U rib plate unit welding equipment based on small-radius train type arc curve self-guiding

Abstract

The invention discloses U rib plate unit welding equipment based on small-radius train type arc curve self-guiding, and belongs to the technical field of bridge structure welding, a supporting arm in the scheme is a train type combined supporting arm formed by hinging and assembling a plurality of sections of short supporting arms, and spherical self-guiding jacking structures are arranged on the two sides of each section of short supporting arm and matched with the inner wall of a U rib in a contact jacking mode. In addition, jacking sensing structures in contact with the inner wall of the U-shaped rib and a steering assembly capable of driving the traction plate to steer properly are additionally arranged on the traction plate, and when the pair of jacking sensing structures sense that the jacking degrees to the inner wall of the U-shaped rib are inconsistent, the U-shaped rib is driven to rotate by the steering assembly. And the traction angle of the traction plate is properly adjusted through the steering assembly until the jacking force of the pair of jacking wheels on the inner wall of the U rib is consistent, so that the centers of the pair of welding guns are kept consistent with the center of the U rib, and the welding precision of the two sides of the interior of the U rib is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of bridge structure welding, and more specifically, to a U-rib plate unit welding device based on self-guidance of a small-radius train-type arc curve. Background Art

[0002] The steel box girder bridge deck structure currently used in bridges includes plate units, and the plate units are composed of U-ribs and steel decks. As a serialized standard component of traditional bridge steel structures, U-ribs are widely used in bridge steel structures. When manufacturing plate units, single-sided welding on the outer side and double-sided penetration welding on the inside and outside are used between the U-ribs and the bridge deck. Traditional U-ribs usually have a straight linear shape. When using the double-sided penetration welding process, the welds inside the U-ribs are welded by a rigid straight support arm carrying a welding head.

[0003] With the continuous development of bridge technology, a large number of plane curves are used in bridge design, and U-ribs are also designed into corresponding arc curves. The original rigid straight support arm cannot meet the welding of U-ribs with small-radius arc curves. To address the existing practical problems, a U-rib plate unit welding device based on self-guidance of a small-radius train-type arc curve for self-adaptive small-radius arc curve U-ribs is developed and designed. Summary of the Invention

[0004] The purpose of the present invention is to solve the problem that it is difficult for the existing rigid straight support arm to carry the welding head to effectively weld the U-ribs with small-radius arc curves, and to provide a U-rib plate unit welding device based on self-guidance of a small-radius train-type arc curve compared with the existing technology.

[0005] The purpose of the present invention can be achieved by the following technical solutions: A U-rib plate unit welding device based on self-guidance of a small-radius train-type arc curve includes a support arm, a traction tooling, and a welding tooling. The support arm is spliced by multiple front and rear segments, and the front and rear adjacent segments are rotationally connected by a planar hinge pin. The segments, the traction tooling, and the welding tooling are all equipped with walking wheels that penetrate downward. Spherical self-guiding and tightening structures are installed on both sides of the front and rear ends of the segment. The spherical self-guiding and tightening structure includes a mounting seat installed on the side of the support arm and a universal ball installed on the outside of the mounting seat and in contact with the inner wall of the U-rib for support; The traction tooling includes a traction plate and a steering component installed at its end and adjacent to the segment. The steering component is also rotationally installed with the segment by a planar hinge pin. On the left and right sides near the steering component at one end of the traction plate, a support and sensing structure is also distributed. The support and sensing structure includes a base fixed on the traction plate and a tightening component installed inside it. The outer end of the tightening component penetrates the base and is fixed with a mounting plate. A tightening wheel that also contacts the inner wall of the U-rib is rotationally installed at the upper end of the mounting plate. A pressure sensor in contact with the tightening component is installed on the inner wall of the base; The welding tooling includes a traveling seat installed at the front end of the traction plate, and welding torches for welding the U-rib and panel welds are arranged on both sides of the front end of the traveling seat.

[0006] Furthermore, there are a pair of mounting seats. The pair of mounting seats are fixedly connected by a locking rod. The mounting seat located on the outside is installed with a laterally telescopic side plate through a docking plate, and universal balls are installed on the outer wall of the bottom end of the side plate.

[0007] Furthermore, the side plate is inclined outward from top to bottom. An activity inclined groove with a narrow upper part and a wide lower part is formed on the inner side wall of the side plate. The top end of the docking plate is rotatably installed in the top end of the activity inclined groove, and an activity gap is reserved between the inner wall of the activity inclined groove and the docking plate. A buffer pad fixed to the docking plate is arranged in the activity gap. The universal balls are used for lateral positioning of the segment. When the support arm moves inside the U-rib, the support arm is adaptively guided by the contact between the left and right pair of universal balls and the inner wall of the U-rib. When encountering the curved section of the U-rib, a moderate rotation angle occurs between the front and rear two segments, and the universal balls on the left and right sides of the two segments are coordinated to achieve the adaptive guidance of the segment.

[0008] Furthermore, the tightening assembly includes a mounting plate installed between the mounting plate and the pressure sensor. The telescopic rod includes a hollow cylinder fixed to the mounting plate and penetrating into the base. A guide rod is movably installed in the hollow cylinder. A tightening spring connecting the telescopic rod and the pressure sensor is sleeved on the guide rod. The tightening wheel has the same tightening and guiding effect as the universal ball.

[0009] Furthermore, the steering assembly includes a support frame fixed to the upper end of the traction plate. A drive box rotatably installed with a planar hinge pin shaft is fixed at the top end of the support frame. A drive motor is installed inside the drive box. The driving end of the drive motor penetrates through the support frame and is fixed with a drive wheel extending below the traction plate. A through hole for the drive wheel to penetrate is formed on the traction plate.

[0010] Furthermore, a flux cask connected to the pair of welding torches is installed on the traveling seat. Detection cameras located outside the welding torches are also installed on both sides of the front end of the traveling seat. The detection cameras are used to detect the quality of the welded seam in real time.

[0011] Furthermore, a sliding plate is fixed to the end of the traction plate close to the traveling seat. The sliding plate is slidably installed on the upper end wall of the traveling seat. A linear drive oil cylinder is fixed to the traction plate. The telescopic end of the linear drive oil cylinder is fixedly connected to the traveling seat. The traction plate and the traveling seat are installed in a sliding manner. The welding position of the welding torch can be changed back and forth in the linear direction through the linear drive oil cylinder. When it is detected that the quality of the welded seam does not meet the standard, the traveling seat can be retracted a proper distance in the reverse direction along the welding direction, and the welding torch is used to perform repair welding on the welded seam to improve the welding quality without subsequent rework.

[0012] Furthermore, an upwardly disposed top guide wheel is installed at the upper end of the walking base between the flux cask and the welding torch, and side guide wheels adjacent to the welding torch are installed on both sides of the walking base near the front end.

[0013] Compared with the prior art, the advantages of the present invention are as follows: (1) The support arm in this solution is composed of multiple rotatably installed segments. The cooperation of the bending of the support arm and the spherical self-guiding and tightening structure is adopted to enable the support arm to drive the welding tooling to adaptively guide along the inner curved surface of the U-rib after entering the U-rib, solving the problem that the existing linear support arm structure is difficult to meet the welding requirements of the U-rib with a small-radius arc curve. In addition, a top support sensing structure that also contacts the inner wall of the U-rib and a steering component that can moderately steer the traction plate are added at the traction end of the traction plate. When a pair of top support sensing structures sense that the tightening degrees on the inner wall of the U-rib are inconsistent, the traction angle of the traction plate is moderately adjusted through the steering component until the tightening forces of a pair of tightening wheels on the inner wall of the U-rib are consistent, so as to further promote the alignment of the centers of a pair of welding torches with the center of the U-rib and improve the welding accuracy on both sides inside the U-rib.

[0014] (2) A pair of inspection cameras are added to the welding tooling at the rear side of the welding direction of the welding torch. The inspection cameras are used to detect the quality of the welded seam in real time, and the traction plate and the walking base are installed in a sliding manner. The welding position of the welding torch is changed back and forth in the linear direction by a linear drive oil cylinder. When it is detected that the quality of the welded seam does not meet the standard, the walking base can be retracted a proper distance in the reverse direction along the welding direction, and the welding torch is used to repair the unqualified welded seam, effectively improving the welding quality and eliminating the need for subsequent rework. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 is a schematic structural diagram of the present invention; Figure 2 is a cross-sectional view of the present invention during welding operation; Figure 3 is a schematic structural diagram of the support arm of the present invention; Figure 4 is a schematic structural diagram of the support arm of the present invention after being converted from a straight line to adapt to the curved surface inside the U-rib; Figure 5 is a schematic structural diagram of one segment of the support arm of the present invention; Figure 6 is a schematic structural diagram of the spherical self-guiding and tightening structure of the present invention; Figure 7 is an exploded view of the spherical self-guiding and tightening structure of the present invention; Figure 8 is a cross-sectional view of the spherical self-guiding and tightening structure of the present invention; Figure 9Schematic diagram of the structure at the joint of the traction tooling and the welding tooling of the present invention; Figure 10 Bottom view of the joint of the traction tooling and the welding tooling of the present invention; Figure 11 Schematic diagram of the structure of the steering assembly of the present invention; Figure 12 Schematic diagram of the structure of the top support sensing structure of the present invention; Figure 13 Schematic diagram of the structure of the welding tooling of the present invention.

[0016] Explanation of the reference numerals in the figure: 1. Support arm; 2. Planar hinge pin; 3. Spherical self-guiding top-tightening structure; 31. Mounting seat; 32. Locking rod; 33. Side plate; 34. Universal ball; 35. Docking plate; 36. Buffer pad; 4. Traction plate; 5. Traveling seat; 6. Linear drive cylinder; 7. Sliding plate; 8. Welding torch; 9. Top support sensing structure; 91. Base; 92. Mounting plate; 93. Top-tightening wheel; 94. Telescopic rod; 95. Top-tightening spring; 96. Pressure sensor; 10. Top guide wheel; 11. Side guide wheel; 12. Traveling wheel; 13. Detection camera; 14. Steering assembly; 141. Support frame; 142. Drive box; 143. Drive wheel; 15. Panel; 16. U-rib. Detailed implementation manners

[0017] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0018] Embodiment 1: This embodiment is used to solve the problem that traditional rigid straight support arms cannot meet the welding of U-ribs with small-radius arc curves, and designs a U-rib plate unit welding device based on self-guiding of small-radius train-type arc curves for self-adaptive small-radius arc curve U-ribs; Please refer to Figures 1-4 , which includes a support arm 1, a traction tooling, and a welding tooling. The support arm 1 is spliced by multiple front and rear segments, and the adjacent front and rear segments are rotationally connected by a planar hinge pin 2. Traveling wheels 12 penetrating downward are installed on the segments, the traction tooling, and the welding tooling. Spherical self-guiding top-tightening structures 3 are installed on both sides of the front and rear ends of the segments.

[0019] Please refer to Figures 5-8, the spherical self - guiding and self - tightening structure 3 includes a mounting seat 31 installed on the side of the support arm 1 and universal ball bearings 34 installed on the outer side of the mounting seat 31 and in contact with the inner wall of the U - rib 16 for top support. When the support arm 1 moves inside the U - rib 16, the support arm 1 is adaptively guided by the contact of a pair of left - and - right universal ball bearings 34 with the inner wall of the U - rib 16. When encountering the curved section of the U - rib 16, a moderate rotation angle occurs between the front and rear two segments, and in cooperation with the universal ball bearings 34 on the left and right sides of the two segments, segment adaptive guidance is achieved, ensuring that the center of the support arm 1 always coincides with the center of the U - rib, and ensuring that the support arm 1 moves smoothly within the arc curve of the U - rib without friction with the inner wall of the U - rib; There are a pair of mounting seats 31. The pair of mounting seats 31 are fixedly connected by a locking rod 32. The mounting seat 31 located on the outer side is installed with a laterally telescopic side plate 33 through a docking plate 35. The universal ball bearings 34 are installed on the outer wall of the bottom end of the side plate 33. The mounting seat 31 located on the inner side is fixed to the segment. By adjusting the installation position between the locking rod 32 and the mounting seat 31, the installation positions of the outer mounting seat 31 and the universal ball bearings 34 are adjusted. Therefore, the top - tight force of the pair of left - and - right universal ball bearings 34 against the inner wall of the U - rib 16 is adjusted to meet the penetration guidance of the pair of left - and - right - arranged universal ball bearings 34 for U - ribs 16 of different widths. The side plate 33 is set to be movable to adapt to the top - tight forces given by different arc surfaces on both sides of the curved section of the U - rib 16, playing a role of top - support compensation.

[0020] Please refer to Figures 1-4 , in this solution, the support arm 1 is composed of multiple rotatably installed segments. By using the cooperation of the bending of the support arm and the spherical self - guiding and self - tightening structure 3, after the support arm 1 enters the U - rib 16, the support arm 1 drives the welding tooling to be able to adaptively guide along the inner curved surface of the U - rib 16, solving the problem that the existing straight - type support arm structure is difficult to meet the welding requirements of U - ribs with small - radius arc curves.

[0021] Embodiment 2: On the basis of Embodiment 1, a traction tooling is added between the support arm 1 and the welding tooling to further guide and correct the movement of the welding tooling by using the traction tooling. The specific content is as follows: Please refer to Figures 9-11 , the traction tooling includes a traction plate 4 and a steering assembly 14 installed at its end and adjacent to the segment. The steering assembly 14 and the segment are also rotatably installed by a planar hinge pin 2. The steering assembly 14 includes a support frame 141 fixed to the upper end of the traction plate 4. A drive box 142 rotatably installed with the planar hinge pin 2 is fixed to the top of the support frame 141. The top of the drive box 142 is rotatably installed with the segment through the planar hinge pin 2. A drive motor is installed inside the drive box 142. The driving end of the drive motor penetrates through the support frame 141 and is fixed with a drive wheel 143 extending below the traction plate 4. A perforation for the drive wheel 143 to penetrate is provided on the traction plate 4. The drive wheel 143 and multiple sets of walking wheels 12 are on the same walking surface.

[0022] Please refer to Figure 9 and Figure 12 , on the left and right sides of the end of the traction plate 4 close to the steering assembly 14, there are also distributed and installed top support sensing structures 9. The top support sensing structure 9 includes a base 91 fixed to the traction plate 4 and a top tightening assembly installed inside it. The outer end of the top tightening assembly penetrates through the base 91 and is fixed with a mounting plate 92. A top tightening wheel 93 that also contacts the inner wall of the U-rib 16 is rotatably installed at the upper end of the mounting plate 92. A pressure sensor 96 that contacts the top tightening assembly is installed on the inner wall of the base 91; The top tightening assembly includes a mounting plate 92 installed between the mounting plate 92 and the pressure sensor 96. The telescopic rod 94 includes a hollow cylinder fixed to the mounting plate 92 and penetrating into the base 91. A guide rod is movably installed inside the hollow cylinder, and a top tightening spring 95 connecting the telescopic rod 94 and the pressure sensor 96 is sleeved on the guide rod. The top tightening wheel 93 has the same top tightening and guiding function as the universal ball 34. The difference is that a pressure sensor 96 is added inside the top tightening assembly. During the process of encountering the curved section of the U-rib 16, the left and right top tightening wheels 93 are often tightened by the inner walls on both sides of the U-rib 16 to different degrees. The pressure sensor 96 monitors and senses the tightening degree of the top tightening wheel 93. When the tightening degrees of the inner wall of the U-rib 16 sensed by a pair of pressure sensors 96 are inconsistent, it indicates that when passing through the curved section of the U-rib 16, after the traction plate 4 advances along with the traction of the support arm 1, its center does not coincide with the center of the U-rib 16, and there is a slight deviation. At this time, by starting the drive motor in the steering assembly 14, the drive motor drives the drive wheel 143 to slightly deflect a certain angle towards the side of the top tightening wheel 93 with a smaller top tightening force, so as to moderately adjust the traction angle of the traction plate 4 until the tightening forces of a pair of top tightening wheels 93 on the inner wall of the U-rib 16 are consistent, so as to further promote the centers of a pair of welding torches 8 to coincide with the center of the U-rib, and improve the welding accuracy.

[0023] Embodiment 3: On the basis of Embodiments 1 and 2, this embodiment optimizes the connection method and welding method between the welding tooling and the traction tooling, specifically as follows: Please refer to Figure 9 , Figure 10 and Figure 13 , the welding tooling includes a traveling seat 5 installed at the front end of the traction plate 4. Welding torches 8 for welding the welds of the U-rib 16 and the panel 15 are arranged on both sides of the front end of the traveling seat 5. A flux box connected to a pair of welding torches 8 is installed on the traveling seat 5. Detection cameras 13 located outside the welding torches 8 are also installed on both sides of the very front end of the traveling seat 5. The detection cameras 13 are used to detect the quality of the welds after welding in real time.

[0024] One end of the traction plate 4 close to the walking seat 5 is fixed with a sliding plate 7. The sliding plate 7 is slidably installed on the upper end wall of the walking seat 5. And a linear drive cylinder 6 is fixed on the traction plate 4. The telescopic end of the linear drive cylinder 6 is fixedly connected to the walking seat 5. The traction plate 4 and the walking seat 5 are installed in a sliding manner. The welding position of the welding torch 8 can be changed back and forth in the linear direction through the linear drive cylinder 6. When it is detected that the weld quality does not meet the standard, the walking seat 5 can be retracted a proper distance in the reverse direction along the welding direction. The weld is repaired by the welding torch 8 to improve the welding quality and avoid subsequent rework.

[0025] In addition, a top guide wheel 10 arranged upward is installed on the upper end of the walking seat 5 between the flux box and the welding torch 8. And side guide wheels 11 close to the welding torch 8 are installed on both sides of the walking seat 5 near the front end. The top guide wheel 10 and the side guide wheels 11 are added to further improve the translation stability and self-centering guiding performance of the welding tooling inside the U-rib 16.

[0026] In summary: The boom 1 in this solution is composed of multiple rotatably installed segments, replacing the traditional linear boom structure. By fixing the outermost segment to the existing linear platform structure, the platform moves forward to let the boom 1 and the welding tooling and other structures penetrate into the U-rib 16. The walking wheels 12 at the bottom of the boom 1, the traction tooling and the welding tooling slide on the panel 15. The walking wheels 12 are respectively installed at the lower ends of the segments, the traction plate 4 and the walking seat 5. After the welding tooling moves to the preliminary welding position, the platform is driven to retreat, and a pair of welding torches 8 are started. The welding torches 8 are used to weld the connection points between the panel 15 and the inner side of the U-rib 16. During the welding traction process, by using the tightening functions of each segment, the spherical self-guiding tightening structure 3 and the top support sensing structure 9, the welding tooling can be adaptively guided along the inner curved surface of the U-rib 16, so that it is always located in the middle position inside the U-rib sliding plate 7, solving the problem that the existing linear boom structure is difficult to meet the welding requirements of small-radius arc-shaped U-ribs. Calculated by the length of the plate unit of 16 meters, arcs with a camber less than 160 mm can be welded; In addition, a top support sensing structure 9 that also contacts the inner wall of the U-rib 16 and a steering component 14 that can moderately steer the traction plate 4 are added at the traction end of the traction plate 4. When the tightening degrees on the inner wall of the U-rib 16 sensed by a pair of top support sensing structures 9 are inconsistent, the traction angle of the traction plate 4 is moderately adjusted through the steering component 14 until the tightening forces of a pair of tightening wheels 93 on the inner wall of the U-rib 16 are the same, so as to further promote the center of a pair of welding torches 8 to be consistent with the center of the U-rib 16 and improve the welding accuracy on both sides inside the U-rib 16.

[0027] The above are only the preferred specific embodiments of the present invention; however, the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution and its improved concept of the present invention, making equivalent substitutions or changes, shall be covered by the protection scope of the present invention.

Claims

1. A U-rib plate unit welding device based on a small radius train-type arc curve self-guided, comprising a support arm (1), a traction tool and a welding tool, characterized in that: The support arm (1) is formed by splicing a plurality of front and rear segments, and two adjacent front and rear segments are rotatably connected via a planar hinge pin (2). The segments, the traction tooling, and the welding tooling are all equipped with walking wheels (12) extending downward. Both sides of the front and rear ends of the segments are equipped with spherical self-guided tightening structures (3). The spherical self-guided tightening structures (3) include a mounting seat (31) mounted on the side of the support arm (1) and a universal ball (34) mounted on the outside of the mounting seat (31) and in contact with the inner wall of the U rib (16). The traction tooling comprises a traction plate (4) and a steering assembly (14) mounted at the end thereof and arranged adjacent to the segment. The steering assembly (14) and the segment are also rotatably mounted using a planar hinge pin (2). A support sensing structure (9) is also mounted on the left and right sides of one end of the traction plate (4) close to the steering assembly (14). The support sensing structure (9) comprises a base (91) fixed on the traction plate (4) and a tightening assembly mounted inside the traction plate (4). The outer end of the tightening assembly passes through the base (91) and is rotatably mounted with a tightening wheel (93) that is also in contact with the inner wall of the U rib (16) through a mounting plate (92). A pressure sensor (96) in contact with the tightening assembly is mounted on the inner wall of the base (91). The welding tool comprises a walking seat (5) mounted on the front end of the traction plate (4), and welding guns (8) for welding the weld seams of the U ribs (16) and the panel (15) are arranged on both sides of the front end of the walking seat (5).

2. The U-rib plate unit welding equipment based on small radius train-type arc curve self-guiding according to claim 1 is characterized in that: The mounting seat (31) is provided with a pair, and the pair of mounting seats (31) are fixedly connected via a locking rod (32), the mounting seat (31) located on the outside is mounted with a side plate (33) via a docking plate (35), and the universal ball (34) is mounted on the outer wall of the bottom end of the side plate (33).

3. The U-rib plate unit welding equipment based on small radius train-type arc curve self-guiding according to claim 2 is characterized in that: The side plate (33) is arranged to be inclined outward from top to bottom, and the inner wall of the side plate (33) is provided with a movable inclined groove which is narrow at the top and wide at the bottom. The top end of the docking plate (35) is rotatably mounted on the top end of the movable inclined groove, and a movable gap is reserved between the inner wall of the movable inclined groove and the docking plate (35), and a buffer pad (36) fixed to the docking plate (35) is provided in the movable gap.

4. The U-rib plate unit welding equipment based on small radius train-type arc curve self-guiding according to claim 1 is characterized in that: The tightening assembly comprises a mounting plate (92) mounted between the mounting plate (92) and the pressure sensor (96); the telescopic rod (94) comprises a hollow cylinder fixed on the mounting plate (92) and extending into the base (91); a guide rod is movably mounted in the hollow cylinder; a tightening spring (95) connected between the telescopic rod (94) and the pressure sensor (96) is sleeved on the guide rod.

5. The U-rib plate unit welding equipment based on small radius train-type arc curve self-guiding according to claim 1 is characterized in that: The steering assembly (14) comprises a support frame (141) fixed to the upper end of the traction plate (4); a drive box (142) rotatably mounted to the planar hinge pin (2) is fixed to the top of the support frame (141); a drive motor is mounted inside the drive box (142); a drive end of the drive motor passes through the support frame (141) and is fixed with a drive wheel (143) extending to the bottom of the traction plate (4).

6. The U-rib plate unit welding equipment based on small radius train-type arc curve self-guiding according to claim 1 is characterized in that: A flux box connected to the welding gun (8) is mounted on the walking seat (5), and detection cameras (13) located outside the welding gun (8) are also mounted on both sides of the front end of the walking seat (5).

7. The U-rib plate unit welding equipment based on small radius train-type arc curve self-guiding according to claim 1 is characterized in that: A sliding plate (7) slidably mounted with the traveling seat (5) is fixed to the end of the traction plate (4) close to the traveling seat (5), a linear drive cylinder (6) is fixed to the traction plate (4), and a telescopic end of the linear drive cylinder (6) is fixedly connected to the traveling seat (5).

8. The U-rib plate unit welding equipment based on small radius train-type arc curve self-guiding according to claim 1 is characterized in that: The upper end of the walking seat (5) located between the flux box and the welding gun (8) is also equipped with a top guide wheel (10) arranged upward, and the walking seat (5) is also equipped with side guide wheels (11) arranged adjacent to the welding gun (8) on both sides near the front end.

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