An automated welding apparatus and method for welding a cruciform support platform

Abstract

The application discloses a kind of cross support platform's automated welding equipment and welding method, including following welding method: S1, material preparation;S2, welding mode and parameter setting;S3, once group blank;S4, once welding;S5 two group blank;S6, second welding;S7, after welding treatment;S8, hoisting transfer welding finished product;Welding required welding equipment, including conveying platform, mobile positioning platform, positioning frame, side plate positioning mechanism, conveying mechanism, welding robot I, rotating mechanical arm, rib plate positioning mechanism, upper platform plate, lower platform plate;Conveying platform is set in the overall rear end of device, and the front end of conveying platform is equipped with mobile positioning platform, and mobile positioning platform is set between upper platform plate and lower platform plate, and side plate positioning mechanism is set between positioning frame, and conveying mechanism is set on positioning frame, and welding robot I and rotating mechanical arm are respectively set on corresponding conveying mechanism, and rotating mechanical arm lower part is equipped with rib plate positioning mechanism.

Description

Technical Field

[0001] This invention belongs to the field of automated welding technology, and specifically relates to an automated welding device and welding method for a cross-support platform. Background Technology

[0002] The cross-bracing platform is a structural design widely used in construction, bridges, and mechanical engineering. It mainly consists of a platform base plate and a pair of welded side plates. Several reinforcing ribs are welded to the base plate to further increase structural stability and reduce deformation. However, cross-bracing platforms are large in size, requiring assembly and clamping at different angles during welding. Lifting machinery is used to clamp and place the plates, and ground-based lifting machinery is used for assembly. The accuracy of the assembly position cannot be guaranteed, and each assembly is time-consuming and inefficient. During welding, the platform base plate absorbs a large amount of heat in a short time, causing thermal deformation. Large cross-bracing platforms often have poor overall flatness after welding, and the weld seams are prone to stress deformation and cracking, compromising weld quality.

[0003] A search revealed an automated welding device and method for I-shaped rods, with prior art patent publication number CN 118342179 A. The device includes an I-shaped rod, a sliding welding platform mounted on top of the rod, and sliding blocks fixed to both sides of the bottom of the platform. The platform is mounted on the rod via these blocks. A rotary mechanism is slidably mounted on top of the platform, and a drag-and-teach collaborative robot is mounted on top of the rotary mechanism. This device automates welding operations on the I-shaped rod according to a specific welding sequence using the sliding welding platform. However, it cannot adjust the workpiece welding position, thus failing to guarantee the welding dimensions.

[0004] A search revealed an automated automotive body welding device with patent publication number CN 118926796 A. This device includes a welding platform, a body clamping mechanism that can adjust the clamping components to a rectangular or circular body tube clamping state via an adjusting component, a positioning and calibration mechanism with an integrated clamping and grinding mechanism, and a flexible variable-distance calibration mechanism to determine the specific welding position of the positioning pin. A fixing component ensures the positioning pin remains stable during welding, and a grinding component treats the weld seam and weld beads produced after welding. While this device stabilizes the positioning pin during welding through the fixing component, it cannot solve the problem of deformation caused by rapid heating of parts during welding. Summary of the Invention

[0005] The purpose of this invention is to overcome the shortcomings of existing technologies and provide an automated welding equipment and method for a cross-support platform. A flipping positioning mechanism, in conjunction with a pressing positioning mechanism, positions the rear end of the platform base plate and presses it down onto the lifting plate I, limiting the position of the platform base plate and ensuring the positioning for assembly and welding. A side alignment mechanism, in conjunction with a side plate clamping mechanism, removes the platform side plate from the workpiece holder, ensuring that the opening on the clamped platform side plate aligns with the boss on the platform base plate, thus performing a primary assembly of the platform side plate. A stiffener positioning mechanism, in conjunction with a fine-tuning mechanism, clamps and removes the platform stiffener from the workpiece holder, adjusting the distance between the two sides of the clamped platform stiffener according to the welding position, performing a secondary assembly of the platform stiffener, further completing the automated assembly and welding of the cross-support platform. This ensures weld quality and overall platform flatness, solving the technical problem of stress-induced weld cracking after welding.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0007] An automated welding device and welding method for a cross-shaped support platform, the specific welding method is as follows:

[0008] S1. Support Platform Material Preparation: The support platform includes a platform base plate, platform side plates, and platform stiffeners. The platform base plate is 12mm thick, the platform side plates are 10mm thick, and the platform stiffeners are 8mm thick. The material used is Q235B steel plate, which is laser-cut. After cutting, the burrs and flash are ground off, and the steel plate surface is cleaned. The straightness deviation of the cut is ≤1‰ to ensure that the cut is smooth and flat and meets the welding standards.

[0009] S2. Welding method and parameter settings: Gas shielded welding is adopted. Select welding wire that matches the base material, specifically ER50-6, with a wire diameter of 1.2-1.6mm, and use Ar+CO2 as the shielding gas.

[0010] S3, One-time billet assembly: The conveying platform transports the platform base plate to the moving positioning platform. The moving positioning platform positions the platform base plate. The side plate positioning mechanism clamps the platform side plate and adjusts its position to ensure that the opening on the platform side plate aligns with the protrusion on the platform base plate. The platform side plate and the platform base plate are then assembled.

[0011] S4. Single Welding: The welding robot II in the mobile welding mechanism performs intermittent welding at the joint between the platform side plate and the platform bottom plate. The welding current is set to 120-200A, the welding voltage to 22-26V, the gas flow rate to 12-15L / min, the weld length to 10-20mm, the weld spacing to 200-300mm, and the weld leg size to ≥6mm. Intermittent welding fixes the platform bottom plate and side plate, reducing heat input and controlling deformation.

[0012] S5. Secondary assembly: The semi-finished product after the platform side plate and platform bottom plate are welded and fixed by the moving positioning platform continues to be transported forward. The fixing mechanism clamps the platform side plate and platform bottom plate to reduce the amount of deformation. The rib plate positioning mechanism clamps the platform rib plate and adjusts the position of the platform rib plate to assemble the platform rib plate and platform bottom plate.

[0013] S6. Secondary Welding: Full welding is performed on the platform stiffeners and the overlap between the platform bottom plate and the platform side plate using welding robot I. The welding current is 200-300A, the welding voltage is 26-32V, the gas flow rate is 15-20L / min, and the welding speed is 200-500mm / min. When welding with welding robot I, the welding torch is tilted backward, and the welding torch and the workpiece are kept at an angle of 10°-15° to increase the penetration depth, reduce air intrusion, and reduce the probability of porosity. The welding process complies with GB 50661-2011 standard.

[0014] S7. Post-weld treatment: Reset and retract the moving positioning platform, side plate positioning mechanism, and stiffener positioning mechanism; remove welding slag and spatter from the surface of the support platform, grind the weld beads, and check the appearance quality of the weld to ensure there are no defects such as leaks or porosity.

[0015] S8. After the post-weld treatment is completed, the welded finished product is transferred by hoisting.

[0016] An automated welding device with a cross-shaped support platform includes a conveying platform, a mobile positioning platform, a positioning frame, a side plate positioning mechanism, a conveying mechanism, a welding robot I, a rotary robotic arm, a stiffener positioning mechanism, an upper platform plate, a lower platform plate, a fixing mechanism, and a workpiece rack. The conveying platform is located at the rear end of the device, and the mobile positioning platform is located at the front end of the conveying platform. The mobile positioning platform is positioned between the upper and lower platform plates. The positioning frame is located on both sides of the mobile positioning platform, the side plate positioning mechanism is located between the positioning frames, and the conveying mechanism is located on the positioning frame. The welding robot I and the rotary robotic arm are respectively mounted on their respective conveying mechanisms. The rotary robotic arm has a stiffener positioning mechanism at its lower part. The fixing mechanism is located at the front end of the mobile positioning platform, and the workpiece rack is located on both sides of the positioning frame. The conveying mechanism includes a motor I, a lead block I, and a lead screw I. The motor I is located at the front end of the positioning frame, and the output end of the motor I is connected to the lead screw I. The lead block I cooperates with the lead screw I, and the left and right sets of lead blocks I are respectively connected to the welding robot I and the rotary robotic arm. The cross-shaped support platform is composed of a platform base plate, platform side plates, and platform stiffeners welded together.

[0017] The mobile positioning platform includes a lifting plate I, a moving plate, an electric push rod I, a motor II, a motor mounting plate I, a lead screw II, a lead block II, a limit shaft I, and a connecting slider I. The lifting plate I has an opening, the electric push rod I is located at the lower part of the lifting plate I, the moving plate is located at the lower part of the electric push rod I, the motor mounting plate I is located at the lower part of the upper platform plate, the motor II is located at the upper part of the motor mounting plate I, the output end of the motor II is connected to the lead screw II, the lead screw II has a lead block II, the lead block II is fixedly connected to the moving plate, the lead screw II has limit shafts I on both sides, the limit shafts I have connecting sliders I, and the connecting sliders I are fixedly connected to the moving plate.

[0018] The opening on the lifting plate I is equipped with a flipping positioning mechanism, which includes a positioning block, a Y-shaped slide groove, a limiting shaft II, a connecting plate I, a connecting rod I, a connecting rod II, a connecting shaft I, a motor III, and a limiting plate I. The positioning block has a Y-shaped slide groove. The motor III is located on one side of the positioning block. The output end of the motor III is connected to the connecting shaft I. The connecting shaft I is connected to the connecting rod II. The connecting rod II is connected to the connecting rod I through a pin. The connecting rod I is connected to the connecting plate I. The two sets of connecting rods I are connected by the connecting shaft II. The connecting shaft II passes through the connecting plate I and is located in the Y-shaped slide groove on the positioning block. The connecting plate I has a limiting shaft II. The limiting shaft II and the connecting shaft II are located in the Y-shaped slide groove on the positioning block and cooperate with the Y-shaped slide groove. The connecting plate I also has a limiting plate I. The positioning block is fixed to the lower part of the lifting plate I.

[0019] The limiting plate I is provided with a pressing positioning mechanism, which includes a motor IV, a transmission shaft I, a connecting shaft III, a connecting rod III, a pressing plate, a sliding groove, a limiting shaft III, and a motor mounting plate II. The motor mounting plate II is located at the lower part of the limiting plate I, and the motor IV is mounted on the motor mounting plate II. The output end of the motor IV is connected to the transmission shaft I, the transmission shaft I is connected to the connecting rod III, the connecting rod III is connected to the pressing plate, and the pressing plate is provided with a sliding groove. The two sets of pressing plates are connected by the connecting shaft III. The pressing plate is located at the opening on the limiting plate I, and the limiting shaft III is fixed in the opening on the limiting plate I. At the same time, the limiting shaft III is located in the sliding groove provided on the pressing plate.

[0020] The side plate positioning mechanism includes a motor V, a positioning plate I, a bidirectional lead screw, an electric push rod II, a limit plate II, a motor VI, a lifting plate II, a transmission shaft II, a support plate I, a helical gear I, a motor VII, and a transmission shaft III. Motor V is located on one side of the limit plate II, and its output end is connected to the bidirectional lead screw. The positioning plate I is mounted on the bidirectional lead screw. The electric push rod II is mounted on the positioning plate I. A lifting plate II is located below the electric push rod II. Motor VI is mounted on the lifting plate II, and motor VI controls the rotation of the transmission shaft II. The transmission shaft II is located inside the support plate I and is rotatably connected to it. Helical gears I are located at both ends of the transmission shaft II. Motor VII is located below the lifting plate II, and motor VII controls the rotation of the transmission shaft III.

[0021] The upper part of the lifting plate II is equipped with a mobile welding mechanism, which includes a motor VIII, a transmission shaft IV, a rotating frame, a motor IX, a lead screw III, a lead block III, and a welding robot II. The output end of motor VIII is connected to the transmission shaft IV, the transmission shaft IV is equipped with a rotating frame, the lower part of the rotating frame is equipped with a lead screw III, the lead block III is set on the lead screw III, motor IX is installed on one side of the rotating frame, the output end of motor IX is connected to the lead screw III, and the lower part of the lead block III is equipped with the welding robot II.

[0022] The lifting plate II is provided with side centering mechanisms on both sides. The side centering mechanisms include helical gear II, connecting shaft IV, support plate II, connecting rod IV, positioning plate II, electric push rod III, connecting plate II, spring I, and positioning plate III. Helical gear II is set on connecting shaft IV, and connecting shaft IV is set on support plate II and rotatably connected to support plate II. Support plate II is fixed on lifting plate II. Connecting rod IV is provided on connecting shaft IV. Positioning plate II is provided between two sets of connecting rods IV. Connecting plate II is provided at the lower part of connecting rod IV. Connecting plate II is connected to positioning plate III. Electric push rod III is set at the lower part of positioning plate II. The top end of electric push rod III is set at the upper part of connecting plate II. Spring I is provided between connecting plate II and positioning plate III.

[0023] The lower part of the lifting plate II is provided with a side plate clamping mechanism, which includes gear I, positioning plate IV, connecting rod V, connecting rod VI, connecting rod VII, limiting shaft IV, spring II, and positioning plate V. Gear I is set on positioning plate IV, and positioning plate IV is set at the lower part of lifting plate II. Gear I is connected to connecting rod V, connecting rod V is connected to connecting rod VII, and connecting rod VI is also provided between connecting rod VII and positioning plate IV. Limiting shaft IV is provided at the lower part of connecting rod VII, and positioning plate V is provided at the top of limiting shaft IV. Spring II is provided between positioning plate V and connecting rod VII, and spring II is sleeved on limiting shaft IV.

[0024] The fixing mechanism includes an electric actuator IV, a connecting slider II, a connecting plate III, a connecting shaft V, a limiting groove, a limiting plate III, a limiting plate IV, a rack I, a connecting plate IV, a gear II, and a rack II. The electric actuator IV is mounted on the lower platform plate. The top end of the electric actuator IV is provided with a connecting slider II. The connecting slider II is provided with a connecting plate III and is rotatably connected to the connecting plate III. The connecting plate III is connected to the connecting slider III through the connecting shaft V. The connecting slider III is located in the limiting groove, which is fixed on the lower platform plate. The connecting slider III is provided with a limiting plate III. The front end of the connecting slider II is provided with a rack II, which meshes with a gear II. The gear II is located in the connecting plate IV. The connecting plate IV is fixed to the lower part of the upper platform plate. The gear II meshes with the rack I, and the rack I is connected to the limiting plate IV.

[0025] The rib positioning mechanism includes a connecting seat, a positioning plate VI, a motor X, a gear III, a gear IV, a positioning plate VII, an electric push rod V, a lifting plate III, a motor XI, a lead screw IV, a connecting column, and a lifting plate IV. The connecting seat has a positioning plate VI at its lower part, the motor X is mounted on the positioning plate VI, the output end of the motor X is connected to the gear IV, the gear IV meshes with the gear III, the gear III has a positioning plate VII at its lower part, the positioning plate VII has an electric push rod V, the electric push rod V has a lifting plate III at its lower part, the lifting plate III has a motor XI, the output end of the motor XI is connected to the lead screw IV, the lifting plate III has a connecting column fixed at its lower part, and the lifting plate IV cooperates with the lead screw IV and is slidably connected to the connecting column.

[0026] The lower part of the lifting plate IV is provided with a stiffener clamping mechanism, which includes a positioning plate VIII, a connecting rod VIII, a connecting rod IX, a connecting rod X, and a positioning plate IX. The positioning plate VIII is fixed to the lower part of the connecting column, the connecting rod VIII is arranged on both sides of the lifting plate IV, and the lower part of the positioning plate VIII is provided with connecting rod IX and connecting rod X. Connecting rods VIII, IX, and X are simultaneously connected to the positioning plate IX.

[0027] The lower part of the lifting plate IV is provided with a fine-tuning mechanism, which includes a support plate III, a motor XII, a motor mounting plate III, a gear V, a rack V, a rack VI, a connecting plate V, a positioning plate X, a motor XIII, and a limiting rod. The support plate III is disposed between the connecting plates V, the motor mounting plate III is disposed on the support plate III, the motor XII is mounted on the motor mounting plate III, the output end of the motor XII is connected to the gear V, the gear V meshes with the rack V and the rack VI, the top of the rack V and the rack VI is provided with a motor XIII, the output end of the motor XIII controls the rotation of the limiting rod, and the positioning plate X is disposed between two adjacent sets of connecting plates V.

[0028] The advantages of this invention compared to existing technologies are as follows:

[0029] The flipping positioning mechanism, in conjunction with the pressing positioning mechanism, positions the rear end of the platform base plate and presses it down to fix it on the lifting plate I, limiting the positioning of the platform base plate and ensuring the positioning of the blank assembly and welding. The side centering mechanism, in conjunction with the side plate clamping mechanism, removes the platform side plate from the workpiece holder, ensuring that the opening on the clamped platform side plate matches the boss set on the platform base plate, driving the platform side plate to perform a first blank assembly. The fixing mechanism clamps and positions the platform base plate and platform side plate from three sides, reducing the amount of deformation during welding and reducing the error caused by workpiece offset during welding. The stiffener positioning mechanism, in conjunction with the fine-tuning mechanism, clamps and removes the platform stiffener from the workpiece holder, adjusts the distance between the two sides of the clamped platform stiffener according to the welding position, and performs a second blank assembly of the platform stiffener, further completing the automated blank assembly and automated welding of the cross-support platform, ensuring the weld quality and the overall flatness of the platform, and solving the technical problem of stress deformation weld cracking after welding. Attached Figure Description

[0030] Appendix Figure 1This is a schematic diagram of the structure of an automated welding equipment with a cross-shaped support platform according to the present invention. Figure 1 ;

[0031] Appendix Figure 2 This is a schematic diagram of the structure of an automated welding equipment with a cross-shaped support platform according to the present invention. Figure 2 ;

[0032] Appendix Figure 3 It is attached Figure 2 China Mobile Positioning Platform Structure Diagram Figure 1 ;

[0033] Appendix Figure 4 It is attached Figure 2 China Mobile Positioning Platform Structure Diagram Figure 2 ;

[0034] Appendix Figure 5 It is attached Figure 2 China Mobile Positioning Platform Structure Diagram Figure 3 ;

[0035] Appendix Figure 6 It is attached Figure 2 China Mobile Positioning Platform Structure Diagram Figure 4 ;

[0036] Appendix Figure 7 It is attached Figure 2 China Mobile Positioning Platform Structure Diagram Figure 5 ;

[0037] Appendix Figure 8 It is attached Figure 2 China Mobile Positioning Platform Structure Diagram Figure 6 ;

[0038] Appendix Figure 9 It is attached Figure 2 China Mobile Positioning Platform Structure Diagram Figure 7 ;

[0039] Appendix Figure 10 It is attached Figure 2 Schematic diagram of the middle side plate positioning mechanism Figure 1 ;

[0040] Appendix Figure 11 It is attached Figure 2 Schematic diagram of the middle side plate positioning mechanism Figure 2 ;

[0041] Appendix Figure 12 It is attached Figure 2 Schematic diagram of the middle side plate positioning mechanism Figure 3 ;

[0042] Appendix Figure 13 It is attached Figure 2 Schematic diagram of the middle side plate positioning mechanism Figure 4 ;

[0043] Appendix Figure 14 It is attached Figure 2 Schematic diagram of the middle side plate positioning mechanism Figure 5 ;

[0044] Appendix Figure 15 It is attached Figure 1 Schematic diagram of the fixed mechanism Figure 1 ;

[0045] Appendix Figure 16 It is attached Figure 1 Schematic diagram of the fixed mechanism Figure 2 ;

[0046] Appendix Figure 17 It is attached Figure 1 Schematic diagram of the positioning mechanism for the central stiffener plate Figure 1 ;

[0047] Appendix Figure 18 It is attached Figure 1 Schematic diagram of the positioning mechanism for the central stiffener plate Figure 2 ;

[0048] Appendix Figure 19 It is attached Figure 1 Schematic diagram of the positioning mechanism for the central stiffener plate Figure 3 ;

[0049] Appendix Figure 20 This is a schematic diagram of a cross-shaped support platform structure. Figure 1 ;

[0050] Appendix Figure 21 This is a schematic diagram of a cross-shaped support platform structure. Figure 2 ;

[0051] In the diagram: 11. Conveying platform; 12. Moving positioning platform; 13. Positioning frame; 14. Side plate positioning mechanism; 15. Conveying mechanism; 16. Welding robot I; 17. Rotary robotic arm; 18. Rib plate positioning mechanism; 19. Upper platform plate; 20. Lower platform plate; 21. Fixing mechanism; 22. Workpiece rack; 1101. Motor I; 1102. Lead block I; 1103. Lead screw I; 101. Lifting plate I; 102. Moving plate; 103. Tilting positioning mechanism; 104. Pressing positioning mechanism; 105. Electric actuator I; 106. Motor II; 107. Motor mounting plate I; 108. 109. Lead screw II; 110. Lead block II; 111. Limiting shaft I; 112. Connecting slider I; 1030. Positioning block; 1031. Y-shaped slide groove; 1032. Limiting shaft II; 1033. Connecting plate I; 1034. Connecting rod I; 1035. Connecting rod II; 1036. Connecting shaft I; 1037. Connecting shaft II; 1038. Motor III; 1039. Limiting plate I; 1041. Motor IV; 1042. Transmission shaft I; 1043. Connecting shaft III; 1044. Connecting rod III; 1045. Lower pressure plate; 1046. Slide groove; 1047. Limiting shaft III; 1048. Motor mounting plate II;

[0052] 201. Motor V; 202. Positioning Plate I; 203. Bidirectional Lead Screw; 204. Electric Actuator II; 205. Limiting Plate II; 206. Motor VI; 207. Lifting Plate II; 208. Moving Welding Mechanism; 209. Side Alignment Mechanism; 210. Side Plate Clamping Mechanism; 211. Drive Shaft II; 212. Support Plate I; 213. Helical Gear I; 214. Motor VII; 215. Drive Shaft III; 2081. Motor VIII; 2082. Drive Shaft IV; 2083. Rotating Frame; 2084. Motor IX; 2085. Lead Screw III; 2086, Wire Block III; 2087, Welding Robot II; 2091, Helical Gear II; 2092, Connecting Shaft IV; 2093, Support Plate II; 2094, Connecting Rod IV; 2095, Positioning Plate II; 2096, Electric Actuator III; 2097, Connecting Plate II; 2098, Spring I; 2099, Positioning Plate III; 2101, Gear I; 2102, Positioning Plate IV; 2103, Connecting Rod V; 2104, Connecting Rod VI; 2105, Connecting Rod VII; 2106, Limiting Shaft IV; 2107, Spring II; 2108, Positioning Plate V;

[0053] 301. Electric actuator IV; 302. Connecting slider II; 303. Connecting plate III; 304. Connecting shaft V; 305. Connecting slider III; 306. Limiting groove; 307. Limiting plate III; 308. Limiting plate IV; 309. Rack I; 310. Connecting plate IV; 311. Gear II; 312. Rack II;

[0054] 401. Connecting seat; 402. Positioning plate VI; 403. Motor X; 404. Gear III; 405. Gear IV; 406. Positioning plate VII; 407. Electric actuator V; 408. Lifting plate III; 409. Motor XI; 410. Lead screw IV; 411. Connecting column; 412. Lifting plate IV; 413. Rib clamping mechanism; 414. Fine adjustment mechanism; 4131. Positioning plate VIII; 4132. Connecting rod VIII; 4133. Connecting rod VIII; 4134. Link IX; 4135. Positioning plate IX; 4140. Support plate III; 4141. Motor XII; 4142. Motor mounting plate III; 4143. Gear V; 4144. Rack V; 4145. Rack VI; 4146. Connecting plate V; 4147. Positioning plate X; 4148. Motor XIII; 4149. Limiting rod; 501. Platform base plate; 502. Platform side plate; 503. Platform stiffener. Detailed Implementation

[0055] To facilitate understanding by those skilled in the art, the following is a detailed explanation in conjunction with the appendix. Figure 1-21 The technical solution of the present invention will be further described in detail below.

[0056] An automated welding device and welding method for a cross-shaped support platform, the specific welding method is as follows:

[0057] S1. Support Platform Material Preparation: The support platform includes a platform base plate, platform side plates, and platform stiffeners. The platform base plate is 12mm thick, the platform side plates are 10mm thick, and the platform stiffeners are 8mm thick. The material used is Q235B steel plate, which is laser-cut. After cutting, the burrs and flash are ground off, and the steel plate surface is cleaned. The straightness deviation of the cut is ≤1‰ to ensure that the cut is smooth and flat and meets the welding standards.

[0058] S2. Welding method and parameter settings: Gas shielded welding is adopted. Select welding wire that matches the base material, specifically ER50-6, with a wire diameter of 1.2-1.6mm, and use Ar+CO2 as the shielding gas.

[0059] S3, One-time billet assembly: The conveying platform transports the platform base plate to the moving positioning platform. The moving positioning platform positions the platform base plate. The side plate positioning mechanism clamps the platform side plate and adjusts its position to ensure that the opening on the platform side plate aligns with the protrusion on the platform base plate. The platform side plate and the platform base plate are then assembled.

[0060] S4. Single Welding: The welding robot II in the mobile welding mechanism performs intermittent welding at the joint between the platform side plate and the platform bottom plate. The welding current is set to 120-200A, the welding voltage to 22-26V, the gas flow rate to 12-15L / min, the weld length to 10-20mm, the weld spacing to 200-300mm, and the weld leg size to ≥6mm. Intermittent welding fixes the platform bottom plate and side plate, reducing heat input and controlling deformation.

[0061] S5. Secondary assembly: The semi-finished product after the platform side plate and platform bottom plate are welded and fixed by the moving positioning platform continues to be transported forward. The fixing mechanism clamps the platform side plate and platform bottom plate to reduce the amount of deformation. The rib plate positioning mechanism clamps the platform rib plate and adjusts the position of the platform rib plate to assemble the platform rib plate and platform bottom plate.

[0062] S6. Secondary Welding: Full welding is performed on the platform stiffeners and the overlap between the platform bottom plate and the platform side plate using welding robot I. The welding current is 200-300A, the welding voltage is 26-32V, the gas flow rate is 15-20L / min, and the welding speed is 200-500mm / min. When welding with welding robot I, the welding torch is tilted backward, and the welding torch and the workpiece are kept at an angle of 10°-15° to increase the penetration depth, reduce air intrusion, and reduce the probability of porosity. The welding process complies with GB 50661-2011 standard.

[0063] S7. Post-weld treatment: Reset and retract the moving positioning platform, side plate positioning mechanism, and stiffener positioning mechanism; remove welding slag and spatter from the surface of the support platform, grind the weld beads, and check the appearance quality of the weld to ensure there are no defects such as leaks or porosity.

[0064] S8. After the post-weld treatment is completed, the welded finished product is transferred by hoisting.

[0065] An automated welding device with a cross-shaped support platform includes a conveyor platform 11, a mobile positioning platform 12, a positioning frame 13, a side plate positioning mechanism 14, a conveying mechanism 15, a welding robot I 16, a rotary robotic arm 17, a stiffener positioning mechanism 18, an upper platform plate 19, a lower platform plate 20, a fixing mechanism 21, and a workpiece rack 22. The conveyor platform 11 is located at the rear end of the device, and the mobile positioning platform 12 is located at the front end of the conveyor platform 11. The mobile positioning platform 12 is positioned between the upper platform plate 19 and the lower platform plate 20. The positioning frame 13 is located on both sides of the mobile positioning platform 12, the side plate positioning mechanism 14 is positioned between the positioning frames 13, the conveying mechanism 15 is mounted on the positioning frame 13, the welding robot I 16 and the rotary robotic arm 17 are respectively mounted on the corresponding conveying mechanisms 15, and the lower part of the rotary robotic arm 17 is provided with a stiffener positioning mechanism. Mechanism 18 and fixing mechanism 21 are set at the front end of the mobile positioning platform 12, and workpiece rack 22 is set on both sides of the positioning frame 13; conveying mechanism 15 includes motor I1101, wire block I1102, and lead screw I1103; motor I1101 is set at the front end of the positioning frame 13, and the output end of motor I1101 is connected to lead screw I1103. Wire block I1102 cooperates with lead screw I1103. The left and right sets of wire blocks I1102 are respectively connected to welding robot I16 and rotary mechanical arm 17. Motor I1101 drives welding robot I16 and rotary mechanical arm 17 to move along the direction of lead screw I1103 through wire block I1102 and lead screw I1103, and adjusts the position of welding robot I16 and rotary mechanical arm 17; the cross support platform is composed of platform base plate 501, platform side plate 502, and platform stiffener 503 welded together.

[0066] The mobile positioning platform 12 includes a lifting plate I 101, a moving plate 102, an electric actuator I 105, a motor II 106, a motor mounting plate I 107, a lead screw II 108, a lead block II 109, a limiting shaft I 110, and a connecting slider I 111. The lifting plate I 101 has an opening, and the electric actuator I 105 is located at the lower part of the lifting plate I 101. The moving plate 102 is located at the lower part of the electric actuator I 105. The motor mounting plate I 107 is located at the lower part of the upper platform plate 19, and the motor II 106 is located at the upper part of the motor mounting plate I 107. The output end of the motor II 106 is connected to the lead screw II 108, and the lead screw II 108 has a lead block II 109, which is fixedly connected to the moving plate 102. The lead screw II108 is provided with limit shafts I110 on both sides, and the limit shafts I110 are provided with connecting sliders I111. The connecting sliders I111 are fixedly connected to the moving plate 102. The motor II106 controls the lead screw II108 to rotate, the lead screw II108 drives the lead block II109 to move, the lead block II109 drives the moving plate 102 to move, the moving plate 102 drives the electric push rod I105 and the lifting plate I101 to move. The lifting plate I101 drives the platform base plate 501 to complete the first blank assembly, the first welding, the second blank assembly, and the second welding in sequence from back to front. The height of the lifting plate I101 is adjusted by the electric push rod I105 so that the height of the lifting plate I101 is suitable for the platform base plate 501 to transport and assemble blanks.

[0067] The opening on the lifting plate I 101 is provided with a flipping positioning mechanism 103. The flipping positioning mechanism 103 includes a positioning block 1030, a Y-shaped slide groove 1031, a limiting shaft II 1032, a connecting plate I 1033, a connecting rod I 1034, a connecting rod II 1035, a connecting shaft I 1036, a connecting shaft II 1037, a motor III 1038, and a limiting plate I 1039. The positioning block 1030 is provided with a Y-shaped slide groove 1031. The motor III 1038 is located on one side of the positioning block 1030. The output end of the motor III 1038 is connected to the connecting shaft I 1036, and the connecting shaft I 1036 is connected to the connecting rod. II1035, connecting rod II1035 is connected to connecting rod I1034 via a pin, connecting rod I1034 is connected to connecting plate I1033, and the two sets of connecting rods I1034 are connected by connecting shaft II1037. Connecting shaft II1037 passes through connecting plate I1033 and is set in Y-shaped slide groove 1031 on positioning block 1030. Connecting plate I1033 is provided with limiting shaft II1032, which is set in Y-shaped slide groove 1031 on positioning block 1030 and cooperates with Y-shaped slide groove 1031. Connecting plate I1033 is also provided with limiting plate I1. 039, Positioning block 1030 is fixed to the lower part of lifting plate I 101; Motor III 1038 drives connecting shaft I 1036 to rotate, connecting shaft I 1036 drives connecting rod II 1035 to rotate, connecting rod II 1035 drives connecting rod I 1034, connecting rod I 1034 drives connecting shaft II 1037 to move upward in Y-shaped slide groove 1031, connecting shaft II 1037 drives connecting plate I 1033 to move upward, connecting plate I 1033 drives limiting plate I 1039 to move upward, when the limiting shaft II 1032 set on connecting plate I 1033 reaches the top of Y-shaped slide groove 1031, connecting rod I 1034 drives the connecting shaft II 1037 to slide within the Y-shaped groove 1031 to the top of the arc-shaped fork. The connecting shaft II 1037 drives the connecting plate I 1033 to rotate, and the connecting plate I 1033 drives the limiting plate I 1039 to rotate. The limiting plate I 1039 is perpendicular to the lifting plate I 101. The limiting plate I 1039 completes the action of first rising and then flipping, which first lifts the platform base plate 501 on the lifting plate I 101 slightly, and then pushes the platform base plate 501 to the front end by flipping the limiting plate I 1039, so that the rear end of the platform base plate 501 is close to the limiting plate I 1039, which plays a positioning role.

[0068] The limiting plate I 1039 is provided with a pressing positioning mechanism 104, which includes a motor IV 1041, a transmission shaft I 1042, a connecting shaft III 1043, a connecting rod III 1044, a pressing plate 1045, a slide groove 1046, a limiting shaft III 1047, and a motor mounting plate II 1048. The motor mounting plate II 1048 is located at the lower part of the limiting plate I 1039, and the motor IV 1041 is mounted on the motor mounting plate II 1048. The output end of the motor IV 1041 is connected to the transmission shaft I 1042, the transmission shaft I 1042 is connected to the connecting rod III 1044, the connecting rod III 1044 is connected to the pressing plate 1045, the pressing plate 1045 is provided with a slide groove 1046, and the two sets of pressing plates 1045 are connected by the connecting shaft III 1043. The connection is as follows: the lower pressure plate 1045 is set at the opening on the limiting plate I 1039, and the limiting shaft III 1047 is fixed in the opening on the limiting plate I 1039. At the same time, the limiting shaft III 1047 is set in the sliding groove 1046 set on the lower pressure plate 1045. The motor IV 1041 drives the transmission shaft I 1042 to rotate, the transmission shaft I 1042 drives the connecting rod III 1044 to rotate, the connecting rod III 1044 drives the lower pressure plate 1045, the lower pressure plate 1045 is limited by the limiting shaft III 1047, and the connecting rod III 1044 drives the lower pressure plate 1045 to move obliquely along the direction of the sliding groove 1046 during rotation. The lower pressure plate 1045 presses down and fixes the platform bottom plate 501 on the lifting plate I 101, and limits the platform bottom plate to ensure the positioning of the billet assembly and welding.

[0069] The side plate positioning mechanism 14 includes a motor V 201, a positioning plate I 202, a bidirectional lead screw 203, an electric actuator II 204, a limiting plate II 205, a motor VI 206, a lifting plate II 207, a transmission shaft II 211, a support plate I 212, a helical gear I 213, a motor VII 214, and a transmission shaft III 215. Motor V 201 is located on one side of the limiting plate II 205, and its output end is connected to the bidirectional lead screw 203. The positioning plate I 202 is mounted on the bidirectional lead screw 203. The electric actuator II 204 is mounted on the positioning plate I 202, and a lifting plate II 207 is located at the lower part of the electric actuator II 204. Motor VI 206 is mounted on the lifting plate II 207, and motor VI 206 controls the rotation of the transmission shaft II 211. The transmission shaft II 211 is located within the support plate I 212 and... Support plate I 212 is rotatably connected. Helical gears I 213 are provided at both ends of transmission shaft II 211. Motor VII 214 is located at the lower part of lifting plate II 207. Motor VII 214 controls the rotation of transmission shaft III 215. Motor V 201 controls the rotation of bidirectional lead screw 203, which drives the positioning plate I 202 located on the bidirectional lead screw 203 to move. Positioning plate I 202 drives electric push rod II 204 to move. Electric push rod II 204 controls the lifting plate II 207 to rise and fall. By moving, the platform side plate and platform bottom plate are assembled. The height of the platform side plate assembly is adjusted by raising and lowering. Motor VI 206 drives helical gear I 213 to rotate through transmission shaft II 211, providing power to side centering mechanism 209. Motor VII 214 provides power to side plate clamping mechanism 210 through transmission shaft III 215.

[0070] The upper part of the lifting plate II 207 is provided with a movable welding mechanism 208. The movable welding mechanism 208 includes a motor VIII 2081, a transmission shaft IV 2082, a rotating frame 2083, a motor IX 2084, a lead screw III 2085, a wire block III 2086, and a welding robot II 2087. The output end of motor VIII 2081 is connected to the transmission shaft IV 2082. The rotating frame 2083 is provided on the transmission shaft IV 2082. The lead screw III 2085 is provided at the lower part of the rotating frame 2083. The wire block III 2086 is set on the lead screw III 2085. Motor IX 2084 is installed on one side of the rotating frame 2083. Motor IX 2084 outputs... The output end is connected to lead screw Ⅲ2085, and welding robot Ⅱ2087 is installed at the lower part of lead block Ⅲ2086; motor Ⅷ2081 controls the rotation of transmission shaft Ⅳ2082, transmission shaft Ⅳ2082 drives the rotation frame 2083 to rotate, rotation frame 2083 drives lead block Ⅲ2086 to rotate, lead block Ⅲ2086 drives welding robot Ⅱ2087 to rotate, motor Ⅸ2084 controls the rotation of lead screw Ⅲ2085, lead screw Ⅲ2085 drives lead block Ⅲ2086 to move, lead block Ⅲ2086 drives welding robot Ⅱ2087 to move, and welding robot Ⅱ2087 performs one welding on the platform base plate and the platform side plate.

[0071] The lifting plate II 207 is provided with side centering mechanisms 209 on both sides. The side centering mechanism 209 includes a helical gear II 2091, a connecting shaft IV 2092, a support plate II 2093, a connecting rod IV 2094, a positioning plate II 2095, an electric actuator III 2096, a connecting plate II 2097, a spring I 2098, and a positioning plate III 2099. The helical gear II 2091 is mounted on the connecting shaft IV 2092, and the connecting shaft IV 2092 is mounted on the support plate II 2097. Plate II 2093 is rotatably connected to support plate II 2093. Support plate II 2093 is fixed on lifting plate II 207. Connecting shaft IV 2092 is provided with connecting rod IV 2094. Positioning plate II 2095 is provided between two sets of connecting rods IV 2094. Connecting plate II 2097 is provided at the lower part of connecting rod IV 2094. Connecting plate II 2097 is connected to positioning plate III 2099. Electric actuator III 2096 is set at the lower part of positioning plate II 2095. The 6th ejector end is located on the upper part of the connecting plate II 2097. A spring I 2098 is provided between the connecting plate II 2097 and the positioning plate III 2099. The motor VI 206 controls the rotation of the transmission shaft II 211, which drives the helical gear I 213 to rotate. The helical gear I 213 meshes with the helical gear II 2091, which drives the connecting shaft IV 2092 to rotate. The connecting shaft IV 2092 drives the connecting rod IV 2094, which in turn drives... The moving connecting plate II 2097 drives the positioning plate III 2099. The electric push rod III 2096 controls the rotation of the connecting plate II 2097, which in turn drives the positioning plate III 2099 to rotate. The spring I 2098 controls the rotation range of the positioning plate III 2099. Through the clamping of the positioning plates III 2099 on both sides, the opening on the clamped platform side plate 502 is ensured to cooperate with the boss set on the platform bottom plate 501 to perform one blank assembly.

[0072] The lower part of the lifting plate II 207 is provided with a side plate clamping mechanism 210. The side plate clamping mechanism 210 includes a gear I 2101, a positioning plate IV 2102, a connecting rod V 2103, a connecting rod VI 2104, a connecting rod VII 2105, a limiting shaft IV 2106, a spring II 2107, and a positioning plate V 2108. The gear I 2101 is disposed on the positioning plate IV 2102, which is disposed at the lower part of the lifting plate II 207. The gear I 2101 is connected to the connecting rod V 2103, and the connecting rod V 2103 is connected to the connecting rod VII 2105. A connecting rod VI 2104 is also provided between the connecting rod VII 2105 and the positioning plate IV 2102. A limiting shaft IV 2106 is provided at the lower part of the connecting rod VII 2105. A positioning plate V2108 is provided at the top of 106. A spring II2107 is provided between the positioning plate V2108 and the connecting rod VII2105. The spring II2107 is sleeved on the limiting shaft IV2106. The motor VII214 controls the transmission shaft III215 to rotate. The transmission shaft III215 controls the gear I2101 to rotate. The gears I2101 mesh with each other. The gear I2101 drives the connecting rod V2103. The connecting rod V2103 drives the connecting rod VII2105. The connecting rod VII2105 drives the limiting shaft IV2106. The limiting shaft IV2106 drives the positioning plate V2108. The two sets of positioning plates V2108 are clamped together. The positioning plate V2108 clamps the platform side plate 502 and drives the platform side plate 502 to perform one blank assembly.

[0073] The fixing mechanism 21 includes an electric actuator IV 301, a connecting slider II 302, a connecting plate III 303, a connecting shaft V 304, a connecting slider III 305, a limiting groove 306, a limiting plate III 307, a limiting plate IV 308, a rack I 309, a connecting plate IV 310, a gear II 311, and a rack II 312; the electric actuator IV 301 is mounted on the lower platform plate 20, and the protruding end of the electric actuator IV 301 is provided with a connecting slider II 302, connecting... A connecting plate Ⅲ 303 is rotatably connected to the connecting slider Ⅱ 302. The connecting plate Ⅲ 303 is connected to the connecting slider Ⅲ 305 via a connecting shaft ∠V 304. The connecting slider Ⅲ 305 is disposed in a limiting groove 306, which is fixed to the lower platform plate 20. A limiting plate Ⅲ 307 is provided on the connecting slider Ⅲ 305. A rack Ⅱ 312 is provided at the front end of the connecting slider Ⅱ 302, and the rack Ⅱ 312 meshes with a gear Ⅱ 3. 11. Gear II 311 is disposed in connecting plate IV 310, which is fixed to the lower part of upper platform plate 19. Gear II 311 meshes with rack I 309, which is connected to limiting plate IV 308. Electric actuator IV 301 pushes connecting slider II 302, which drives connecting plates III 303 on both sides. Connecting plates III 303 drive connecting slider III 305, which in turn drives limiting plate III 307. The two side limiting plates Ⅲ307 move in a centered manner, and the connecting slider Ⅱ302 simultaneously pushes the rack Ⅱ312 forward. The rack Ⅱ312 meshes with the gear Ⅱ311, and the gear Ⅱ311 meshes with the rack Ⅰ309. The rack Ⅰ309 drives the limiting plate Ⅳ308 to move backward. Through the centering movement of the two side limiting plates Ⅲ307 and the backward movement of the limiting plate Ⅳ308, the platform bottom plate and the platform side plate are clamped and positioned from three sides, reducing the amount of deformation during welding.

[0074] The rib positioning mechanism 18 includes a connecting seat 401, a positioning plate VI 402, a motor X 403, a gear III 404, a gear IV 405, a positioning plate VII 406, an electric actuator V 407, a lifting plate III 408, a motor XI 409, a lead screw IV 410, a connecting column 411, and a lifting plate IV 412. The lower part of the connecting seat 401 is provided with the positioning plate VI 402. The motor X 403 is mounted on the positioning plate VI 402. The output end of the motor X 403 is connected to the gear IV 405, which meshes with the gear III 404. The lower part of the gear III 404 is provided with the positioning plate VII 406. The positioning plate VII 406 is provided with the electric actuator V 407. The lower part of the electric actuator V 407 is provided with the lifting plate III 408. 8 is equipped with a motor XI 409, the output end of which is connected to a lead screw IV 410. A connecting column 411 is fixed at the lower part of the lifting plate III 408. The lifting plate IV 412 cooperates with the lead screw IV 410 and is slidably connected to the connecting column 411. Motor X 403 controls gear IV 405 to rotate. Gear IV 405 meshes with gear III 404. Gear III 404 drives the positioning plate VII 406 to rotate. The positioning plate VII 406 drives the lower mechanism to rotate. Electric push rod V 407 drives the lifting plate III 408 to rise and fall. Motor XI 409 drives the lead screw IV 410 to rotate. The lead screw IV 410 drives the lifting plate IV 412 to rise and fall. The lifting plate IV 412 drives the rib clamping mechanism 413 and the fine-tuning mechanism 414 to perform clamping actions.

[0075] The lower part of the lifting plate IV 412 is provided with a stiffener clamping mechanism 413, which includes a positioning plate VIII 4131, a connecting rod VIII 4132, a connecting rod IX 4133, a connecting rod X 4134, and a positioning plate IX 4135. The positioning plate VIII 4131 is fixed to the lower part of the connecting column 411, the connecting rod VIII 4132 is arranged on both sides of the lifting plate IV 412, and the lower part of the positioning plate VIII 4131 is provided with connecting rods IX 4133 and X 4134. Linkages VIII 4132, IX 4133, and X 4134 are simultaneously connected to positioning plate IX 4135; motor XI 409 drives lead screw IV 410 to rotate, lead screw IV 410 drives lifting plate IV 412 to descend, lifting plate IV 412 drives link VIII 4132, link VIII 4132 drives positioning plate IX 4135 to be aligned and clamped with fine-tuning mechanism 414, removing platform rib plate 503 from workpiece holder 22, moving and positioning it for secondary blank assembly.

[0076] The lower part of the lifting plate IV 412 is provided with a fine-tuning mechanism 414, which includes a support plate III 4140, a motor XII 4141, a motor mounting plate III 4142, a gear V 4143, a rack V 4144, a rack VI 4145, a connecting plate V 4146, a positioning plate X 4147, a motor XIII 4148, and a limiting rod 4149; the support plate III 4140 is provided with The motor mounting plate Ⅲ4142 is placed between the connecting plates V4146 and is mounted on the support plate Ⅲ4140. The motor Ⅻ4141 is mounted on the motor mounting plate Ⅲ4142. The output end of the motor Ⅻ4141 is connected to the gear V4143. The gear V4143 meshes with the rack V4144 and the rack Ⅵ4145. The top of the rack V4144 and the rack Ⅵ4145 is equipped with the motor XIII414. 8. The output end of motor XIII4148 controls the rotation of limit rod 4149. Positioning plate X4147 is set between two adjacent sets of connecting plates V4146. Motor XII4141 controls gear V4143 to rotate. Gear V4143 meshes with rack V4144 and rack VI4145. Rack V4144 and rack VI4145 drive the limit rods 4149 at both ends to move. Motor XIII4148 controls the rotation of limit rod 4149. The position of positioning rod is adjusted by the racks on both sides. Then, by controlling the lifting and lowering of positioning rods on both sides, the distance between the two sides of the clamped platform stiffener is adjusted according to the welding position. The platform stiffener is then assembled for secondary blanking. After the secondary blanking is completed, welding robot I16 performs secondary welding on the entire support platform. After welding is completed, the welded finished product is transferred by hoisting.

[0077] In the description of this invention, unless otherwise stated, "a plurality of" means two or more; the terms "upper", "lower", "left", "right", "inner", "outer", "front end", "rear end", "head", "tail", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0078] In summary, the electronic or electrical components, including but not limited to motors, electric actuators, and welding robots, are existing components that are custom-made or purchased. The electrical connections between these components are conventional circuit or electrical connections in the prior art and are not within the scope of protection of this invention.

[0079] The above description is merely an example and illustration of the structure of the present invention. Those skilled in the art can make various modifications or additions to the specific embodiments described, or use similar methods to replace them, as long as they do not deviate from the structure of the invention or exceed the scope defined in the claims, all of which should fall within the protection scope of the present invention.

Claims

1. An automated welding method for a cross-shaped support platform, characterized in that... The specific welding method is as follows: S1. Support Platform Material Preparation: The support platform includes a platform base plate, platform side plates, and platform stiffeners. The platform base plate is 12mm thick, the platform side plates are 10mm thick, and the platform stiffeners are 8mm thick. The material used is Q235B steel plate, which is laser-cut. After cutting, the burrs and flash are ground off, and the steel plate surface is cleaned. The straightness deviation of the cut is ≤1‰ to ensure that the cut is smooth and flat and meets the welding standards. S2. Welding method and parameter settings: Gas shielded welding is adopted. Select welding wire that matches the base material, specifically ER50-6, with a wire diameter of 1.2-1.6mm. Use Ar and CO2 as shielding gases. S3, One-time billet assembly: The conveying platform transports the platform base plate to the moving positioning platform. The moving positioning platform positions the platform base plate. The side plate positioning mechanism clamps the platform side plate and adjusts its position to ensure that the opening on the platform side plate aligns with the protrusion on the platform base plate. The platform side plate and the platform base plate are then assembled. S4. Single Welding: The welding robot II in the mobile welding mechanism performs intermittent welding at the joint between the platform side plate and the platform bottom plate. The welding current is set to 120-200A, the welding voltage to 22-26V, the gas flow rate to 12-15 L / min, the weld length to 10-20mm, the weld spacing to 200-300mm, and the weld leg size to ≥6mm. Intermittent welding fixes the platform bottom plate and side plate, reducing heat input and controlling deformation. S5. Secondary assembly: The semi-finished product after the platform side plate and platform bottom plate are welded and fixed by the moving positioning platform continues to be transported forward. The fixing mechanism clamps the platform side plate and platform bottom plate to reduce the amount of deformation. The rib plate positioning mechanism clamps the platform rib plate and adjusts the position of the platform rib plate to assemble the platform rib plate and platform bottom plate. S6. Secondary welding: Full welding is performed on the platform stiffeners and the overlap between the platform bottom plate and the platform side plate by welding robot I. The welding current is 200-300A, the welding voltage is 26-32V, the gas flow rate is 15-20 L / min, and the welding speed is 200-500mm / min. When welding, the welding torch of welding robot I is tilted backward and the welding torch is kept at an angle of 10°-15° with the workpiece. S7. Post-weld treatment: Reset and retract the moving positioning platform, side plate positioning mechanism, and stiffener positioning mechanism; remove welding slag and spatter from the surface of the support platform, grind the weld beads, and check the appearance quality of the weld to ensure there are no leaks or porosity defects. S8. After post-weld processing is completed, the welded finished product is transferred by hoisting. The welding equipment required for welding in steps S3, S4, S5, and S6 includes a conveying platform, a moving positioning platform, a positioning frame, a side plate positioning mechanism, a conveying mechanism, welding robot I, a rotary robotic arm, a stiffener positioning mechanism, an upper platform plate, a lower platform plate, a fixing mechanism, and a workpiece rack. The conveying platform is located at the rear end of the device, and a moving positioning platform is located at the front end of the conveying platform. The moving positioning platform is located between the upper and lower platform plates. The positioning frame is located on both sides of the moving positioning platform. The side plate positioning mechanism is located between the positioning frames. The conveying mechanism is located on the positioning frame. Welding robot I and the rotary robotic arm are respectively located on their respective conveying mechanisms. A stiffener positioning mechanism is located at the lower part of the rotary robotic arm. The fixing mechanism is located at the front end of the moving positioning platform, and the workpiece rack is located on both sides of the positioning frame. The conveying mechanism includes motor I, lead block I, and lead screw I. Motor I is located at the front end of the positioning frame. The output end of motor I is connected to lead screw I. Lead block I cooperates with lead screw I. The left and right sets of lead blocks I are respectively connected to welding robot I and rotary robotic arm. The cross-bracing platform is composed of a platform base plate, platform side plates, and platform stiffeners welded together.

2. The automated welding method for a cross-support platform according to claim 1, characterized in that... The mobile positioning platform includes a lifting plate I, a moving plate, an electric push rod I, a motor II, a motor mounting plate I, a lead screw II, a lead block II, a limit shaft I, and a connecting slider I. The lifting plate I has an opening, the electric push rod I is located at the lower part of the lifting plate I, the moving plate is located at the lower part of the electric push rod I, the motor mounting plate I is located at the lower part of the upper platform plate, the motor II is located at the upper part of the motor mounting plate I, the output end of the motor II is connected to the lead screw II, the lead screw II has a lead block II, the lead block II is fixedly connected to the moving plate, the lead screw II has limit shafts I on both sides, the limit shafts I have connecting sliders I, and the connecting sliders I are fixedly connected to the moving plate.

3. The automated welding method for a cross-support platform according to claim 2, characterized in that... The opening on the lifting plate I is equipped with a flipping positioning mechanism, which includes a positioning block, a Y-shaped slide groove, a limiting shaft II, a connecting plate I, a connecting rod I, a connecting rod II, a connecting shaft I, a motor III, and a limiting plate I. The positioning block has a Y-shaped slide groove. The motor III is located on one side of the positioning block. The output end of the motor III is connected to the connecting shaft I. The connecting shaft I is connected to the connecting rod II. The connecting rod II is connected to the connecting rod I through a pin. The connecting rod I is connected to the connecting plate I. The two sets of connecting rods I are connected by the connecting shaft II. The connecting shaft II passes through the connecting plate I and is located in the Y-shaped slide groove on the positioning block. The connecting plate I has a limiting shaft II. The limiting shaft II and the connecting shaft II are located in the Y-shaped slide groove on the positioning block and cooperate with the Y-shaped slide groove. The connecting plate I also has a limiting plate I. The positioning block is fixed to the lower part of the lifting plate I.

4. The automated welding method for a cross-support platform according to claim 3, characterized in that... The limiting plate I is provided with a pressing positioning mechanism, which includes a motor IV, a transmission shaft I, a connecting shaft III, a connecting rod III, a pressing plate, a sliding groove, a limiting shaft III, and a motor mounting plate II. The motor mounting plate II is located at the lower part of the limiting plate I, and the motor IV is mounted on the motor mounting plate II. The output end of the motor IV is connected to the transmission shaft I, the transmission shaft I is connected to the connecting rod III, the connecting rod III is connected to the pressing plate, and the pressing plate is provided with a sliding groove. The two sets of pressing plates are connected by the connecting shaft III. The pressing plate is located at the opening on the limiting plate I, and the limiting shaft III is fixed in the opening on the limiting plate I. At the same time, the limiting shaft III is located in the sliding groove provided on the pressing plate.

5. The automated welding method for a cross-support platform according to claim 1, characterized in that... The side plate positioning mechanism includes a motor V, a positioning plate I, a bidirectional lead screw, an electric push rod II, a limit plate II, a motor VI, a lifting plate II, a transmission shaft II, a support plate I, a helical gear I, a motor VII, and a transmission shaft III. Motor V is located on one side of the limit plate II, and its output end is connected to the bidirectional lead screw. The positioning plate I is mounted on the bidirectional lead screw. The electric push rod II is mounted on the positioning plate I. A lifting plate II is located below the electric push rod II. Motor VI is mounted on the lifting plate II, and motor VI controls the rotation of the transmission shaft II. The transmission shaft II is located inside the support plate I and is rotatably connected to it. Helical gears I are located at both ends of the transmission shaft II. Motor VII is located below the lifting plate II, and motor VII controls the rotation of the transmission shaft III.

6. The automated welding method for a cross-support platform according to claim 5, characterized in that... The upper part of the lifting plate II is equipped with a mobile welding mechanism, which includes a motor VIII, a transmission shaft IV, a rotating frame, a motor IX, a lead screw III, a lead block III, and a welding robot II. The output end of motor VIII is connected to the transmission shaft IV, the transmission shaft IV is equipped with a rotating frame, the lower part of the rotating frame is equipped with a lead screw III, the lead block III is set on the lead screw III, motor IX is installed on one side of the rotating frame, the output end of motor IX is connected to the lead screw III, and the lower part of the lead block III is equipped with the welding robot II.

7. The automated welding method for a cross-support platform according to claim 5, characterized in that... The lifting plate II is provided with side centering mechanisms on both sides. The side centering mechanisms include helical gear II, connecting shaft IV, support plate II, connecting rod IV, positioning plate II, electric push rod III, connecting plate II, spring I, and positioning plate III. Helical gear II is set on connecting shaft IV, and connecting shaft IV is set on support plate II and rotatably connected to support plate II. Support plate II is fixed on lifting plate II. Connecting rod IV is provided on connecting shaft IV. Positioning plate II is provided between two sets of connecting rods IV. Connecting plate II is provided at the lower part of connecting rod IV. Connecting plate II is connected to positioning plate III. Electric push rod III is set at the lower part of positioning plate II. The top end of electric push rod III is set at the upper part of connecting plate II. Spring I is provided between connecting plate II and positioning plate III.

8. An automated welding method for a cross-support platform according to claim 5, characterized in that... The lower part of the lifting plate II is provided with a side plate clamping mechanism, which includes gear I, positioning plate IV, connecting rod V, connecting rod VI, connecting rod VII, limiting shaft IV, spring II, and positioning plate V. Gear I is set on positioning plate IV, and positioning plate IV is set at the lower part of lifting plate II. Gear I is connected to connecting rod V, connecting rod V is connected to connecting rod VII, and connecting rod VI is also provided between connecting rod VII and positioning plate IV. Limiting shaft IV is provided at the lower part of connecting rod VII, and positioning plate V is provided at the top of limiting shaft IV. Spring II is provided between positioning plate V and connecting rod VII, and spring II is sleeved on limiting shaft IV.

9. An automated welding method for a cross-support platform according to claim 1, characterized in that... The fixing mechanism includes an electric actuator IV, a connecting slider II, a connecting plate III, a connecting shaft V, a limiting groove, a limiting plate III, a limiting plate IV, a rack I, a connecting plate IV, a gear II, and a rack II. The electric actuator IV is mounted on the lower platform plate. The top end of the electric actuator IV is provided with a connecting slider II. The connecting slider II is provided with a connecting plate III and is rotatably connected to the connecting plate III. The connecting plate III is connected to the connecting slider III through the connecting shaft V. The connecting slider III is located in the limiting groove, which is fixed on the lower platform plate. The connecting slider III is provided with a limiting plate III. The front end of the connecting slider II is provided with a rack II, which meshes with a gear II. The gear II is located in the connecting plate IV. The connecting plate IV is fixed to the lower part of the upper platform plate. The gear II meshes with a rack I, which is connected to the limiting plate IV. The rib positioning mechanism includes a connecting seat, a positioning plate VI, a motor X, a gear III, a gear IV, a positioning plate VII, an electric push rod V, a lifting plate III, a motor XI, a lead screw IV, a connecting column, and a lifting plate IV. The lower part of the connecting seat is provided with a positioning plate VI, the motor X is mounted on the positioning plate VI, the output end of the motor X is connected to the gear IV, the gear IV meshes with the gear III, the lower part of the gear III is provided with a positioning plate VII, the positioning plate VII is provided with an electric push rod V, the lower part of the electric push rod V is provided with a lifting plate III, the lifting plate III is provided with a motor XI, the output end of the motor XI is connected to the lead screw IV, the lower part of the lifting plate III is fixed with a connecting column, and the lifting plate IV cooperates with the lead screw IV and is slidably connected to the connecting column. The lower part of the lifting plate IV is provided with a stiffener clamping mechanism, which includes a positioning plate VIII, a connecting rod VIII, a connecting rod IX, a connecting rod X, and a positioning plate IX. The positioning plate VIII is fixed to the lower part of the connecting column, the connecting rod VIII is arranged on both sides of the lifting plate IV, and the lower part of the positioning plate VIII is provided with connecting rod IX and connecting rod X. Connecting rods VIII, IX, and X are simultaneously connected to the positioning plate IX. The lower part of the lifting plate IV is provided with a fine-tuning mechanism, which includes a support plate III, a motor XII, a motor mounting plate III, a gear V, a rack V, a rack VI, a connecting plate V, a positioning plate X, a motor XIII, and a limiting rod. The support plate III is disposed between the connecting plates V, the motor mounting plate III is disposed on the support plate III, the motor XII is mounted on the motor mounting plate III, the output end of the motor XII is connected to the gear V, the gear V meshes with the rack V and the rack VI, the top of the rack V and the rack VI is provided with a motor XIII, the output end of the motor XIII controls the rotation of the limiting rod, and the positioning plate X is disposed between two adjacent sets of connecting plates V.

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