An auxiliary robotic arm welding device for high-rise building steel structures

Abstract

The present invention discloses an auxiliary mechanical arm welding device for high-rise building steel structures, relating to the field of welding technology, comprising an operating structure, wherein a position-fixing mechanical arm and a welding mechanical arm are respectively arranged at both ends of the operating structure, and the welding mechanical arm comprises a double-axis pneumatic cylinder installed on the operating structure, two guide rail parts connected to the two piston ends of the double-axis pneumatic cylinder, two missing gears slidably connected inside the two guide rail parts, and a multi-directional welding assembly installed inside one of the missing gears. The welding mechanical arm composed of the two guide rail parts, the two missing gears, the multi-directional welding assembly, the double-axis pneumatic cylinder and other structures cooperates with ground equipment to automatically complete the welding of steel structures of various shapes, reduce the difficulty of high-altitude construction for workers, and reduce the safety hazards of high-altitude steel structure welding construction.

Description

Technical Field

[0001] The invention relates to the technical field of welding, in particular to auxiliary mechanical arm welding equipment for high-rise building steel structures. Background Art

[0002] Steel structure building is a new type of building system that breaks down the industry boundaries between the real estate industry, construction industry, and metallurgical industry, integrating them into a new industrial system. This is the steel structure building system that is generally favored by industry insiders.

[0003] Compared to traditional concrete buildings, steel structures use steel plates or steel sections instead of reinforced concrete, resulting in higher strength and better earthquake resistance. Furthermore, because the components can be factory-made and installed on-site, construction time is greatly reduced.

[0004] However, when constructing high-rise steel structures, workers are required to perform welding construction at high altitudes. Workers need to perform welding processing at multiple locations around the steel structure, which requires workers to perform more exercises and poses a high safety hazard. Summary of the Invention

[0005] The purpose of the present invention is to provide an auxiliary mechanical arm welding device for high-rise building steel structures to solve the problems raised in the prior art.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: an auxiliary robotic arm welding equipment for high-rise building steel structures, comprising an operating structure, wherein a position-fixed robotic arm and a welding robotic arm are respectively provided at both ends of the operating structure, and the welding robotic arm comprises a dual-axis pneumatic cylinder installed on the operating structure, two guide rail parts connected to the two piston ends of the dual-axis pneumatic cylinder, two missing gears slidably connected inside the two guide rail parts, and a multi-directional welding assembly installed inside one of the missing gears, the two missing gears forming a complete gear, the gear being able to rotate inside the guide rail formed by the two guide rail parts, and multiple detectors being fixedly installed inside the two missing gears.

[0007] Preferably, the operating structure includes a connecting rod 1 and an anti-slip sleeve fixedly mounted on the outside of the connecting rod 1. A connecting rod 2 is fixedly mounted on one end of the connecting rod 1. A mounting groove is provided on the outside of the connecting rod 2. The dual-axis pneumatic cylinder is arranged inside the mounting groove and fixedly connected to the connecting rod 2.

[0008] Preferably, the position-fixing robotic arm includes a U-shaped frame with the other end of the connecting rod fixedly installed, two clamping plates slidably connected inside the U-shaped frame, and two protective shells fixedly installed on both sides of the U-shaped frame, one side of which is fixedly installed with an alarm, and the two clamping plates are each provided with a support shaft 2 and a support shaft 1 on the sides away from each other, and a plurality of mounting seats 1 are rotatably installed on the outer sides of the support shaft 1 and the support shaft 2, and the mounting seat 1 is fixedly connected to the adjacent clamping plate 1.

[0009] Preferably, the outer side of the support shaft 1 is provided with two rotating plates 1 and two rotating plates 3, the two rotating plates 1 are fixedly connected with a connecting frame 6, the two rotating plates 3 are fixedly connected with a connecting frame 1, the outer side of the support shaft 2 is provided with two rotating plates 2 and two rotating plates 4, the two rotating plates 2 are rotatably connected with a connecting frame 2, the two rotating plates 4 are rotatably connected with a connecting frame 3, multiple guide grooves are provided on both sides of the U-shaped frame 1, two connecting frames 8 are fixedly connected between the connecting frame 6 and the connecting frame 2, and a connecting frame 7 is fixedly connected between the connecting frame 1 and the connecting frame 3.

[0010] Preferably, a connecting frame four is fixedly installed on one side of the connecting frame three, a pneumatic cylinder one is fixedly installed on one side of the connecting frame four, a connecting frame five is fixedly installed on one side of the connecting frame six, a pneumatic cylinder two is fixedly connected to one side of the connecting frame five, and a pressure sensor is fixedly installed on the top of one of the pneumatic cylinders one.

[0011] Preferably, a battery is fixedly mounted on one side of the protective shell, and an equipment mounting structure is provided on one side of the other protective shell.

[0012] Preferably, the equipment mounting structure includes a circular ring 1 and a circular ring 2 fixedly mounted on one side of the protective shell, two arc-shaped vertical plates fixedly mounted between the circular ring 1 and the circular ring 2, a clamping plate 2 is provided on opposite sides of the two arc-shaped vertical plates, one side of the clamping plate 2 is rotatably connected with a bolt and a short shaft, and the bolt is threadedly connected to the arc-shaped vertical plate.

[0013] Preferably, a transmission plate is fixedly installed on both piston ends of the dual-axis pneumatic cylinder, and the two transmission plate members are respectively fixedly connected to two guide rail members. An arc-shaped guide rod is fixedly installed on both sides of the missing gear, and the missing gear and the arc-shaped guide rod are both arranged inside the guide rail member.

[0014] Preferably, a reserved groove is provided on the top of one of the guide rail parts, a transmission gear is inserted into the reserved groove, and the transmission gear is engaged with the adjacent missing gear. A mounting seat 2 is fixedly installed on the top of the guide rail part, and a forward and reverse motor 1 is fixedly installed on the top of the mounting seat 2. The transmission gear is fixedly installed on the output end of the forward and reverse motor 1, and the forward and reverse motor 1 drives the transmission gear fixedly mounted on the output end to rotate, and the transmission gear part penetrates the reserved groove provided on the top of the guide rail part and engages with the missing gear, and the rotating transmission gear drives the gear to rotate.

[0015] Preferably, the multi-directional welding assembly includes a mounting seat three fixedly installed inside one of the missing gears, a transmission horizontal shaft rotatably passed through the mounting seat three, a mounting seat four fixedly installed outside the transmission horizontal shaft, two pneumatic cylinders four fixedly installed on both sides of the mounting seat four, and a welding gun fixedly installed between the two pneumatic cylinders four. Controlling the operation of the pneumatic cylinder four can control the distance between the welding gun and the missing gear. A brake and a driving gear are respectively provided at both ends of the outer side of the transmission horizontal shaft, the brake is fixedly connected to the missing gear, the driving gear is fixedly connected to the transmission horizontal shaft, the driving gear is meshed with a rack, a transmission plate two and a sliding frame are fixedly installed on the outer side of the rack, a pneumatic cylinder three is fixedly connected to one side of the transmission plate two, the pneumatic cylinder three is fixedly connected to the mounting seat three, the sliding frame passes through the mounting seat three, and the rack can perform reciprocating horizontal motion under the support of the sliding frame and the pneumatic cylinder three.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] 1. This application uses a welding robot arm composed of two guide rails, two missing gears, a multi-directional welding assembly, a dual-axis pneumatic cylinder and other structures to cooperate with ground equipment to automatically complete the welding of steel structures of various shapes, reduce the difficulty of high-altitude construction for workers, and reduce the safety hazards of high-altitude steel structure welding construction.

[0018] 2. The present application makes the two pneumatic cylinders 1 and 2 in the position-fixing robotic arm work and contract, so that the two clamping plates 1 approach each other, and finally the two clamping plates 1 are clamped to both sides of the steel structure, and a pressure sensor fixedly installed on the top of one of the pneumatic cylinders 1 monitors the internal air pressure value of the pneumatic cylinder 1. When the internal air pressure value of the pneumatic cylinder 1 reaches a preset value, the two pneumatic cylinders 1 and 2 electrically connected to the pressure sensor stop working, and at the same time, an alarm fixedly installed on one side of the protective shell is electrically connected to the pressure sensor. At this time, the alarm works and sounds an alarm to remind the staff to release the welding equipment away from the welding position to reduce safety hazards. The position-fixing robotic arm composed of a U-shaped frame 1, two clamping plates 1, two pneumatic cylinders 1, two pneumatic cylinders 2 and other structures can fix the welding equipment on different steel structures to ensure the adaptability of the welding equipment during high-altitude construction.

[0019] 3. In the present application, when the pneumatic cylinder three is controlled to work, the pneumatic cylinder three drives the rack to move through the transmission plate two, and the rack drives the transmission horizontal shaft to rotate through the meshing drive gear. The transmission horizontal shaft drives the two pneumatic cylinders four and the welding guns fixedly installed by the two pneumatic cylinders four to rotate through the mounting seat four. By controlling the extension or contraction of the pneumatic cylinder three, the welding gun can be rotated in different directions at the position of the transmission horizontal shaft, so that the welding gun can be directed in different directions to meet the welding needs of welding positions at different angles. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a structural schematic diagram of the present invention;

[0021] Figure 2 This is a schematic diagram of the structure of the position-fixed robotic arm of the present invention;

[0022] Figure 3 It is a structural schematic diagram of the installation structure of the device of the present invention;

[0023] Figure 4 This is a structural diagram of a U-shaped frame of the present invention;

[0024] Figure 5 This is a schematic structural diagram of the clamping plate 1 of the present invention;

[0025] Figure 6 This is a structural diagram of the second connecting frame of the present invention;

[0026] Figure 7 This is a structural diagram of the connecting rod 2 of the present invention;

[0027] Figure 8 This is a structural diagram of the mounting base 2 of the present invention;

[0028] Figure 9 Schematic diagram of the structure of the guide rail member of the present invention;

[0029] Figure 10 It is a schematic diagram of the partial structure of the guide rail member of the present invention;

[0030] Figure 11 This is a schematic diagram of the structure of the present invention with a missing gear;

[0031] Figure 12 This is a schematic structural diagram of the mounting base three of the present invention;

[0032] Figure 13 Schematic diagram of the structure of the mounting seat 4 of the present invention.

[0033] 1. Position-fixed robotic arm; 11. U-shaped frame 1; 12. Clamping plate 1; 13. Support shaft 1; 14. Support shaft 2; 15. Mounting base 1; 16. Rotating plate 1; 17. Rotating plate 2; 18. Rotating plate 3; 19. Rotating plate 4; 110. Connecting frame 1; 111. Connecting frame 2; 112. Connecting frame 3; 113. Connecting frame 4; 114. Pneumatic cylinder 1; 115. Connecting frame 5; 116. Pneumatic cylinder 2; 117. Air pressure sensor; 118. Protective housing; 119. Alarm; 120. Guide groove; 121. Connecting frame 6; 122. Connecting frame 7; 123. Connecting frame 8; 2. Operating structure; 21. Connecting rod 1; 22. Anti-slip sleeve; 23. Connecting rod 2; 24. Mounting groove; 3. Welding robot arm; 31. Dual-axis pneumatic cylinder; 32. Transmission plate 1; 33. Guide rail; 34. Missing gear; 35. Arc-shaped guide rod; 36. Detector; 37. Reserved slot; 38. Transmission gear; 39. Forward and reverse motor 1; 310. Mounting seat 2; 311. Mounting seat 3; 312. Mounting seat 4; 313. Pneumatic cylinder 4; 314. Transmission horizontal axis; 315. Brake; 316. Drive gear; 317. Rack; 318. Pneumatic cylinder 3; 319. Transmission plate 2; 320. Sliding frame; 321. Welding gun; 4. Equipment installation structure; 41. Ring 1; 42. Ring 2; 43. Arc-shaped vertical plate; 44. Clamping plate 2; 45. Bolt; 46. Short shaft; 5. Battery. DETAILED DESCRIPTION

[0034] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0035] Example: Figures 1-13 As shown, the present invention provides a technical solution for auxiliary robotic arm welding equipment for high-rise building steel structures, including an operating structure 2, with a fixed position robotic arm 1 and a welding robotic arm 3 respectively provided at both ends of the operating structure 2, and the welding robotic arm 3 includes a dual-axis pneumatic cylinder 31 installed on the operating structure 2, two guide rails 33 connected to the two piston ends of the dual-axis pneumatic cylinder 31, two missing gears 34 slidably connected inside the two guide rails 33, and a multi-directional welding assembly installed inside one of the missing gears 34, and multiple detectors 36 are fixedly installed inside the two missing gears 34.

[0036] Specifically, an anti-slip sleeve 22 is fixed on the outside of the connecting rod 21 to prevent slipping, and a mounting groove 24 is provided on the outside of the connecting rod 2 23 fixedly installed at one end of the connecting rod 21. The dual-axis pneumatic cylinder 31 in the welding robot arm 3 is arranged inside the mounting groove 24 and is fixedly connected to the connecting rod 2 23. The other end of the connecting rod 21 is fixedly connected to the U-shaped frame 11 in the position-fixed robot arm 1. The operating structure 2 composed of the connecting rod 21, the anti-slip sleeve 22 and the connecting rod 2 23 provides convenience for the staff to operate the position-fixed robot arm 1 and the welding robot arm 3.

[0037] Two clamping plates 12 are slidably connected inside the U-shaped frame 11. The two clamping plates 12 can only move left and right inside the U-shaped frame 11. A support shaft 2 14 and a support shaft 13 are provided on the side away from each other of the two clamping plates 12, and multiple mounting seats 15 are rotatably installed on the outside of the support shaft 13 and the support shaft 2 14, and the mounting seats 15 are fixedly connected to the adjacent clamping plates 12. The support shaft 13 and the support shaft 2 14 can rotate on their own, but the relative positions between the support shaft 13 and the support shaft 2 14 and the clamping plates 12 remain unchanged.

[0038] A plurality of guide grooves 120 are provided on both sides of the U-shaped frame 11. Two rotating plates 16 and two rotating plates 3 18 are rotatably sleeved on the outer side of the support shaft 13. A connecting frame 6 121 is fixedly connected between the two rotating plates 16. The two ends of the U-shaped connecting frame 6 121 pass through two of the guide grooves 120. The connecting frame 6 121 moves horizontally on the U-shaped frame 11 through the guide grooves 120. A connecting frame 110 is fixedly connected between the two rotating plates 18. The two ends of the U-shaped connecting frame 110 pass through two of the guide grooves 120. 110 moves horizontally on the U-shaped frame 11 through the guide groove 120; and because two rotating plates 2 17 and two rotating plates 4 19 are rotatably sleeved on the outer side of the support shaft 2 14, a connecting frame 2 111 is rotatably connected between the two rotating plates 2 17, and the two ends of the U-shaped connecting frame 2 111 pass through two of the guide grooves 120, and a connecting frame 3 112 is rotatably connected between the two rotating plates 4 19, and the U-shaped connecting frame 3 112 passes through two of the guide grooves 120, and the connecting frame 2 111 and the connecting frame 3 112 are slidably connected between the connecting frame 2 111.

[0039] Two connecting frames eight 123 are fixedly connected between connecting frame six 121 and connecting frame two 111, so connecting frame six 121 moves synchronously with connecting frame two 111. When the clamping plate one 12 can only move left and right, rotating plate one 16 rotates synchronously with rotating plate two 17. Connecting frame seven 122 is fixedly connected between connecting frame one 110 and connecting frame three 112, so connecting frame one 110 and connecting frame three 112 move synchronously, and rotating plate three 18 rotates synchronously with rotating plate four 19.

[0040] A connecting frame 4 113 is fixedly installed on one side of the connecting frame 3 112, a pneumatic cylinder 114 is fixedly installed on one side of the connecting frame 4 113, and the pneumatic cylinder 114 is fixedly connected to the U-shaped frame 11; a connecting frame 5 115 is fixedly installed on one side of the connecting frame 6 121, and a pneumatic cylinder 2 116 is fixedly connected to one side of the connecting frame 5 115, and the pneumatic cylinder 2 116 is fixedly connected to the U-shaped frame 11; when the pneumatic cylinder 114 and the pneumatic cylinder 2 116 are synchronously extended, the pneumatic cylinder 114 pushes the connecting frame 3 112 and the connecting frame 1 through the connecting frame 4 113. 110 moves forward synchronously, and the pneumatic cylinder 2 116 pushes the connecting frame 6 121 and the connecting frame 2 111 to move backward synchronously through the connecting frame 5 115, so that the rotating plate 16 and the rotating plate 3 18 outside the support shaft 13 enter the open state, and the rotating plate 2 17 and the rotating plate 4 19 outside the support shaft 2 14 enter the open state, and the clamping plate 12 moves to a position away from the middle of the inner cavity of the U-shaped frame 11, and the two clamping plates 12 move away from each other; similarly, after the pneumatic cylinder 114 and the pneumatic cylinder 2 116 are controlled to shrink synchronously, the two clamping plates 12 approach each other.

[0041] A battery 5 is fixedly installed on one side of a protective shell 118, and an equipment mounting structure 4 is provided on the other side of the protective shell 118. In the equipment mounting structure 4, a circular ring 1 41 and a circular ring 2 42 are fixedly installed on one side of the protective shell 118. Two arc-shaped vertical plates 43 are fixedly installed between the circular ring 1 41 and the circular ring 2 42. The user can place the welding gas supply equipment inside the support frame composed of the circular ring 1 41, the circular ring 2 42 and the two arc-shaped vertical plates 43, and a clamping plate 2 44 is provided on the opposite side of the two arc-shaped vertical plates 43. One side of the clamping plate 2 44 is rotated to connect It is connected with bolts 45 and short shafts 46, and both bolts 45 and short shafts 46 are passed through the arc-shaped vertical plate 43. Under the limit of bolts 45 and short shafts 46, clamping plate 2 44 can only move horizontally. The two bolts 45 threadedly connected by the two arc-shaped vertical plates 43 are rotated, and the bolts 45 push the clamping plate 2 44 to move, so that the clamping plate 2 44 clamps and fixes the welding gas supply equipment. The welding gas supply equipment can be installed together with the position-fixed robot arm 1 in advance, so that the welding gas supply equipment and the battery 5 are respectively provided on both sides of the U-shaped frame 11, so that the weight on both sides of the position-fixed robot arm 1 is balanced.

[0042] In this application, the welding device composed of the position-fixing robot arm 1, the operating structure 2 and the welding robot arm 3 is used in the following specific method:

[0043] Since multiple operation buttons are installed on the battery 5, after pressing the operation button electrically connected to the dual-axis pneumatic cylinder 31, the dual-axis pneumatic cylinder 31 works, and the two transmission plates 1 32 fixedly installed on both piston ends of the dual-axis pneumatic cylinder 31 move away from each other, and the two transmission plates 1 32 are respectively fixedly connected to the two guide rail members 33, so the two guide rail members 33 move away from each other, so that the guide rail formed by the two guide rail members 33 is in an open state.

[0044] Then, hold the connecting rod 21 and operate to put the two guide rails 33 and the U-shaped frame 11 onto the outside of the steel structure, and control the positions of the two guide rails 33 so that they are located near the position of the steel structure to be welded.

[0045] Subsequently, the operating button on the battery 5 electrically connected to the two pneumatic cylinders 114 and the two pneumatic cylinders 2 116 is pressed to make the two pneumatic cylinders 114 and the two pneumatic cylinders 2 116 in the position-fixed manipulator 1 work and contract, so that the two clamping plates 12 are close to each other. Finally, the two clamping plates 12 are clamped to both sides of the steel structure, and the air pressure sensor 117 fixed on the top of one of the pneumatic cylinders 114 monitors the internal air pressure value of the pneumatic cylinder 114. When the internal air pressure value of the pneumatic cylinder 114 reaches the preset value, the two pneumatic cylinders 114 electrically connected to the air pressure sensor 117 are retracted. The pressure cylinder 114 and the two pneumatic cylinders 116 stop working. At the same time, the alarm 119 fixedly installed on one side of the protective shell 118 is electrically connected to the air pressure sensor 117. At this time, the alarm 119 works and sounds an alarm to remind the staff to release the welding equipment away from the welding position to reduce safety hazards. The position-fixed robotic arm 1 composed of a U-shaped frame 11, two clamping plates 12, two pneumatic cylinders 114, two pneumatic cylinders 116 and other structures can fix the welding equipment on different steel structures to ensure the adaptability of the welding equipment during high-altitude construction.

[0046] Subsequently, the ground staff remotely controls the dual-axis pneumatic cylinder 31 in the welding robot arm 3 to work and retract (installing a wireless communication module on the welding equipment to communicate with the ground equipment and connecting a pipeline system between the welding gas supply equipment and the welding gun 321 are applications of public technologies and will not be described in detail here), and the two guide rail parts 33 approach each other, so that the two guide rail parts 33 enter a merged state. Since arc-shaped guide rods 35 are fixedly installed on both sides of the missing gear 34 inside the guide rail part 33, the missing gear 34 and the arc-shaped guide rod 35 are both arranged inside the guide rail part 33. After the two guide rail parts 33 are merged, the two missing gears 34 form a complete gear, and the gear can rotate inside the guide rail formed by the two guide rail parts 33, and the arc-shaped guide rod 35 and the guide rail part 33 are in an interference fit state. Until the missing gear 34 is subjected to a certain force, the missing gear 34 will not rotate.

[0047] Subsequently, the forward and reverse motor 1 39 is controlled to rotate forward for a period of time and then reverse for a period of time. Since the outer shell of the forward and reverse motor 1 39 is fixed together with the mounting base 2 310 fixedly installed on the top of the guide rail part 33, the working forward and reverse motor 1 39 drives the transmission gear 38 fixedly mounted on the output end to rotate, and the transmission gear 38 partially penetrates the reserved groove 37 opened on the top of the guide rail part 33 and engages with the missing gear 34. The rotating transmission gear 38 drives the gear to rotate. When the forward and reverse motor 1 39 is working at this time, the gear rotates 90° and then resets. During this process, multiple detectors 36 fixedly installed inside the two missing gears 34 rotate 90°. Multiple detectors 36 collect three-dimensional data of the steel structure, and the three-dimensional data is fed back to the ground equipment by the detectors 36.

[0048] The device then creates a three-dimensional model of the steel structure at the location to be welded based on the data collected by the detector 36. The pre-trained model within the device then controls the operation of the multi-directional welding assembly, which welds the steel structure. The details of the multi-directional welding assembly's operation are as follows:

[0049] In the multi-directional welding assembly, a third mounting seat 311 is fixedly mounted inside one of the missing gears 34. A transmission shaft 314 rotatably passed through the third mounting seat 311 can rotate on its own. Two pneumatic cylinders 313 are fixedly mounted on both sides of a fourth mounting seat 312 fixedly mounted outside the transmission shaft 314. A welding gun 321 is fixedly mounted between the two pneumatic cylinders 313. Controlling the operation of the pneumatic cylinder 313 can control the distance between the welding gun 321 and the missing gear 34.

[0050] A brake 315 and a drive gear 316 are respectively provided at both ends of the outer side of the transmission horizontal shaft 314. The drive gear 316 is fixedly connected to the transmission horizontal shaft 314. A transmission plate 2 319 and a sliding frame 320 are fixedly installed on the outer side of the rack 317 engaged with the drive gear 316. A pneumatic cylinder 318 is fixedly connected to one side of the transmission plate 2 319 and is fixedly connected to the mounting seat 311. The sliding frame 320 passes through the mounting seat 311. Supported by the sliding frame 320 and the pneumatic cylinder 318, the rack 317 can perform reciprocating horizontal motion.

[0051] When the pneumatic cylinder three 318 is controlled to work, the pneumatic cylinder three 318 drives the rack 317 to move through the transmission plate two 319, and the rack 317 drives the transmission horizontal shaft 314 to rotate through the meshing drive gear 316. The transmission horizontal shaft 314 drives the two pneumatic cylinders four 313 and the welding gun 321 fixedly installed by the two pneumatic cylinders four 313 to rotate through the mounting seat four 312. By controlling the pneumatic cylinder three 318 to extend or contract, the welding gun 321 can be rotated in different directions at the position of the transmission horizontal shaft 314, so that the welding gun 321 is directed to different directions to meet the welding needs of welding positions at different angles. After controlling the welding gun 321 to face the position to be welded on the steel structure, the pneumatic cylinder four 313 is controlled to work to push the welding gun 321 to move so that the distance between the muzzle of the welding gun 321 and the position to be welded on the steel structure reaches a preset distance.

[0052] Subsequently, the forward and reverse motor 39 is controlled to work, so that the forward and reverse motor 39 rotates forward for a period of time, and the forward and reverse motor 39 stops working after the gear rotates forward 180 degrees. During this process, the welding gun 321 works to weld the steel structure, and the pneumatic cylinder 4 313 extends or contracts to control the distance between the welding gun 321 and the steel structure to ensure that the distance between the nozzle of the welding gun 321 and the position to be welded on the steel structure always maintains the preset distance.

[0053] Subsequently, the forward and reverse motor 39 is controlled to reverse for a period of time to make the gear rotate 360° in the opposite direction. During this process, when the vehicle rotates 180° in the opposite direction, the welding gun 321 and the pneumatic cylinder 313 work together to complete the welding work of the steel structure; the welding robot arm 3 composed of two guide rail parts 33, two missing gears 34, multi-directional welding components, dual-axis pneumatic cylinder 31 and other structures cooperates with the ground equipment to automatically complete the welding work of steel structures of various shapes, reduce the difficulty of high-altitude construction for workers, and reduce the safety hazards of high-altitude steel structure welding construction.

[0054] In addition, the brake 315 is fixedly connected to the missing gear 34. Before the pneumatic cylinder 318 works, the brake 315 stops working and the transmission horizontal shaft 314 loses its limit. After the brake 315 completes its work, the brake 315 works to limit the transmission horizontal shaft 314 to ensure the stability of the work after the angle adjustment of the welding gun 321 is completed.

[0055] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above and that the invention can be embodied in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments should be considered in all respects as illustrative and non-restrictive, and the scope of the invention is defined by the appended claims, not the foregoing description, and all variations within the meaning and range of equivalents of the claims are intended to be included therein. Any reference sign in a claim should not be construed as limiting the claim to which it relates.

Claims

1. An auxiliary robotic arm welding device for a high-rise building steel structure, comprising an operating structure (2), characterized in that: The operating structure (2) is provided with a position-fixing mechanical arm (1) and a welding mechanical arm (3) at both ends thereof, respectively. The welding mechanical arm (3) comprises a double-axis pneumatic cylinder (31) installed on the operating structure (2), two guide rail members (33) connected to the two piston ends of the double-axis pneumatic cylinder (31), two missing gears (34) slidably connected inside the two guide rail members (33), and a multi-directional welding assembly installed inside one of the missing gears (34), and a plurality of detectors (36) are fixedly installed inside the two missing gears (34); The position-fixing mechanical arm (1) comprises a U-shaped frame (11) fixedly mounted on the other end of a connecting rod (21), two clamping plates (12) slidably connected inside the U-shaped frame (11), and two protective shells (118) fixedly mounted on both sides of the U-shaped frame (11), wherein an alarm (119) is fixedly mounted on one side of one of the protective shells (118), and a support shaft (14) and a support shaft (13) are provided on the sides of the two clamping plates (12) away from each other, and a plurality of mounting seats (15) are rotatably mounted on the outer sides of the support shaft (13) and the support shaft (14), and the mounting seat (15) is fixedly connected to the adjacent clamping plate (12); The outer rotating sleeve of the support shaft 1 (13) is provided with two rotating plates 1 (16) and two rotating plates 3 (18), the two rotating plates 1 (16) are fixedly connected with a connecting frame 6 (121), the two rotating plates 3 (18) are fixedly connected with a connecting frame 1 (110), the outer rotating sleeve of the support shaft 2 (14) is provided with two rotating plates 2 (17) and two rotating plates 4 (19), the two rotating plates 2 (17) are rotatably connected with a connecting frame 2 (111), the two rotating plates 4 (19) are rotatably connected with a connecting frame 3 (112), a plurality of guide grooves (120) are provided on both sides of the U-shaped frame 1 (11), two connecting frames 8 (123) are fixedly connected between the connecting frame 6 (121) and the connecting frame 2 (111), and a connecting frame 7 (122) is fixedly connected between the connecting frame 1 (110) and the connecting frame 3 (112); One side of the connecting frame three (112) is fixedly mounted with a connecting frame four (113), one side of the connecting frame four (113) is fixedly mounted with a pneumatic cylinder one (114), one side of the connecting frame six (121) is fixedly mounted with a connecting frame five (115), one side of the connecting frame five (115) is fixedly connected with a pneumatic cylinder two (116), and a pressure sensor (117) is fixedly mounted on the top of one of the pneumatic cylinders one (114).

2. The auxiliary robotic arm welding equipment for high-rise building steel structures according to claim 1, characterized in that: The operating structure (2) includes a connecting rod (21) and an anti-slip sleeve (22) fixedly mounted on the outside of the connecting rod (21); a connecting rod (23) is fixedly mounted on one end of the connecting rod (21); a mounting groove (24) is provided on the outside of the connecting rod (23); and the dual-axis pneumatic cylinder (31) is arranged inside the mounting groove (24) and fixedly connected to the connecting rod (23).

3. The auxiliary robotic arm welding equipment for high-rise building steel structures according to claim 1, characterized in that: A battery (5) is fixedly mounted on one side of one of the protective shells (118), and a device mounting structure (4) is provided on one side of the other protective shell (118).

4. The auxiliary robotic arm welding equipment for high-rise building steel structures according to claim 3, characterized in that: The equipment mounting structure (4) includes a circular ring 1 (41) and a circular ring 2 (42) fixedly mounted on one side of the protective housing (118), two arc-shaped vertical plates (43) fixedly mounted between the circular ring 1 (41) and the circular ring 2 (42), and a clamping plate 2 (44) is provided on opposite sides of the two arc-shaped vertical plates (43), and a bolt (45) and a short shaft (46) are rotatably connected to one side of the clamping plate 2 (44), and the bolt (45) is threadedly connected to the arc-shaped vertical plates (43).

5. The auxiliary robotic arm welding equipment for high-rise building steel structures according to claim 1, characterized in that: A transmission plate member (32) is fixedly mounted on both piston ends of the dual-axis pneumatic cylinder (31), and the two transmission plate members (32) are fixedly connected to two guide rail members (33) respectively. An arc-shaped guide rod (35) is fixedly mounted on both sides of the missing gear (34), and the missing gear (34) and the arc-shaped guide rod (35) are both arranged inside the guide rail member (33).

6. The auxiliary robotic arm welding equipment for high-rise building steel structures according to claim 1, characterized in that: A reserved groove (37) is provided on the top of one of the guide rail members (33), a transmission gear (38) is inserted into the reserved groove (37), and the transmission gear (38) is engaged with the adjacent missing gear (34). A second mounting seat (310) is fixedly installed on the top of the guide rail member (33), a forward and reverse motor (39) is fixedly installed on the top of the second mounting seat (310), and the transmission gear (38) is fixedly installed at the output end of the forward and reverse motor (39).

7. The auxiliary robotic arm welding equipment for high-rise building steel structures according to claim 1, characterized in that: The multi-directional welding assembly comprises a mounting seat three (311) fixedly mounted inside one of the missing gears (34), a transmission transverse shaft (314) rotatably passed through the mounting seat three (311), a mounting seat four (312) fixedly mounted outside the transmission transverse shaft (314), two pneumatic cylinders four (313) fixedly mounted on both sides of the mounting seat four (312), and a welding gun (321) fixedly mounted between the two pneumatic cylinders four (313), wherein the outer ends of the transmission transverse shaft (314) are respectively provided with a brake (315) and a driving gear (316). The brake (315) is fixedly connected to the missing gear (34), the driving gear (316) is fixedly connected to the transmission horizontal shaft (314), the driving gear (316) is meshed with a rack (317), a transmission plate 2 (319) and a sliding frame (320) are fixedly installed on the outer side of the rack (317), a pneumatic cylinder 3 (318) is fixedly connected to one side of the transmission plate 2 (319), the pneumatic cylinder 3 (318) is fixedly connected to the mounting seat 3 (311), and the sliding frame (320) passes through the mounting seat 3 (311).

Images