Steel structure welding equipment capable of automatically positioning

Abstract

The invention discloses steel structure welding equipment capable of achieving automatic positioning, the equipment comprises a base, a case, a circle welding mechanism, a deslagging mechanism, a multi-axis mechanism and a leveling mechanism, the circle welding mechanism comprises a chassis, the deslagging mechanism comprises a first rotary table, the multi-axis mechanism comprises a second rotary table, an electric control crank arm and a universal rotary head, and the leveling mechanism comprises a top table. The chassis is fixedly connected with the first rotary table and the universal rotary head, the machine box is fixedly connected with the electric control crank arm, the base is fixedly connected with the second rotary table and the top table, and the circle welding mechanism and the multi-axis mechanism are connected with the machine box through electric signals. The invention relates to the technical field of intelligent welding equipment, weld joints are automatically positioned through visual recognition, loop reciprocating scale ring welding is conducted on the weld joints, and the welding efficiency and quality are greatly improved.

Description

Technical Field

[0001] The invention relates to the technical field of intelligent welding equipment, in particular to steel structure welding equipment capable of automatic positioning. Background Art

[0002] Intelligent welding equipment is an advanced manufacturing equipment that deeply integrates traditional welding technology with modern automation and digital technology. Traditional welding mainly relies on manual operation, which has problems such as low efficiency, unstable quality, and dangerous working environment. With the development of industry, welding equipment has achieved intelligent upgrades through the integration of sensors, machine vision, adaptive control algorithms and Internet of Things technology. The typical system includes a welding robot, a visual tracking system, a real-time parameter control module and a data analysis platform, which can automatically identify the weld position, dynamically adjust parameters, and optimize the welding process through machine learning.

[0003] In the field of welding, high-end manually operated welding methods such as "fish scale welding" have significant advantages. It can not only effectively improve the strength of the weld, but also greatly expand the stress limit of the weld. In contrast, existing welding robots mainly rely on algorithms to control the robotic arm and drive the welding gun along the weld to complete the welding operation. However, this type of robot has shortcomings in the control of welding techniques and has many limitations. Because it needs to be placed on a flat ground in the factory to prevent the welding machine from tilting and interfering with weld identification, it is not well adaptable in outdoor welding scenarios. Summary of the invention

[0004] The object of the present invention is to provide a steel structure welding device capable of automatic positioning to solve the problems in the prior art.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: an automatically positioned steel structure welding equipment comprises a base, a chassis, a ring welding mechanism, a slag removal mechanism, a multi-axis mechanism and a leveling mechanism, the ring welding mechanism comprises a chassis, the slag removal mechanism comprises a first turntable, the multi-axis mechanism comprises a second turntable, an electric-controlled crank arm and a universal swivel head, the leveling mechanism comprises a top table, the chassis is fixedly connected to the first turntable and the universal swivel head, the chassis is fixedly connected to the electric-controlled crank arm, the base is fixedly connected to the second turntable and the top table, and the ring welding mechanism and the multi-axis mechanism are connected to the chassis through electrical signals.

[0006] The present invention is a welding robot for self-positioning of steel structures. The base maintains a ring welding mechanism parallel to a horizontal plane on a rugged ground through a leveling mechanism. The ring welding mechanism sends an electrical signal to a chassis through visual identification of the weld position. The chassis feeds back the electrical signal to a multi-axis mechanism. The multi-axis mechanism drives the ring welding mechanism to move along the weld. The movement of the ring welding mechanism simultaneously completes a loop reciprocating fish-scale ring welding of the weld, greatly enhancing the welding strength and load stress limit of the weld. The slag removal mechanism is assembled on the ring welding mechanism and simultaneously moves, and completes slag removal, smooth grinding, and slag adsorption of the weld.

[0007] Furthermore, the circle welding mechanism also includes a visual probe, a winding mechanism and a welding mechanism. The winding mechanism includes a first arc frame and a second arc slide. The visual probe and the first arc frame are fixedly connected to the chassis. Two groups of visual probes are provided. The two groups of visual probes are arranged on both sides of the first arc frame. The two groups of visual probes are arranged at both ends of the chassis diameter. The welding mechanism includes a welding gun, and the welding gun is fixedly connected to the second arc slide.

[0008] Automatic positioning is achieved by visually identifying the weld position through two groups of visual probes arranged on both sides of the first arc frame. Two groups of visual probes arranged diagonally at both ends of the chassis diameter identify the weld at the same time to avoid blind spots in the field of vision caused by one group of visual probes being blocked. When misalignment is identified, the chassis feeds back electrical signals to the multi-axis mechanism, which drives the chassis to move along the weld, and the winding mechanism drives the welding gun to complete the loop reciprocating fish-scale circle welding of the weld.

[0009] Furthermore, the winding mechanism also includes a first arc slide, a first gear, a servo motor, a linkage motor, a second arc frame and a second gear. The first arc slide is provided with a first arc cavity, the first arc cavity is slidably connected to the first arc frame, the first arc frame is provided with a first arc tooth pair, the first gear is meshed with the tooth surface of the first arc tooth pair, the servo motor is fixedly connected to the first arc slide, the output end of the servo motor is fixedly connected to the first gear, the second arc frame is fixedly connected to the first arc slide, the second arc frame is provided with a second arc tooth pair, the second gear is meshed with the tooth surface of the second arc tooth pair, the second arc slide is provided with a second arc cavity, the second arc cavity is slidably connected to the second arc frame, the linkage motor is fixedly connected to the second arc slide, the output end of the second arc slide is fixedly connected to the second gear, and the servo motor, the linkage motor and the visual probe are all connected to the chassis through electrical signals.

[0010] The servo motor outputs a reciprocating fixed-axis torque to the first gear according to the chassis electrical signal, and the first gear meshes with the tooth surface of the first arc tooth pair, thereby driving the first arc slide to slide reciprocatingly along the first arc frame in the reverse direction. At the same time, the linkage motor outputs a reciprocating fixed-axis torque to the second gear according to the chassis electrical signal, and meshes with the tooth surface of the second arc tooth pair through the second gear, thereby driving the second arc slide to slide along the second arc frame in the reverse direction. The second arc frame is fixedly assembled on the first arc slide, and the welding gun is fixedly assembled on the second arc slide. When the chassis moves along the weld, the second arc frame slides reciprocatingly along the first arc frame, and the welding gun moves back and forth along the second arc slide.

[0011] Furthermore, the second arc frame is arranged perpendicular to the first arc frame, the center of the arc edge of the first arc frame coincides with the center of the arc edge of the second arc frame, and the vertical center section of the second arc frame is coplanar with the vertical center section of the first arc frame.

[0012] The second arc frame is fixedly assembled on the first arc slide and is arranged vertically with the first arc frame. In the initial state, the first arc slide is located at one end of the first arc frame close to the slag removal mechanism, and the second arc slide is located at one end of the second arc frame. When the chassis moves along the weld, the servo motor drives the second arc frame to move along the first arc frame, and the linkage motor drives the welding gun to move along the second arc frame. The arc length of the first arc frame is twice the arc length of the second arc frame. When the second arc frame moves along the first arc tooth pair to half the length of the first arc frame, the welding gun moves from one end of the second arc frame to the other end along the second arc tooth pair. The second arc frame moves along the first arc tooth pair. The welding gun moves from the midpoint of the first arc support to the end of the first arc slide away from the slag removal mechanism, and the welding gun moves back and forth along the second arc tooth pair, cooperating with the chassis to move along the weld, that is, the trajectory of the welding gun on the weld is "S" shaped, and the second arc support moves along the first arc tooth pair from the end of the first arc support away from the slag removal mechanism to the end close to the slag removal mechanism, and the welding gun moves back and forth once along the second arc support, and the trajectory of the welding gun on the weld is a mirror image "S" shape, and the mirror image "S" shape overlaps the "S" shape to complete the loop reciprocating fish scale circle welding of the weld, which greatly enhances the welding strength and load stress limit of the weld.

[0013] Furthermore, the welding mechanism also includes an assembly frame and a wire feeder, and the assembly frame is fixedly connected to the welding gun and the wire feeder.

[0014] When welding the weld, the wire feeder automatically feeds the welding wire to the welding point, and the welding gun melts the welding wire to form a solder weld on the weld, leaving welding slag.

[0015] Furthermore, the slag removal mechanism also includes a two-axis robotic arm, an assembly plate, an air shovel, a grinding wheel machine and a magnetic suction fan. The two-axis robotic arm is fixedly connected to the first turntable and the assembly plate, and the air shovel, the grinding wheel machine and the magnetic suction fan are fixedly connected to the assembly plate.

[0016] When the chassis moves along the weld, the slag removal mechanism operates in sequence: the air shovel shovels off the residual welding slag on the weld, the grinding wheel grinds the protruding solder on the weld until it is smooth, and the magnetic suction fan absorbs and recovers the shoveled welding slag and grinded solder to prevent splashing.

[0017] Furthermore, the multi-axis mechanism also includes an electric-controlled slide and a servo cylinder. The electric-controlled slide is fixedly connected to the second turntable, the electric-controlled crank arm is slidably connected to the electric-controlled slide, the servo cylinder is fixedly connected to the electric-controlled crank arm, and the output end of the servo cylinder is fixedly connected to the universal joint. The second turntable, the electric-controlled slide, the electric-controlled crank arm, the servo cylinder, and the universal joint are all connected to the chassis through electrical signals.

[0018] The weld position is visually identified and an electrical signal is sent to the chassis, which then feeds back the electrical signal to the second turntable, electric slide, electric crank arm, servo cylinder and universal swivel head. The second turntable, electric slide, electric crank arm and universal swivel head work together to drive the chassis to move along the weld, and the servo cylinder adjusts the welding gun and the weld position to remain constant.

[0019] Furthermore, the leveling mechanism also includes a horizontal sensor, a round table, a first motor, a bottom table, a second motor and a spring pulley seat. The horizontal sensor and the first motor are fixedly connected to the top table, the second motor is fixedly connected to the bottom table, the output end of the first motor and the output end of the second motor are fixedly connected to the round table, the spring pulley seat is rotatably connected to the bottom table, the spring pulley seat is provided with several groups, and the several groups of spring pulley seats are evenly distributed along the circumference of the bottom table, and the horizontal sensor is connected to the first motor and the second motor through electrical signals.

[0020] When the leveling mechanism is placed on the ground, several groups of spring pulley seats evenly distributed around the circumference of the bottom platform contact the uneven ground, causing the bottom platform to tilt at a certain angle. The horizontal sensor detects the tilt of the top platform, and feeds back electrical signals to the first motor and the second motor. The first motor and the second motor output torques respectively through their output ends, driving the circular table and the top platform to adjust their tilt angles respectively, so that the top platform is in a horizontal state, thereby preventing the tilt of the entire machine from interfering with the welding work and preventing the entire machine from tipping over.

[0021] Compared with the prior art, the beneficial effects of the present invention are as follows: the present invention designs a circle welding mechanism, and two groups of visual probes diagonally arranged at both ends of the chassis diameter simultaneously identify the weld to complete self-positioning, thereby avoiding a group of visual probes being blocked to cause a blind spot in the field of vision, and identifying the misalignment. The circle mechanism is displaced along the weld, and the servo motor outputs a reciprocating fixed-axis torque to the first gear, and the linkage motor outputs a reciprocating fixed-axis torque to the second gear. In the initial state, the first arc slide is located at one end of the first arc frame close to the slag removal mechanism, and the second arc slide is located at one end of the second arc frame. The servo motor drives the second arc frame to displace along the first arc frame, and the linkage motor drives the welding gun to displace along the second arc frame. The arc length of the first arc frame is twice the arc length of the second arc frame. When the second arc frame is displaced along the first arc tooth pair to half the length of the first arc frame, the welding gun is displaced from one end of the second arc frame to the other end along the second arc tooth pair, and the second arc frame is displaced from the midpoint of the first arc frame along the first arc tooth pair to the first arc slide away from the slag removal mechanism. At one end of the welding gun, the welding gun moves back and forth along the second arc gear pair, and cooperates with the chassis to move along the welding seam, that is, the trajectory of the welding gun on the welding seam is "S" type, and the second arc frame moves along the first arc gear pair from the end of the first arc frame away from the slag removal mechanism to the end close to the slag removal mechanism, and the welding gun moves back and forth once along the second arc frame, and the trajectory of the welding gun on the welding seam is a mirror image "S" type, and the mirror image "S" type welding rail overlaps with the "S" type welding rail to complete the loop reciprocating fish scale circle welding of the welding seam, which greatly enhances the welding strength and load stress limit of the welding seam; the present invention designs a leveling mechanism, which detects the inclination of the top platform through a horizontal sensor, and feeds back an electrical signal to the first motor and the second motor, so as to drive the round table and the top platform to adjust the inclination angle respectively, so that the top platform is in a horizontal state, thereby avoiding interference with the welding work caused by the inclination of the whole machine, and also avoiding the whole machine from tipping over; the present invention automatically locates the welding seam through visual recognition, and performs loop reciprocating fish scale circle welding on the weld, which greatly improves the welding efficiency and quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0023] Figure 2 It is a schematic structural diagram of the ring welding mechanism of the present invention;

[0024] Figure 3 It is a partial cross-sectional view of the ring welding mechanism of the present invention;

[0025] Figure 4 for Figure 3 A schematic diagram of a local A enlargement;

[0026] Figure 5 It is a schematic diagram of the welding mechanism structure of the present invention;

[0027] Figure 6 It is a schematic diagram of the structure of the slag removal mechanism of the present invention;

[0028] Figure 7 It is a schematic diagram of the structure of the multi-axis mechanism of the present invention;

[0029] Figure 8 It is a schematic diagram of the structure of the leveling mechanism of the present invention.

[0030] In the figure: 1, base; 2, chassis; 3, circle welding mechanism; 31, chassis; 32, visual probe; 33, circle mechanism; 331, first arc frame; 3311, first arc gear pair; 332, first arc slide; 3321, first arc cavity; 333, first gear; 334, servo motor; 335, linkage motor; 336, second arc slide; 3361, second arc cavity; 337, second arc frame; 3371, second arc gear pair; 338, second gear; 34, welding mechanism; 341, welding gun; 3 42. Assembly frame; 343. Wire feeder; 4. Slag removal mechanism; 41. First turntable; 42. Two-axis robot arm; 43. Assembly plate; 44. Air shovel machine; 45. Grinding wheel machine; 46. Magnetic suction fan; 5. Multi-axis mechanism; 51. Second turntable; 52. Electric-controlled slide; 53. Electric-controlled crank arm; 54. Servo cylinder; 55. Universal swivel head; 6. Leveling mechanism; 61. Top table; 62. Level sensor; 63. Round table; 64. First motor; 65. Bottom table; 66. Second motor; 67. Spring pulley seat. DETAILED DESCRIPTION

[0031] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. 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 creative work are within the scope of protection of the present invention.

[0032] like Figure 1 , Figure 7 As shown, the present invention provides a technical solution of an automatically positioned steel structure welding equipment, including a base 1, a chassis 2, a ring welding mechanism 3, a slag removal mechanism 4, a multi-axis mechanism 5 and a leveling mechanism 6, the ring welding mechanism 3 includes a chassis 31, the slag removal mechanism 4 includes a first turntable 41, the multi-axis mechanism 5 includes a second turntable 51, an electric-controlled crank arm 53 and a universal swivel head 55, the leveling mechanism 6 includes a top platform 61, the chassis 31 is fixedly connected to the first turntable 41 and the universal swivel head 55, the chassis 2 is fixedly connected to the electric-controlled crank arm 53, the base 1 is fixedly connected to the second turntable 51 and the top platform 61, and the ring welding mechanism 3 and the multi-axis mechanism 5 are connected to the chassis 2 via electrical signals.

[0033] The present invention is a welding robot for self-positioning of steel structures. The base 1 maintains the ring welding mechanism 3 parallel to the horizontal plane on the rugged ground through the leveling mechanism 6. The ring welding mechanism 3 sends an electrical signal to the chassis 2 by visually identifying the weld position. The chassis 2 feeds back the electrical signal to the multi-axis mechanism 5. The multi-axis mechanism 5 drives the ring welding mechanism 3 to move along the weld. The ring welding mechanism 3 moves and completes the loop reciprocating fish scale ring welding of the weld, which greatly enhances the welding strength and load stress limit of the weld. The slag removal mechanism 4 is assembled on the ring welding mechanism 3 and moves, and completes the slag removal, smooth grinding and slag adsorption of the weld.

[0034] like Figure 2 , Figure 3 As shown, the circle welding mechanism 3 also includes a visual probe 32, a winding mechanism 33 and a welding mechanism 34. The winding mechanism 33 includes a first arc frame 331 and a second arc slide 336. The visual probe 32 and the first arc frame 331 are both fixedly connected to the chassis 31. The visual probe 32 is provided with two groups. The two groups of visual probes 32 are arranged on both sides of the first arc frame 331. The two groups of visual probes 32 are arranged at both ends of the diameter of the chassis 31. The welding mechanism 34 includes a welding gun 341, and the welding gun 341 is fixedly connected to the second arc slide 336.

[0035] Automatic positioning is completed by visually identifying the weld position through two groups of visual probes 32 arranged on both sides of the first arc frame 331. Two groups of visual probes 32 diagonally arranged at both ends of the diameter of the chassis 31 identify the weld at the same time to avoid a blind spot in the field of vision caused by blocking of one group of visual probes 32. When misalignment is identified, the chassis 2 feeds back an electrical signal to the multi-axis mechanism 5, the multi-axis mechanism 5 drives the chassis 31 to move along the weld, and the winding mechanism 33 drives the welding gun 341 to complete the loop reciprocating fish scale circle welding of the weld.

[0036] like Figure 2 , Figure 3As shown, the winding mechanism 33 also includes a first arc slider 332, a first gear 333, a servo motor 334, a linkage motor 335, a second arc frame 337 and a second gear 338. The first arc slider 332 is provided with a first arc cavity 3321, the first arc cavity 3321 is slidably connected to the first arc frame 331, the first arc frame 331 is provided with a first arc tooth pair 3311, the first gear 333 is meshed with the tooth surface of the first arc tooth pair 3311, the servo motor 334 is fixedly connected to the first arc slider 332, and the output end of the servo motor 334 is fixedly connected to the first gear 333. Then, the second arc frame 337 is fixedly connected to the first arc slide 332, the second arc frame 337 is provided with a second arc tooth pair 3371, the second gear 338 is meshed with the tooth surface of the second arc tooth pair 3371, the second arc slide 336 is provided with a second arc cavity 3361, the second arc cavity 3361 is slidably connected to the second arc frame 337, the linkage motor 335 is fixedly connected to the second arc slide 336, the output end of the second arc slide 336 is fixedly connected to the second gear 338, and the servo motor 334, the linkage motor 335, and the visual probe 32 are all connected to the chassis 2 through electrical signals.

[0037] The servo motor 334 outputs a reciprocating fixed-axis torque to the first gear 333 according to the electrical signal of the chassis 2, and drives the first arc slide 332 to slide reciprocatingly along the first arc frame 331 in the reverse direction through the meshing of the first gear 333 with the tooth surface of the first arc tooth pair 3311. At the same time, the linkage motor 335 outputs a reciprocating fixed-axis torque to the second gear 338 according to the electrical signal of the chassis 2, and drives the second arc slide 336 to slide along the second arc frame 337 in the reverse direction through the meshing of the second gear 338 with the tooth surface of the second arc tooth pair 3371. The second arc frame 337 is fixedly assembled on the first arc slide 332, and the welding gun 341 is fixedly assembled on the second arc slide 336. When the chassis 31 moves along the weld, the second arc frame 337 slides reciprocatingly along the first arc frame 331, and the welding gun 341 moves back and forth along the second arc slide 336.

[0038] like Figure 2 As shown, the second arc frame 337 is arranged perpendicular to the first arc frame 331 , the arc edge center of the first arc frame 331 coincides with the arc edge center of the second arc frame 337 , and the vertical center section of the second arc frame 337 is coplanar with the vertical center section of the first arc frame 331 .

[0039] The second arc frame 337 is fixedly assembled on the first arc slide 332 and is arranged vertically with the first arc frame 331. In the initial state, the first arc slide 332 is located at one end of the first arc frame 331 close to the slag removal mechanism 4, and the second arc slide 336 is located at one end of the second arc frame 337. When the chassis 31 moves along the weld, the servo motor 334 drives the second arc frame 337 to move along the first arc frame 331, and the linkage motor 335 drives the welding gun 341 to move along the second arc frame 337. The arc length of the arc side of the first arc frame 331 is twice the arc length of the arc side of the second arc frame 337. When the second arc frame 337 moves along the first arc tooth pair 3311 to half the length of the arc length of the first arc frame 331, the welding gun 341 moves from one end of the second arc frame 337 to the other end along the second arc tooth pair 3371. The second arc frame 337 is displaced along the first arc tooth pair 3311 from the midpoint of the first arc frame 331 to the end of the first arc slide 332 away from the slag removal mechanism 4, and the welding gun 341 is reciprocated and returned along the second arc tooth pair 3371, cooperating with the displacement of the chassis 31 along the weld, that is, the trajectory of the welding gun 341 on the weld is "S"-shaped, and the second arc frame 337 is displaced along the first arc tooth pair 3311 from the end of the first arc frame 331 away from the slag removal mechanism 4 to the end close to the slag removal mechanism 4, and the welding gun 341 is displaced back and forth once along the second arc frame 337, and the trajectory of the welding gun 341 on the weld is a mirror image "S" shape, and the mirror image "S" shape overlaps with the "S" shape to complete the loop reciprocating fish scale circle welding of the weld, thereby greatly enhancing the welding strength and load stress limit of the weld.

[0040] like Figure 5 As shown, the welding mechanism 34 further includes an assembly frame 342 and a wire feeder 343 , and the assembly frame 342 is fixedly connected to the welding gun 341 and the wire feeder 343 .

[0041] When welding the weld, the wire feeder 343 automatically feeds the welding wire to the welding point, and the welding gun 341 melts the welding wire to form a solder weld on the weld, leaving welding slag.

[0042] like Figure 6 As shown, the slag removal mechanism 4 also includes a two-axis robotic arm 42, an assembly plate 43, an air shovel machine 44, a grinding wheel machine 45 and a magnetic suction fan 46. The two-axis robotic arm 42 is fixedly connected to the first turntable 41 and the assembly plate 43, and the air shovel machine 44, the grinding wheel machine 45 and the magnetic suction fan 46 are fixedly connected to the assembly plate 43.

[0043] When the chassis 31 moves along the weld, the slag removal mechanism 4 operates in sequence: the air shovel 44 shovels off the residual welding slag on the weld, the grinding wheel 45 grinds the protruding solder on the weld to make it smooth, and the magnetic suction fan 46 absorbs and recovers the shoveled welding slag and the grinded solder to prevent splashing.

[0044] like Figure 7As shown, the multi-axis mechanism 5 also includes an electric-controlled slide 52 and a servo cylinder 54. The electric-controlled slide 52 is fixedly connected to the second turntable 51, the electric-controlled crank arm 53 is slidably connected to the electric-controlled slide 52, the servo cylinder 54 is fixedly connected to the electric-controlled crank arm 53, and the output end of the servo cylinder 54 is fixedly connected to the universal swivel head 55. The second turntable 51, the electric-controlled slide 52, the electric-controlled crank arm 53, the servo cylinder 54, and the universal swivel head 55 are all connected to the chassis 2 through electrical signals.

[0045] The weld position is visually identified by sending an electrical signal to the chassis 2, which then feeds back the electrical signal to the second turntable 51, the electric-controlled slide 52, the electric-controlled crank arm 53, the servo cylinder 54, and the universal swivel head 55. The second turntable 51, the electric-controlled slide 52, the electric-controlled crank arm 53, and the universal swivel head 55 cooperate to drive the chassis 31 to move along the weld, and the servo cylinder 54 adjusts the welding gun 341 to keep the weld position constant.

[0046] like Figure 8 As shown, the leveling mechanism 6 also includes a horizontal sensor 62, a truncated table 63, a first motor 64, a bottom table 65, a second motor 66 and a spring pulley seat 67. The horizontal sensor 62 and the first motor 64 are fixedly connected to the top table 61, the second motor 66 is fixedly connected to the bottom table 65, the output end of the first motor 64 and the output end of the second motor 66 are fixedly connected to the truncated table 63, the spring pulley seat 67 is rotatably connected to the bottom table 65, the spring pulley seat 67 is provided with a plurality of groups, and the plurality of groups of spring pulley seats 67 are evenly distributed along the circumference of the bottom table 65, and the horizontal sensor 62 is connected to the first motor 64 and the second motor 66 through electrical signals.

[0047] When the leveling mechanism 6 is placed on the ground, several groups of spring pulley seats 67 evenly distributed around the circumference of the base 65 contact the rough ground, causing the base 65 to tilt at a certain angle. The inclination of the top platform 61 is detected by the horizontal sensor 62, and an electrical signal is fed back to the first motor 64 and the second motor 66. The first motor 64 and the second motor 66 output torques through their output ends, respectively, driving the circular table 63 and the top platform 61 to adjust their inclination angles, respectively, so that the top platform 61 is in a horizontal state, thereby preventing the tilt of the entire machine from interfering with the welding work and preventing the entire machine from tipping over.

[0048] The working principle of the present invention is as follows: the base 1 maintains the ring welding mechanism 3 parallel to the horizontal plane on the rugged ground through the leveling mechanism 6, and two sets of visual probes 32 arranged diagonally at both ends of the diameter of the chassis 31 simultaneously identify the weld seam to avoid a blind spot caused by a set of visual probes 32 being blocked and identifying misalignment. The multi-axis mechanism 5 drives the ring welding mechanism 3 to move along the weld seam, the servo motor 334 outputs a reciprocating fixed-axis torque to the first gear 333, and the linkage motor 335 outputs a reciprocating fixed-axis torque to the second gear 338. In the initial state, the first arc slide 332 is located at one end of the first arc frame 331 close to the slag removal mechanism 4, and the second arc slide 336 is located at one end of the second arc frame 337. When the chassis 31 moves along the weld, the servo motor 334 drives the second arc frame 337 to move along the first arc frame 331, and the linkage motor 335 drives the welding gun 341 to move along the second arc frame 337. The arc length of the first arc frame 331 is twice the arc length of the second arc frame 337. The second arc frame 337 moves along the first arc tooth pair 3311 to the first arc. When the arc length of the frame 331 is half, the welding gun 341 moves from one end of the second arc frame 337 to the other end along the second arc tooth pair 3371, and the second arc frame 337 moves from the midpoint of the first arc frame 331 to the end of the first arc slide 332 away from the slag removal mechanism 4 along the first arc tooth pair 3311, and the welding gun 341 moves back and forth along the second arc tooth pair 3371, and cooperates with the chassis 31 to move along the weld seam, that is, the trajectory of the welding gun 341 on the weld seam is "S" shaped, and the second arc frame 337 moves along the first arc tooth pair 331 The end of the first arc support 331 away from the slag removal mechanism 4 is moved to the end close to the slag removal mechanism 4, and the welding gun 341 moves back and forth once along the second arc support 337. The trajectory of the welding gun 341 on the weld is a mirror image "S" shape. By overlapping the mirror image "S" shape with the "S" shape, the loop reciprocating fish scale circle welding of the weld is completed, which greatly enhances the welding strength and load stress limit of the weld. When the slag removal mechanism 4 is assembled on the circle welding mechanism 3 and moves, the weld is slag-removed, smoothed and polished, and the weld is adsorbed.

[0049] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

Claims

1. A steel structure welding equipment capable of automatic positioning, characterized in that: The welding equipment comprises a base (1), a chassis (2), a ring welding mechanism (3), a slag removal mechanism (4), a multi-axis mechanism (5) and a leveling mechanism (6); the ring welding mechanism (3) comprises a chassis (31); the slag removal mechanism (4) comprises a first turntable (41); the multi-axis mechanism (5) comprises a second turntable (51), an electric-controlled crank arm (53) and a universal swivel head (55); the leveling mechanism (6) comprises a top platform (61); the chassis (31) is fixedly connected to the first turntable (41) and the universal swivel head (55); the chassis (2) is fixedly connected to the electric-controlled crank arm (53); the base (1) is fixedly connected to the second turntable (51) and the top platform (61); and the ring welding mechanism (3) and the multi-axis mechanism (5) are connected to the chassis (2) via electrical signals.

2. The automatic positioning steel structure welding equipment according to claim 1 is characterized in that: The circle welding mechanism (3) further comprises a visual probe (32), a circle winding mechanism (33) and a welding mechanism (34); the circle winding mechanism (33) comprises a first arc frame (331) and a second arc sliding member (336); the visual probe (32) and the first arc frame (331) are both fixedly connected to the chassis (31); the visual probe (32) is provided with two groups, the two groups of the visual probes (32) are arranged on both sides of the first arc frame (331), and the two groups of the visual probes (32) are arranged at both ends of the diameter of the chassis (31); the welding mechanism (34) comprises a welding gun (341), and the welding gun (341) is fixedly connected to the second arc sliding member (336).

3. The automatic positioning steel structure welding equipment according to claim 2 is characterized in that: The winding mechanism (33) further comprises a first arc sliding member (332), a first gear (333), a servo motor (334), a linkage motor (335), a second arc frame (337) and a second gear (338); the first arc sliding member (332) is provided with a first arc cavity (3321); the first arc cavity (3321) is slidably connected to the first arc frame (331); the first arc frame (331) is provided with a first arc tooth pair (3311); the first gear (333) and the first arc tooth pair (3311) are meshed with each other; the servo motor (334) is fixedly connected to the first arc sliding member (332); and the output end of the servo motor (334) is fixedly connected to the first gear (333). The second arc frame (337) is fixedly connected to the first arc slide (332), the second arc frame (337) is provided with a second arc tooth pair (3371), the second gear (338) is meshed with the tooth surface of the second arc tooth pair (3371), the second arc slide (336) is provided with a second arc cavity (3361), the second arc cavity (3361) is slidably connected to the second arc frame (337), the linkage motor (335) is fixedly connected to the second arc slide (336), the output end of the second arc slide (336) is fixedly connected to the second gear (338), and the servo motor (334), the linkage motor (335), and the visual probe (32) are all connected to the chassis (2) through electrical signals.

4. The automatic positioning steel structure welding equipment according to claim 3 is characterized in that: The second arc frame (337) is arranged perpendicular to the first arc frame (331), the center of the arc edge of the first arc frame (331) coincides with the center of the arc edge of the second arc frame (337), and the vertical center section of the second arc frame (337) is coplanar with the vertical center section of the first arc frame (331).

5. The automatic positioning steel structure welding equipment according to claim 2 is characterized in that: The welding mechanism (34) further comprises an assembly frame (342) and a wire feeder (343); the assembly frame (342) is fixedly connected to the welding gun (341) and the wire feeder (343).

6. The automatic positioning steel structure welding equipment according to claim 1, characterized in that: The slag removal mechanism (4) also includes a two-axis mechanical arm (42), an assembly plate (43), an air shovel (44), a grinding wheel (45) and a magnetic suction fan (46); the two-axis mechanical arm (42) is fixedly connected to the first turntable (41) and the assembly plate (43); the air shovel (44), the grinding wheel (45) and the magnetic suction fan (46) are fixedly connected to the assembly plate (43).

7. The automatic positioning steel structure welding equipment according to claim 1, characterized in that: The multi-axis mechanism (5) further comprises an electrically controlled slide (52) and a servo cylinder (54); the electrically controlled slide (52) is fixedly connected to the second rotary table (51); the electrically controlled crank arm (53) is slidably connected to the electrically controlled slide (52); the servo cylinder (54) is fixedly connected to the electrically controlled crank arm (53); an output end of the servo cylinder (54) is fixedly connected to a universal rotary head (55); and the second rotary table (51), the electrically controlled slide (52), the electrically controlled crank arm (53), the servo cylinder (54) and the universal rotary head (55) are all connected to the chassis (2) via electrical signals.

8. The automatic positioning steel structure welding equipment according to claim 1, characterized in that: The leveling mechanism (6) further comprises a level sensor (62), a round table (63), a first motor (64), a bottom table (65), a second motor (66) and a spring pulley seat (67); the level sensor (62) and the first motor (64) are both fixedly connected to the top table (61); the second motor (66) is fixedly connected to the bottom table (65); the output end of the first motor (64) and the output end of the second motor (66) are both fixedly connected to the round table (63); the spring pulley seat (67) is rotatably connected to the bottom table (65); the spring pulley seat (67) is provided with a plurality of groups; the plurality of groups of spring pulley seats (67) are evenly distributed along the circumference of the bottom table (65); the level sensor (62) is connected to the first motor (64) and the second motor (66) via electrical signals.

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