in the length direction, and the stabilizing rod radially moves through the sliding column, and the elastic member is configured as a coil spring and is sleeved on the stabilizing rod.

[0023] In some optional embodiments, the wheels include at least four first wheels and at least four second wheels, the first wheels and the second wheels are respectively located on both sides of the vehicle body to respectively cooperate with the end plates on both sides, and the first wheels and the second wheels are both connected to the vehicle body through a two-axis manipulator.

[0024] In some optional embodiments, the first wheel, the second wheel and the two-axis manipulator are rotationally connected, and a torsion spring is arranged between the first wheel, the second gear and the two-axis manipulator.

[0025] In a second aspect, the present application provides a welding method for a bridge I-beam and an end plate, which is implemented based on any one of the welding devices for a bridge I-beam and an end plate described in the first aspect, and includes the following contents:

[0026] Preset a first distance between the welding gun and the end plate;

[0027] Obtain the second distance between the shear stud and the end plate in real time;

[0028] When the first spacing is greater than the second spacing, the driving slide rod is rotated in the positive direction to drive the welding gun to rotate and perform welding of the I-beam and the end plate;

[0029] The driving slide bar is rotated in the opposite direction to drive the first slide bar to slide in the arched slide groove and drive the vehicle body forward at the same time;

[0030] When the car body reaches the predetermined position, the driving force of the driving slide rod is cancelled, and then the I-beam and the end plate are welded.

[0031] Compared with the prior art, this application has the following advantages and beneficial effects:

[0032] The present application provides a welding device and method for bridge I-beams and end plates. When encountering a deflected shear nail that causes the spacing between the shear nail and the end plate to be too small to allow the welding gun to pass through, the second sliding bar is driven to rotate by the driving slide bar, so that the movable seat can rotate on the sliding column, and at the same time, the movable seat and the sliding column move relative to each other, thereby changing the angle between the welding gun as a whole and the vertical direction, and the end of the welding gun is translated in the horizontal direction so that the welding gun can enter between the deflected shear nail and the end plate. At this time, the position corresponding to the deflected shear nail can be welded to the I-beam and the end plate; after the welding is completed, the driving slide bar is rotated in the opposite direction, and the movable seat is reset under the elastic force of the elastic member, and the driving slide bar drives the first sliding bar to slide in the arched slide groove, so that the end of the welding gun has an arc path, so that the welding gun can pass over the deflected shear nail after the vehicle body moves forward to achieve rapid obstacle avoidance, the welding interval at the corresponding position of the deflected shear nail is short, and the weld structural characteristics before and after this position are basically similar, which can ensure the welding continuity of the I-beam and the end plate. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solutions of the exemplary embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present application and should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without creative work. In the drawings:

[0034] Figure 1 A schematic diagram of the structure of a welding device for an I-beam and an end plate of a bridge provided in an embodiment of the present application;

[0035] Figure 2 A schematic diagram of the structure of an obstacle avoidance welding mechanism provided in an embodiment of the present application;

[0036] Figure 3 A schematic diagram of the mounting base structure provided in an embodiment of the present application;

[0037] Figure 4 for Figure 3 A schematic diagram of the enlarged structure at A in the middle;

[0038] Figure 5 A schematic diagram of the structure of the movable seat provided in the embodiment of the present application;

[0039] Figure 6A schematic diagram of the side view structure of the movable seat provided in an embodiment of the present application;

[0040] Figure 7 A schematic diagram of the structure of the fixing base provided in the embodiment of the present application;

[0041] Figure 8 A schematic diagram of the side view structure of the fixing base provided in an embodiment of the present application;

[0042] Fig. 9 A schematic diagram of the structure of the welding obstacle avoidance mechanism provided in an embodiment of the present application before welding the oblique shear pins corresponding to the position;

[0043] Fig.10 This is a schematic diagram of the state structure of the welding obstacle avoidance mechanism provided in an embodiment of the present application when the welding skew shear nails are in corresponding positions.

[0044] Marks and corresponding parts names in the attached drawings:

[0045] 100-obstacle avoidance welding mechanism, 101-mounting seat, 1011-bow slide groove, 1012-driving slide rod, 1013-limiting block, 1014-elastic reset member, 1015-slide rail, 1016-guide slide rod, 1017-guide arc plate, 102-fixed seat, 1021-sliding column, 1022-first slide rod, 103-movable seat, 1031-strip slide groove, 1032-elastic member, 1033-stabilizing rod, 1034-second slide rod, 200-vehicle body, 300-first wheel, 400-second wheel, 500-welding gun. DETAILED DESCRIPTION

[0046] In order to make the objectives, technical solutions and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with examples and drawings. The illustrative implementation scheme of the present application and its description are only used to explain the present application and are not intended to limit the present application.

[0047] First, please refer to Figure 1~Figure 4The present application provides a welding device suitable for an I-beam and an end plate of a bridge, the welding device suitable for an I-beam and an end plate of a bridge comprises a vehicle body 200, a welding device and an obstacle avoidance welding mechanism 100; the vehicle body 200 is provided with wheels for walking on the end plates of the corrugated plates on both sides of the I-beam; the welding device is connected to the vehicle body 200, and the welding device has a welding gun 500; the obstacle avoidance welding mechanism 100 is connected to the vehicle body 200, and the welding gun 500 cooperates with the obstacle avoidance welding mechanism 100 to weld the end plate and the I-beam under the drive of the obstacle avoidance welding mechanism 100; wherein the obstacle avoidance welding mechanism 100 comprises a mounting seat 101, a fixed seat 102, a movable seat 103 and a driving slide bar 1012; an arched slide groove 1011 is constructed on the mounting seat 101; the fixed seat 102 is slidably matched with the arched slide groove 1011 through a first slide bar 1022, and an elastic reset member 1022 is connected between the first slide bar 1022 and the mounting seat 101 14, the elastic reset member 1014 is rotatably matched with the first slide bar 1022, and the fixed seat 102 is provided with a slide column 1021; the movable seat 103 is constructed with a strip slide groove 1031 that forms a sliding match with the slide column 1021, and the movable seat 103 is also provided with a second slide bar 1034, and the welding gun 500 is connected to the movable seat 103, wherein an elastic member 1032 is connected between one end of the strip slide groove 1031 and the slide column 1021 so that the movable seat 103 is maintained in a state relative to the fixed seat 102; one end of the driving slide bar 1012 is rotatably connected to the mounting seat 101, and the other end passes through between the first slide bar 1022 and the second slide bar 1034. The driving slide bar 1012 is also constructed with a limiting groove adapted to the second slide bar 1034 to limit the movement of the second slide bar 1034 relative to the driving slide bar 1012 in the length direction of the driving slide bar 1012 when the driving slide bar 1012 contacts the second slide bar 1034.

[0048] When working, you can refer to Fig. 9 and Fig.10When the front of the vehicle body 200 encounters the skewed shear nail, the vehicle body 200 is stopped at a predetermined position, and the driving slide bar 1012 is controlled to rotate forwardly. The driving slide bar 1012 can drive the second slide bar 1034 to move during the forward rotation, so that the movable seat 103 can rotate on the sliding column 1021. At the same time, due to the existence of the strip slide groove 1031 and the limiting groove, the movable seat 103 can slide along the length direction of the strip slide groove 1031 at the same time, so that the end of the welding gun 500 on the movable seat 103 can enter under the skewed shear nail at the same level, and the end of the welding gun 500 can weld the I-beam and the end plate. After the welding is completed, the driving slide bar 1012 is controlled to rotate in the opposite direction, and the movable seat 103 is on the elastic member 10 32 is reset under the action of the elastic force of the sliding rod 1022, and the sliding rod can drive the first sliding rod 1022 to move during the reverse rotation process, and at the same time drive the vehicle body 200 forward, and the first sliding rod 1022 can drive the end of the welding gun 500 to move when sliding in the arched slide groove, and the end of the welding gun 500 has an arc path, and the end of the welding gun 500 can pass over the skewed shear nail to achieve obstacle avoidance function, and stop the vehicle body 200 at the second predetermined position. After the first sliding rod 1022 slides to the end of the arc segment of the arched slide groove 1011, it quickly returns to the other end of the arc segment under the action of the elastic reset member 1014. At this time, the end of the welding gun 500 corresponds to the weld at the skewed shear nail, and the I-beam beam and the end plate are continued to be welded by the welding gun 500 to make the weld continuous.

[0049] The welding device for bridge I-beams and end plates provided in the embodiment of the present application, when encountering a deflected shear nail that causes the distance between the shear nail and the end plate to be too small to allow the welding gun 500 to pass through, drives the sliding rod 1012 to drive the second sliding rod 1034 to rotate, so that the movable seat 103 can rotate on the sliding column 1021, and at the same time, the movable seat 103 and the sliding column 1021 move relative to each other, thereby changing the angle between the overall welding gun 500 and the vertical, and the end of the welding gun 500 is translated in the horizontal direction so that the welding gun 500 can enter between the deflected shear nail and the end plate, and then the position corresponding to the deflected shear nail can be corrected. Welding of the I-beam and the end plate; after the welding is completed, the driving slide bar 1012 rotates in the opposite direction, and the movable seat 103 is reset under the elastic force of the elastic member 1032, and the driving slide bar 1012 drives the first slide bar 1022 to slide in the arched slide groove 1011, so that the end of the welding gun 500 has an arc path, so that after the vehicle body 200 moves forward, the welding gun 500 can pass over the skewed shear nails to achieve rapid obstacle avoidance. The welding interval at the corresponding position of the skewed shear nails is short, that is, the previous solder has not been completely solidified, and the weld structural characteristics before and after this position are basically similar, which ensures the welding quality on the one hand, and ensures the welding continuity between the I-beam and the end plate on the other hand.

[0050] In the embodiment of the present application, the vehicle body 200 is a hollow structure as a whole, and welding equipment and other necessary electrical components / equipment are installed on the bottom plate of the vehicle body 200; the mounting seat 101 is connected to the lower bottom surface of the bottom plate, and the mounting seat 101 is in the shape of a square plate structure. The mounting seat 101 can be connected to the base through a linear module, and the plate surface of the mounting seat 101 is perpendicular to the plate surface of the bottom plate. Driven by the linear module, the mounting seat 101 can be driven away from / close to the vehicle body 200, thereby realizing the overall rise or fall of the obstacle avoidance welding mechanism 100, and then realizing the adjustment of the initial position height of the welding gun 500. An arched slide groove 1011 is provided on one of the plate surfaces of the mounting seat 101. In the working state, the straight part of the arched slide groove 1011 is horizontal, and the driving slide rod 1012 is located directly below the arched slide groove 1011. The length direction of the driving slide rod 1012 is parallel to the plate surface of the fixed seat 102, and the driving slide rod 1012 is configured with a power source capable of driving its rotation, such as a motor.

[0051] In the present application embodiment, Figure 7~Figure 8 As shown, the fixed seat 102 is a plate structure as a whole, and the fixed seat 102 and the mounting seat 101 are arranged in parallel and at intervals. The first slide bar 1022 is a circular rod, one end of which is vertically connected to the fixed seat 102, and the other end is located in the arched slide groove 1011 to form a sliding fit with the arched slide groove 1011, wherein the groove wall of the arched slide groove 1011 is provided with necessary limiting guide grooves to prevent the first slide bar 1022 from escaping from the arched slide groove 1011, and at the same time, the first slide bar 1022 maintains a vertical relationship with the bottom of the arched slide groove 1011; the elastic reset member 1014 can be set as a coil spring, and the two ends of the elastic reset member 1014 are circular ring structures, one end of which is connected to the plate surface of the fixed seat 102, and the other end is sleeved on the first slide bar 1022 so that the first slide bar 1022 can rotate freely relative to the elastic reset member 1014.

[0052] In the embodiments of this application, please refer to Figure 5 and Figure 6The movable seat 103 is a plate-shaped structure, and a strip-shaped slide groove 1031 is provided on the surface of the movable seat 103. The strip-shaped slide groove 1031 is slidably matched with the sliding column 1021 to enable the movable seat 103 to slide freely relative to the fixed seat 102. At the same time, the movable seat 103 can freely rotate around the axis of the sliding column 1021 during the free sliding process. The second slide bar 1034 is a circular rod, one end of which is vertically connected to the surface of the movable seat 103. The second slide bar 1034 and the second slide bar 1034 are arranged at intervals, and the driving slide bar 1012 passes between the first slide bar 1022 and the second slide bar 1034, so that the driving slide bar 1012 can rotate with the first slide bar 102 when rotating forward or reverse. 2 or the second slide bar 1034 contacts each other to drive the first slide bar 1022 or the second slide bar 1034 to move; the driving slide bar 1012 is vertically connected to the limit block 1013, and an arc-shaped groove is set on the end surface of the limit block 1013 as a limit groove, which is adapted to the shape of the second slide bar 1034. The driving slide bar 1012 cooperates with the second slide bar 1034 through the limit groove to achieve contact, so that when the driving slide bar 1012 drives the second slide bar 1034 to move, the position of the second slide bar 1034 in the length direction of the driving slide bar 1012 will not change, which means that at this time the driving slide bar 1012 can drive the movable seat 103 to slide on the fixed seat 102.

[0053] In the embodiment of the present application, the sliding force of the movable seat 103 relative to the fixed seat 102 is realized by the component force of the driving slide bar 1012 acting on the second slide bar 1034. After the driving slide bar 1012 rotates a certain angle, the movable seat 103 can slide a certain distance on the fixed seat 102. By configuring the elastic modulus / stiffness coefficient of the elastic member 1032, the sliding speed of the movable seat 103 on the fixed seat 102 can be adjusted, thereby realizing the horizontal translation action of the end of the welding gun 500.

[0054] In some optional embodiments, the arched slide groove 1011 includes an arc segment and a straight segment, and the mounting seat 101 is also rotatably connected with a guide arc plate 1017, which is located at one end of the straight segment and can be rotated into the arc segment.

[0055] In the embodiment of the present application, the curvature radius of the guide arc plate 1017 is adapted to the curvature radius of the inner wall of the arc segment, which means that the guide arc plate 1017 can be regarded as an extension of the arc segment, and the guide arc plate 1017 can play a certain limiting role on the first slide bar 1022. When the first slide bar 1022 is initially driven to move, the guide arc plate 1017 can play a limiting role on the first slide bar 1022 to prevent the first slide bar 1022 from entering the straight segment or getting stuck at the junction of the straight segment and the arc segment. The guide arc plate 1017 can be rotatably connected to the fixed seat 102 via a rotating shaft, and a torsional elastic member such as a torsion spring can be configured between the guide arc plate 1017 and the fixed seat 102, so that when the first slide bar 1022 returns to the initial position from the straight section, the guide arc plate 1017 is driven to rotate and the guide arc plate 1017 can be restored to its original position. Since the first slide bar 1022 is restored to the initial position, that is, the junction of the straight section and the arc section, by the elastic force of the elastic reset member 1014, the first slide bar 1022 will generate a certain vibration when it returns to the initial position. The setting of the guide arc plate 1017 can also reduce the vibration time of the first slide bar 1022 at the initial position.

[0056] In some optional embodiments, a first magnetic adsorption portion is provided on the inner wall of one end of the arc segment, and a second adsorption portion corresponding to the first magnetic adsorption portion is provided on the first slide bar 1022 so that the first slide bar 1022 is adsorbed and positioned when at one end of the arc segment.

[0057] In the embodiment of the present application, the provision of the first adsorption portion and the second adsorption portion can play a positioning role on the first slide bar 1022, ensuring the stable state of the welding gun 500 during the welding process. At the same time, as mentioned above, the first adsorption portion and the second adsorption portion can also reduce the vibration time when the first slide bar 1022 returns to the initial position, so that the first slide bar 1022 is quickly stabilized, and the welding gun 500 can weld in time after passing the inclined shear nail, thereby ensuring the continuity of the weld.

[0058] When the first slide bar 1022 is driven by the driving slide bar 1012 to move, the fixed seat 102 and the movable seat 103 are maintained in a state by their own gravity, that is, when the first slide bar 1022 is driven to slide in the bow-shaped slide groove 1011, the fixed seat 102 and the movable seat 103 use their own gravity to make the first slide bar 1022 rotate around its own axis, but the sliding speed of the first slide bar 1022 cannot be too fast, otherwise it will cause the fixed seat 102 and shake significantly. In order to allow the first slide bar 1022 to have a relatively fast sliding speed, in some optional embodiments, a posture stabilizing mechanism is connected to the mounting seat 101, and the posture stabilizing mechanism includes a slide rail 1015 and a guide slide bar 1016; the slide rail 1015 is connected to the mounting seat 101; one end of the guide slide bar 1016 is slidably matched with the slide rail 1015, and the other end is connected to the fixed seat 102, and the guide slide bar 1016 is configured as a telescopic rod.

[0059] In the embodiment of the present application, the length direction of the slide rail 1015 is parallel to the straight section, and the arc section is located between the slide rail 1015 and the straight section. When the first slide bar 1022 slides in the arc section, the first slide bar 1022 can drive the guide slide bar 1016 to retract and extend and at the same time make the guide slide bar 1016 slide on the slide rail 1015. The setting of the guide slide bar 1016 can maintain the state of the fixed seat 102 so that the fixed seat 102 will not shake randomly, thereby ensuring that the welding gun 500 has a stable posture. In this way, the first slide bar 1022 can slide at a relatively fast speed in the bow-shaped slide groove 1011, thereby improving the obstacle crossing efficiency, reducing the interval time between two weldings at the corresponding position of the deflected shear nail, and ensuring the continuity of the weld.

[0060] In some optional embodiments, a plurality of balls are arranged on the first slide bar 1022 through a groove locking ball process, and the balls are in contact with the groove wall of the arcuate slide groove 1011. This arrangement can improve the sliding smoothness of the first slide bar 1022 in the arcuate slide groove 1011 and avoid the first slide bar 1022 from getting stuck in the arcuate slide groove 1011.

[0061] In some optional embodiments, the sliding column 1021 is rotatably connected to the movable seat 103, wherein a stabilizing rod 1033 is connected inside the strip slide groove 1031, and both ends of the stabilizing rod 1033 are respectively connected to the two ends of the length direction of the strip slide groove 1031, and the stabilizing rod 1033 radially moves through the sliding column 1021, and the elastic member 1032 is configured as a coil spring and is sleeved on the stabilizing rod 1033.

[0062] In the embodiment of the present application, the setting of the stabilizing rod 1033 can limit the elastic member 1032, prevent the elastic member 1032 from unexpectedly deforming and providing unexpected elastic force, ensure the vertical position of the welding gun 500 is more accurate, and guarantee the welding quality.

[0063] In some optional embodiments, the wheels include at least four first wheels 300 and at least four second wheels 400. The first wheels 300 and the second wheels 400 are respectively located on both sides of the vehicle body 200 to respectively cooperate with the end plates on both sides. The first wheels 300 and the second wheels 400 are both connected to the vehicle body 200 through a two-axis manipulator.

[0064] In the embodiment of the present application, the two-axis manipulator can drive the first wheel 300 or the second wheel 400 to move in a direction perpendicular to the length of the I-beam or in the vertical direction. If there is a height difference or a spacing difference between two adjacent end plates, the two-axis manipulator can drive the first wheel 300 or the second wheel 400 to move to realize the off-track function, thereby ensuring that the vehicle body 200 can smoothly switch between the two adjacent end plates.

[0065] In some optional embodiments, the first wheel 300, the second wheel 400 and the two-axis manipulator are rotationally connected, and a torsion spring is arranged between the first wheel 300, the second gear and the two-axis manipulator.

[0066] In the embodiment of the present application, the first wheel 300 and the second wheel 400 can rotate to a certain extent to adapt to the situation where the straightness of a single end plate is insufficient, that is, relative to the I-beam, the length direction of the end plate forms a certain angle with the I-beam. At this time, the two-axis manipulator and the rotating adaptive end plate of the first wheel 300 or the second wheel 400 can prevent the first wheel 300 or the second wheel 400 from getting stuck with the end plate.

[0067] In a second aspect, an embodiment of the present application provides a welding method for a bridge I-beam and an end plate, which is implemented based on any welding device for a bridge I-beam and an end plate in the first aspect, and includes the following contents:

[0068] A first distance between the welding gun 500 and the end plate is preset. When the welding gun 500 and the end plate are at the first distance, the distance between the end of the welding gun 500 and the position to be welded is the expected welding distance.

[0069] The second spacing between the shear stud and the end plate is obtained in real time, and the second spacing is the minimum spacing between the shear stud profile and the end plate surface. In actual implementation, a camera can be installed on the vehicle body 200, and the image of the shear stud and the end plate in front of the vehicle body 200 can be taken, and the minimum spacing between the shear stud profile and the end plate surface can be calculated using a contour algorithm.

[0070] When the first spacing is greater than the second spacing, it means that if the welding gun 500 moves along the length direction of the I-beam, there will be interference between the welding gun 500 and the shear pins, that is, the shear pins whose second spacing is smaller than the first spacing are skewed shear pins, which makes the driving slide bar 1012 rotate in the positive direction to drive the welding gun 500 to rotate and weld the I-beam and the end plate, that is, the end of the welding gun 500 can translate along the length direction of the I-beam, and the overall length direction of the welding gun 500 is changed from the original vertical to form an angle with the length direction of the I-beam. Of course, the car body 200 is paused during the rotation of the welding gun 500.

[0071] The driving slide bar 1012 is rotated in the reverse direction to drive the first slide bar 1022 to slide in the arched slide groove 1011 and drive the vehicle body 200 forward at the same time.

[0072] When the vehicle body 200 reaches the predetermined position, the driving force of the driving slide rod 1012 is canceled, and then the I-beam and the end plate are welded.

[0073] When the first slide bar 1022 slides in the arched slide groove 1011, the motion trajectory of the end of the welding gun 500 is a combination of an arc and a straight line. When the welding gun 500 completes a stroke and returns to the initial position, since the car body 200 is moving forward synchronously, the initial position is equivalent to a translation distance along the length direction of the I-beam. When the welding gun 500 returns to the initial position, the end of the welding gun 500 just corresponds to the end of the weld welded last time, so that the welding gun 500 can weld the I-beam and the end plate in time.

[0074] The above specific embodiments illustrate the implementation methods of the present application. Those skilled in the art can easily understand other advantages and effects of the present application from the contents disclosed in this specification. Although the description of the present application will be introduced in conjunction with some embodiments, this does not mean that the features of this application are limited to the implementation methods. On the contrary, the purpose of introducing the application in conjunction with the implementation methods is to cover other options or modifications that may be extended based on the claims of the present application. In order to provide an in-depth understanding of the present application, the above description contains many specific details. The present application can also be implemented without using these details. In addition, in order to avoid confusion or blurring the focus of the present application, some specific details will be omitted in the description. It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict.

[0075] It should be noted that in this specification, similar numbers and letters represent similar items in the above drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings. In the description of this application, it should be noted that the orientation or position relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. is based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing this application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, or it can be a connection between the two elements. For those skilled in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0076] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A welding device suitable for bridge I-beams and end plates, characterized in that: include: A vehicle body (200), wherein the vehicle body (200) is provided with wheels for running on the end plates of the corrugated plates on both sides of the I-beam; Welding equipment, the welding equipment is connected to the vehicle body (200), and the welding equipment has a welding gun (500); An obstacle-avoiding welding mechanism (100), the obstacle-avoiding welding mechanism (100) being connected to the vehicle body (200), the welding gun (500) cooperating with the obstacle-avoiding welding mechanism (100) to weld the end plate and the I-beam under the drive of the obstacle-avoiding welding mechanism (100); Wherein, the obstacle avoidance welding mechanism (100) comprises: A mounting seat (101), wherein the mounting seat (101) is provided with an arched slide groove (1011), wherein the arched slide groove (1011) comprises an arc segment and a straight segment, and wherein the mounting seat (101) is further rotatably connected with a guide arc plate (1017), wherein the guide arc plate (1017) is located at one end of the straight segment and is capable of rotating into the arc segment; A fixed seat (102), wherein the fixed seat (102) is slidably matched with the arched slide groove (1011) via a first slide bar (1022), an elastic reset member (1014) is connected between the first slide bar (1022) and the mounting seat (101), and the elastic reset member (1014) is rotationally matched with the first slide bar (1022), so that when the first slide bar (1022) moves along the arc segment from one end of the arc segment to the other end of the arc segment, the first slide bar (1022) returns to one end of the arc segment along the straight segment under the elastic force of the elastic reset member (1014), and a sliding column (1021) is provided on the fixed seat (102); A movable seat (103), wherein the movable seat (103) is provided with a strip-shaped slide groove (1031) which forms a sliding fit with the sliding column (1021), and the movable seat (103) is also provided with a second slide rod (1034), and the welding gun (500) is connected to the movable seat (103), wherein an elastic member (1032) is connected between one end of the strip-shaped slide groove (1031) and the sliding column (1021) so as to maintain the movable seat (103) in a state relative to the fixed seat (102); A driving slide bar (1012), one end of which is rotatably connected to the mounting seat (101), and the other end of which passes between the first slide bar (1022) and the second slide bar (1034); the driving slide bar (1012) is also provided with a limiting groove adapted to the second slide bar (1034) so ​​as to limit the movement of the second slide bar (1034) relative to the driving slide bar (1012) in the length direction of the driving slide bar (1012) when the driving slide bar (1012) contacts the second slide bar (1034).

2. The welding device for bridge I-beams and end plates according to claim 1 is characterized in that: A torsional elastic member is arranged between the guide arc plate (1017) and the mounting seat (101).

3. The welding device for bridge I-beams and end plates according to claim 1 is characterized in that: A first magnetic adsorption portion is provided on the inner wall at one end of the arc segment, and a second adsorption portion corresponding to the first magnetic adsorption portion is provided on the first slide bar (1022) so that the first slide bar (1022) is adsorbed and positioned when at one end of the arc segment.

4. The welding device for bridge I-beams and end plates according to claim 1 is characterized in that: The mounting seat (101) is connected to a posture stabilizing mechanism, the posture stabilizing mechanism comprising: A slide rail (1015), the slide rail (1015) being connected to the mounting seat (101); A guide slide bar (1016), one end of which is slidably matched with the slide rail (1015), and the other end of which is connected to the fixed seat (102); the guide slide bar (1016) is configured as a telescopic rod.

5. The welding device for bridge I-beams and end plates according to claim 1 is characterized in that: A plurality of balls are arranged on the first sliding rod (1022) through a groove locking ball process, and the balls are in contact with the groove wall of the arched sliding groove (1011).

6. The welding device for bridge I-beams and end plates according to claim 1 is characterized in that: The sliding column (1021) is rotatably connected to the movable seat (103), wherein a stabilizing rod (1033) is connected inside the strip-shaped slide groove (1031), and two ends of the stabilizing rod (1033) are respectively connected to two ends of the strip-shaped slide groove (1031) in a length direction, and the stabilizing rod (1033) radially moves through the sliding column (1021), and the elastic member (1032) is configured as a coil spring and is sleeved on the stabilizing rod (1033).

7. The welding device for bridge I-beams and end plates according to claim 1 is characterized in that: The wheels include at least four first wheels (300) and at least four second wheels (400); the first wheels (300) and the second wheels (400) are respectively located on both sides of the vehicle body (200) to respectively cooperate with the end plates on both sides; the first wheels (300) and the second wheels (400) are both connected to the vehicle body (200) via a two-axis manipulator.

8. The welding device for bridge I-beams and end plates according to claim 7 is characterized in that: The first wheel (300) and the second wheel (400) are rotationally connected to the two-axis manipulator, and a torsion spring is arranged between the first wheel (300), the second gear and the two-axis manipulator.

9. A welding method for bridge I-beams and end plates, implemented based on the welding device for bridge I-beams and end plates according to any one of claims 1 to 8, characterized in that: Includes the following: Presetting a first distance between the welding gun (500) and the end plate; Obtain the second distance between the shear stud and the end plate in real time; When the first spacing is greater than the second spacing, the driving slide bar (1012) is rotated in the positive direction to drive the welding gun (500) to rotate and perform welding of the I-beam and the end plate; The driving slide bar (1012) is rotated in the opposite direction to drive the first slide bar (1022) to slide in the arched slide groove (1011), and at the same time drive the vehicle body (200) forward; When the vehicle body (200) reaches a predetermined position, the driving force of the driving slide rod (1012) is canceled, and then the I-beam and the end plate are welded.

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