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

Abstract

The present invention discloses a U-rib plate unit welding equipment based on small-radius train-type arc curve self-guiding, which belongs to the technical field of bridge structure welding. The support arm in this scheme is assembled into a train-type combined support arm by hinged assembly of multiple short support arms, and spherical self-guiding tightening structures are provided on both sides of each short support arm to cooperate with the contact support of the inner wall of the U rib, so as to realize that the combined support arm drives the welding tool to adaptively guide along any curved surface in the U rib. In addition, a support sensing structure that is also in contact with the inner wall of the U rib and a steering assembly that can drive the traction plate to turn appropriately are added to the traction plate. When a pair of support sensing structures sense that the tightening degree of the inner wall of the U rib is inconsistent, the traction angle of the traction plate is appropriately adjusted by the steering assembly until the tightening force of the pair of tightening wheels on the inner wall of the U rib is consistent, so as to promote the consistency of the center of a pair of welding guns with the center of the U rib, thereby improving the welding accuracy on both sides of the inside of the U rib.

Description

Technical Field

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

[0002] The steel box girder deck structure used in current bridges consists of plate elements, which are composed of U-ribs and steel deck panels. U-ribs are a standard component of traditional bridge steel structures and are widely used. During plate element fabrication, the U-ribs are welded to the deck panel using either single-sided external welding or double-sided internal and external full-thickness welding. Traditional U-ribs are typically straight. When using the internal and external full-thickness welding process, the welds within the U-ribs are welded using a rigid linear 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 requirements of small-radius arc curve U-ribs. In response to the existing practical problems, a U-rib plate unit welding equipment with autonomous adaptability and small-radius arc curve U-rib based on small-radius train-type arc curve self-guiding is developed and designed. Summary of the Invention

[0004] The purpose of the present invention is to solve the problem that the existing rigid linear support arm carrying welding head is difficult to meet the needs of effective welding of small radius arc curve U ribs. Compared with the existing technology, it provides a U rib plate unit welding equipment based on small radius train-type arc curve self-guiding.

[0005] The purpose of the present invention can be achieved through the following technical solutions:

[0006] The U-rib plate unit welding equipment based on the self-guided small-radius train-type arc curve includes a support arm, a traction tooling, and a welding tooling. The support arm is spliced together by multiple front and rear segments. The front and rear adjacent segments are rotatably connected by a flat hinge pin. The segments, traction tooling, and welding tooling are all equipped with downward-pointing running wheels. Both the front and rear ends of the segments are equipped with spherical self-guided tightening structures. The spherical self-guided tightening structures include 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 U-rib inner wall support.

[0007] The traction tooling includes a traction plate and a steering assembly installed at its end and adjacent to the segment. The steering assembly and the segment are also rotatably installed using a planar hinge pin. The traction plate is also distributed with support sensing structures on the left and right sides near one end of the steering assembly. The support sensing structure includes a base fixed to the traction plate and a tightening assembly installed inside the traction plate. The outer end of the tightening assembly passes through the base and is fixed with a mounting plate. A tightening wheel that is also in contact with the inner wall of the U rib is rotatably installed on the upper end of the mounting plate. A pressure sensor in contact with the tightening assembly is installed on the inner wall of the base.

[0008] The welding tooling includes a traveling seat installed at the front end of the traction plate, and welding guns for welding U-ribs and panel welds are provided on both sides of the front end of the traveling seat.

[0009] Furthermore, a pair of mounting seats are provided, which are fixedly connected by a locking rod. The mounting seat located on the outside is equipped with a side panel that can be telescoped inward and outward through a docking plate, and a universal ball is installed on the outer wall of the bottom end of the side panel.

[0010] Furthermore, the side panels are arranged tilted outward from top to bottom, and the inner wall of the side panels is provided with a movable inclined groove that is narrow at the top and wide at the bottom. The top of the docking plate is rotatably installed on the top of the movable inclined groove, and a movable gap is reserved between the inner wall of the movable inclined groove and the docking plate. A buffer pad fixed to the docking plate is provided in the movable gap, and the universal ball is used as the lateral positioning of the segment. When the support arm moves inside the U-rib, the support arm is adaptively guided by the contact between a pair of universal ball bearings on the left and right and the inner wall of the U-rib. When encountering a U-rib curved section, a moderate angle of rotation occurs between the front and rear segments, and the universal ball bearings on the left and right sides of the two segments cooperate to achieve segment adaptive guidance.

[0011] Furthermore, the tightening assembly includes a telescopic rod installed between the mounting plate and the pressure sensor, the telescopic rod includes a hollow cylinder fixed to the mounting plate and extending into the base, a guide rod is movably installed in the hollow cylinder, and a tightening spring connected between the telescopic rod and the pressure sensor is sleeved on the guide rod, and the tightening wheel has the same tightening and guiding function as the universal ball.

[0012] Furthermore, the steering assembly includes a support frame fixed to the upper end of the traction plate, a drive box fixed to the top end of the support frame and rotatably mounted with a planar hinge pin, a drive motor installed inside the drive box, a drive end of the drive motor passes through the support frame and is fixed with a drive wheel extending to the bottom of the traction plate, and a through hole is provided on the traction plate for the drive wheel to pass through.

[0013] Furthermore, a flux box connected to a pair of welding guns is installed on the walking seat, and detection cameras located outside the welding guns are also installed on both sides of the front end of the walking seat. The detection cameras are used to detect the quality of the weld after welding in real time.

[0014] Furthermore, a sliding plate is fixed to the end of the traction plate close to the walking seat, and the sliding plate is slidably installed on the upper end wall of the walking seat, and a linear drive cylinder is fixed to the traction plate, and the telescopic end of the linear drive cylinder is fixedly connected to the walking seat. The traction plate and the walking seat are installed in a sliding manner, and the welding position of the welding gun can be changed back and forth in a linear direction through the linear drive cylinder. When it is detected that the weld quality does not meet the standard, the walking seat can be retreated an appropriate distance in the reverse direction of the welding direction, and the weld can be repaired with a welding gun to improve the welding quality without the need for subsequent rework.

[0015] Furthermore, the upper end of the walking seat located between the flux box and the welding gun is also equipped with an upwardly arranged top guide wheel, and the walking seat is also equipped with side guide wheels arranged near the welding gun on both sides near the front end.

[0016] Compared with the prior art, the advantages of the present invention are:

[0017] (1) The support arm in this solution is composed of multiple rotatably mounted segments, and the support arm bending and spherical self-guided tightening structure are combined to achieve that after the support arm enters the U rib, the support arm drives the welding tool to be adaptively guided along the inner curved surface of the U rib, thereby solving the problem that the existing straight support arm structure is difficult to meet the welding requirements of the small radius arc curve U rib. In addition, a support sensing structure that is also in contact with the inner wall of the U rib and a steering assembly that can pull the traction plate to turn appropriately are added at the traction end of the traction plate. When a pair of support sensing structures sense that the tightening degree of the inner wall of the U rib is inconsistent, the traction angle of the traction plate is appropriately adjusted by the steering assembly until the tightening force of the pair of tightening wheels on the inner wall of the U rib is consistent, thereby further promoting the center of the pair of welding guns to be consistent with the center of the U rib, thereby improving the welding accuracy on both sides of the inner wall of the U rib.

[0018] (2) This solution adds a pair of detection cameras located on the rear side of the welding direction of the welding gun to the welding tooling. The detection cameras are used to detect the quality of the weld after welding in real time, and a sliding installation is adopted between the traction plate and the travel seat. The welding position of the welding gun is changed forward and backward in the linear direction by the linear drive cylinder. When it is detected that the weld quality does not meet the standard, the travel seat can be retreated a proper distance in the reverse direction of the welding direction, and the unqualified weld can be repaired with the welding gun, which effectively improves the welding quality without the need for subsequent rework. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a structural schematic diagram of the present invention;

[0020] Figure 2 A cross-sectional view of the present invention during welding operation;

[0021] Figure 3 It is a structural schematic diagram of the support arm of the present invention;

[0022] Figure 4 This is a schematic diagram of the structure of the support arm of the present invention after being transformed from a straight line to a curved surface adapted to the inner curve of the U rib;

[0023] Figure 5 This is a schematic structural diagram of one segment of the support arm of the present invention;

[0024] Figure 6 It is a structural schematic diagram of the spherical self-guided jacking structure of the present invention;

[0025] Figure 7 This is an exploded view of the spherical self-guided jacking structure of the present invention;

[0026] Figure 8 A cross-sectional view of the spherical self-guided jacking structure of the present invention;

[0027] Figure 9 It is a structural schematic diagram of the joint between the traction tooling and the welding tooling of the present invention;

[0028] Figure 10 It is a bottom view of the joint of the traction tool and the welding tool of the present invention;

[0029] Figure 11 It is a structural schematic diagram of the steering assembly of the present invention;

[0030] Figure 12 This is a schematic structural diagram of the supporting sensing structure of the present invention;

[0031] Figure 13 It is a structural schematic diagram of the welding tool of the present invention.

[0032] Description of the numbers in the figure:

[0033] 1. Support arm; 2. Plane hinge pin; 3. Spherical self-guided 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 gun; 9. Support sensing structure; 91. Base; 92. Mounting plate; 93. Tensioning wheel; 94. Telescopic rod; 95. Tensioning 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 DESCRIPTION

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

[0035] Example 1: This example is used to solve the problem that traditional rigid linear support arms cannot meet the welding requirements of small-radius arc-curved U-ribs. An autonomously adaptable small-radius arc-curved U-rib plate unit welding device based on a small-radius train-type arc-curved self-guided device is designed.

[0036] See also Figures 1-4 , including a support arm 1, a traction tooling and a welding tooling. The support arm 1 is spliced together by multiple front and rear segments. The front and rear adjacent segments are rotatably connected by a flat hinge pin 2. The segments, traction tooling and welding tooling are all equipped with downward-running walking wheels 12, and spherical self-guided tightening structures 3 are installed on both sides of the front and rear ends of the segments.

[0037] See also Figure 5-Figure 8 The spherical self-guided tightening structure 3 includes a mounting seat 31 installed on the side of the support arm 1 and a universal ball 34 installed on the outside of the mounting seat 31 and in contact with the inner wall of the U-rib 16. When the support arm 1 moves inside the U-rib 16, the support arm 1 is adaptively guided by the contact between the left and right pairs of universal balls 34 and the inner wall of the U-rib 16. When encountering the curved section of the U-rib 16, a moderate angle is generated between the front and rear segments, and the universal balls 34 on the left and right sides of the two segments are cooperated to achieve segment adaptive guidance, ensuring that the center of the support arm 1 is always consistent 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 generating friction with the inner wall of the U-rib.

[0038] The mounting seats 31 are provided in a pair, and the pair of mounting seats 31 are fixedly connected by a locking rod 32. The mounting seats 31 located on the outside are installed with side panels 33 that can be telescoped inward and outward through the docking plate 35. The universal ball 34 is installed on the outer wall of the bottom end of the side panel 33, and the mounting seats 31 located on the inside are fixed on the segment. The installation position of the outer mounting seats 31 and the universal ball 34 is adjusted by the installation position between the locking rod 32 and the mounting seats 31. Therefore, the tightening force of the left and right pair of universal ball 34 on the inner wall of the U rib 16 is adjusted to meet the insertion guide of the pair of universal ball 34 set on the left and right to adapt to the U ribs 16 of different widths. The side panels 33 are set to be movable to adapt to the tightening force given by the different arc surfaces on both sides of the curved segment of the U rib 16, thereby playing a supporting compensation role.

[0039] See also Figures 1-4The support arm 1 in this solution is composed of multiple rotatably mounted segments, and adopts the combination of support arm bending and spherical self-guided tightening structure 3 to achieve that after the support arm 1 enters the U rib 16, the support arm 1 drives the welding tooling to adaptively guide along the inner curved surface of the U rib 16, solving the problem that the existing straight support arm structure is difficult to meet the welding requirements of small-radius arc-shaped U ribs.

[0040] Example 2: Based on Example 1, this example adds a traction tool between the support arm 1 and the welding tool, and uses the traction tool to further guide and correct the movement of the welding tool, as follows:

[0041] See also 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 using a flat 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 flat hinge pin 2 is fixed to the top of the support frame 141. The top of the drive box 142 is rotatably installed between the segment through the flat hinge pin 2. A drive motor is installed inside the drive box 142. The driving 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. A through hole for the drive wheel 143 to pass through is provided on the traction plate 4. The drive wheel 143 and the multiple sets of walking wheels 12 are on the same walking surface.

[0042] See also Figure 9 and Figure 12 , the traction plate 4 is also equipped with a support sensing structure 9 on both sides of the left and right sides of one end near the steering assembly 14. The support sensing structure 9 includes a base 91 fixed on the traction plate 4 and a tightening assembly installed inside the base 91. The outer end of the tightening assembly passes through the base 91 and is fixed with a mounting plate 92. The upper end of the mounting plate 92 is rotatably equipped with a tightening wheel 93 that is also in contact with the inner wall of the U rib 16. The inner wall of the base 91 is equipped with a pressure sensor 96 in contact with the tightening assembly.

[0043] The tightening assembly includes a telescopic rod 94 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 extending into the base 91. A guide rod is movably installed 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. The tightening wheel 93 has the same tightening guide function as the universal ball 34. The difference is that a pressure sensor 96 is added to the inside of the tightening assembly. When encountering the curved section of the U rib 16, the tightening wheels 93 on the left and right sides are often subject to different tightening degrees of the inner walls on both sides of the U rib 16. The tightening degree of the tightening wheel 93 is measured by the pressure sensor 96. During monitoring and perception, when a pair of pressure sensors 96 sense that the tightening degree of the inner wall of the U-rib 16 is inconsistent, it means that when passing through the curved section of the U-rib 16, the center of the traction plate 4 is not consistent with the center of the U-rib 16 after being pulled forward by the support arm 1, 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 toward the side of the tightening wheel 93 with smaller tightening force, so as to achieve moderate adjustment of the traction angle of the traction plate 4 until the pair of tightening wheels 93 respectively tighten the inner wall of the U-rib 16 with the same force, so as to further promote the center of the pair of welding guns 8 to be consistent with the center of the U-rib, thereby improving welding accuracy.

[0044] Example 3: Based on Examples 1 and 2, this example optimizes the connection method and welding method between the welding tool and the traction tool, as follows:

[0045] See also Figure 9 、 Figure 10 as well as Figure 13 The welding tooling includes a walking seat 5 installed at the front end of the traction plate 4. Welding guns 8 for welding the U-ribs 16 and the panel 15 are provided on both sides of the front end of the walking seat 5. A flux box connected to a pair of welding guns 8 is installed on the walking seat 5. Detection cameras 13 located on the outside of the welding guns 8 are also installed on both sides of the front end of the walking seat 5. The detection cameras 13 are used to detect the quality of the welds after welding in real time.

[0046] A sliding plate 7 is fixed to the end of the traction plate 4 close to the walking seat 5, and 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 linear drive cylinder 6 can be used to change the welding position of the welding gun 8 back and forth in a straight line. When it is detected that the weld quality is not up to standard, the walking seat 5 can be retreated an appropriate distance in the reverse direction of the welding direction, and the welding gun 8 can be used to perform repair welding on the weld to improve the welding quality without the need for subsequent rework.

[0047] In addition, a top guide wheel 10 is installed at the upper end of the walking seat 5 between the flux box and the welding gun 8, and side guide wheels 11 are installed on both sides near the front end of the walking seat 5, which are arranged near the welding gun 8. The top guide wheel 10 and the side guide wheel 11 are added to further improve the translational stability and self-centering guiding performance of the welding tooling on the inner side of the U rib 16.

[0048] In summary, the support arm 1 in this solution is composed of a plurality of rotatably mounted segments, replacing the traditional linear support arm structure. By fixing the outermost segment to the existing linear platform structure, the platform moves forward to allow the support arm 1 and the welding tooling and other structures to pass through the U-rib 16. The support arm 1, the traction tooling and the walking wheels 12 at the bottom of the welding tooling slide on the panel 15. The walking wheels 12 are respectively installed at the segments, the traction plate 4 and the lower end of the walking seat 5. After the welding tooling moves to the initial welding position, the platform is driven backward, and a pair of welding guns 8 are started. The welding guns 8 are used to weld the inner connection points of the panel 15 and the U-rib 16. During the welding traction process, the various segments and the spherical self-guided tightening structure 3 and the supporting sensing structure 9 tightening function are used to enable the welding tooling to 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, which solves the problem that the existing linear support arm structure is difficult to meet the welding needs of small-radius arc curve U-ribs. Calculated based on the plate unit length of 16 meters, arcs with a height loss of less than 160 mm can be welded.

[0049] In addition, a support sensing structure 9 that is also in contact with the inner wall of the U rib 16 and a steering assembly 14 that can pull the traction plate 4 to turn appropriately are added to the traction end of the traction plate 4. When a pair of support sensing structures 9 sense that the tightening degree of the inner wall of the U rib 16 is inconsistent, the traction angle of the traction plate 4 is appropriately adjusted through the steering assembly 14 until the pair of tensioning wheels 93 respectively tighten the inner wall of the U rib 16 with the same force, so as to further promote the center of the pair of welding guns 8 to be consistent with the center of the U rib 16, thereby improving the welding accuracy on both sides of the inside of the U rib 16.

[0050] The above are only preferred specific implementation methods of the present invention; however, the protection scope of the present invention is not limited thereto; any technician familiar with the technical field within the technical scope disclosed by the present invention; any equivalent replacement or change based on the technical solution and improved conception of the present invention shall be covered within 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 the front and rear adjacent segments are rotatably connected by a planar hinge pin (2). The segments, traction fixtures, and welding fixtures are all equipped with running 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 on 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). The traction plate (4) is also provided with a support sensing structure (9) on both sides of one end thereof 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 same. The outer end of the tightening assembly passes through the base (91) and is rotatably mounted with a tightening wheel (93) which 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 traveling seat (5) mounted on the front end of a traction plate (4), and welding guns (8) for welding the U-ribs (16) and the weld seams of the panel (15) are provided on both sides of the front end of the traveling seat (5).

2. The U-rib plate unit welding equipment based on small radius train-type arc curve self-guided 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 by a locking rod (32). The mounting seat (31) located on the outside is installed with a side plate (33) through a docking plate (35), and a universal ball (34) is installed 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-guided according to claim 2 is characterized in that: The side panels (33) are arranged outwardly and tilted from top to bottom. The inner wall of the side panels (33) is provided with a movable inclined groove that 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. A movable gap is reserved between the inner wall of the movable inclined groove and the docking plate (35). 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 includes a telescopic rod (94) installed between the mounting plate (92) and the pressure sensor (96), the telescopic rod (94) including a hollow cylinder fixed on the mounting plate (92) and extending into the base (91), a guide rod movably installed in the hollow cylinder, and 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-guided according to claim 1 is characterized in that: The steering assembly (14) includes a support frame (141) fixed to the upper end of the traction plate (4); a drive box (142) rotatably mounted on the plane hinge pin (2) is fixed to the top end of the support frame (141); a drive motor is installed 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 installed on the walking seat (5), and detection cameras (13) located outside the welding gun (8) are also installed 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-guided according to claim 1 is characterized in that: A sliding plate (7) is fixed to the end of the traction plate (4) close to the traveling seat (5), and is slidably mounted on the traveling seat (5). A linear drive oil cylinder (6) is fixed to the traction plate (4), and a telescopic end of the linear drive oil 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 near the welding gun (8) on both sides near the front end.

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