Steel structure bridge truss auto-alignment welding trolley and using method

Abstract

The invention provides a steel structure bridge truss self-alignment welding trolley and a using method, and belongs to the technical field of self-alignment welding trolleys. Comprising a trolley assembly, wheel assemblies are arranged on the front side edge and the rear side edge of the bottom surface of the trolley assembly respectively, and rotating disc assemblies are arranged on the left side edge and the right side edge of the center of the top surface of the trolley assembly respectively. By arranging the blue light three-dimensional modeling scanner in the prior art, the two bridge steel frames needing to be welded are subjected to three-dimensional modeling, the best welding face is judged through programming and manual two-layer judgment, data are transmitted to the automatic welding equipment, the mechanical arm is used for direct grabbing, the time for manually starting a crane can be saved, and the working efficiency is improved. In addition, the body structure of the mechanical arm is fixed, accidents such as shaking of the lifting rope are avoided, in addition, the modes of the welding gun are diversified, and the second welding mode or the third welding mode can be started immediately when the first welding mode is not ideal.

Description

Technical Field

[0001] The present invention relates to the technical field of self-aligning welding trolleys, and particularly to a self-aligning welding trolley for a steel structure bridge truss and a using method thereof. Background Art

[0002] With the development of digital, automation, computer, and mechanical design technologies, as well as the high emphasis on welding quality, automatic welding has developed into an advanced manufacturing technology. The role played by automatic welding equipment in the applications of various industries is becoming increasingly important, and its application scope is expanding rapidly. Currently, automatic welding technology has been widely applied in fields such as plastics, automotive manufacturing, metal processing, hardware and household appliances, steel structures, pressure vessels, machining manufacturing, shipbuilding, and aerospace. After applying automatic welding technology, the appearance and internal quality of welded parts have been greatly improved, the quality stability has been ensured, the labor intensity has been reduced, the working environment has been improved, the requirements for manual welding skills and production costs have been reduced, and the production efficiency has been increased.

[0003] The development and application of microcomputer automation control technology in welding equipment, such as numerically controlled welding power sources, intelligent welding machines, fully automatic special welding machines, and flexible welding robot workstations. The role of the microcomputer control system in various automatic welding and cutting equipment is not only to control various welding parameters, but also to be able to automatically coordinate the actions of the various components of the complete set of welding equipment to achieve unmanned operation, that is, to realize the numerical control, automation, and intelligence of welding production. The microcomputer-controlled welding power source has become the main body of automatic special welding machines and the basis of intelligent welding equipment. For example, microcomputer-controlled thyristor arc welding power sources, transistor arc welding power sources, inverter arc welding power sources, multi-functional arc welding power sources, pulse arc welding power sources, etc. In welding production, it is often necessary to design and manufacture automated welding process equipment according to the characteristics of welded parts. Most of the self-made complete sets of welding equipment, such as welding machines, welding centers, and welding production lines, can adopt general welding power sources, automatic welding heads, wire feeding mechanisms, welding trolleys, etc., and are unified and coordinated into a whole by a programmable microcomputer control system.

[0004] In existing automatic welding for some bridge work, it is necessary for workers to plan and mark the welding surface in advance, or write the welding surface program in advance, and then the automatic welding equipment will perform welding. Moreover, most of the welding types are single types. If the existing blue-light three-dimensional modeling scanner is used to generate three-dimensional models of the two bridge steel frames to be welded, and two-layer judgment of programming and manual work is used to determine the best welding surface and transmit the data to the automatic welding equipment. In addition, the common steel frame grabbing equipment uses a crane, and the height of the crane is relatively high, which may cause the suspension rope to shake during welding and affect the welding work. Directly grabbing with a robotic arm can save the time of manually operating the crane, and the body structure of the robotic arm is relatively fixed, so accidents such as the suspension rope shaking will not occur. Finally, diversifying the welding gun methods can immediately activate the second or third welding method when one welding method is not ideal, quickly make up for mistakes and provide the effect of diversified welding methods. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a self-aligning welding trolley for a steel structure bridge truss and its usage method to solve the problems that in the existing technology, it is necessary for workers to plan and mark the welding surface in advance, or write the welding surface program in advance, and the common steel frame grabbing equipment uses a crane, and the height of the crane is relatively high, which may cause the suspension rope to shake during welding and affect the welding work, and directly grabbing with a robotic arm can save the time of manually operating the crane.

[0006] To solve the above technical problems, the present invention provides the following technical solutions:

[0007] A self-aligning welding trolley for a steel structure bridge truss includes a trolley assembly. Wheel assemblies are respectively provided at the bottom surface of the trolley assembly near the front and rear edges. A welding workbench assembly is provided at the rear edge of the top surface of the trolley assembly. Rotating disc assemblies are respectively provided at the left and right edges near the center of the top surface of the trolley assembly. A module moving assembly is connected to the front surface of the welding workbench assembly. A plurality of types of welding assemblies are connected to the front surface of the module moving assembly. Steel frame modeling scanning assemblies are respectively provided at the left and right ends of the top surface of the welding workbench assembly. A robotic arm assembly is connected to the top of each rotating disc assembly. A steel frame grabbing assembly is connected to one end of the top of the robotic arm assembly. A protection assembly is provided inside the trolley assembly. The plurality of types of welding assemblies include a connecting block. A first rotating shaft is provided on the front surface of the connecting block. A second rotating shaft is connected to the front end of the first rotating shaft. A first welding gun is fixed to the front end of the second rotating shaft. A first mounting plate and a second mounting plate are respectively wrapped around the center and the bottom edge of the outer surface of the first welding gun. A second welding gun is connected to one end of the first mounting plate. A third welding gun is connected to one end of the second mounting plate. The steel frame modeling scanning assembly includes an equipment tree, and a blue-light three-dimensional modeling scanner body is provided on the top of the equipment tree.

[0008] Optionally, the trolley assembly includes a table board, a rectangular frame penetrates through the outer side of the top of the table board, lifting lugs are respectively connected to positions on the outer side surfaces of the rectangular frame close to the four sides, a support board covers the inner surface of the table board, a chain is arranged in a row on the top surface of the support board near the right side edge, a rotating motor is arranged at the center of the right side edge of the top surface of the table board, and an output end of the rotating motor is connected to a gear.

[0009] Optionally, the wheel assembly includes a moving drive motor, wheels are respectively connected to the left and right ends of the moving drive motor, and oval connecting plates are respectively arranged between the left and right ends of the moving drive motor and the two wheels.

[0010] Optionally, the welding workbench assembly includes a workbench, a drive power source is arranged at the left side edge of the front end of the workbench, and a welding control power supply box and a modeling scanner data box are respectively arranged at the left and right side edges of the top surface of the workbench.

[0011] Optionally, the module moving assembly includes a main board and a support rod, a top board is arranged on the top of the main board, a first crawler belt covers the top surface of the top board, runners are respectively arranged at the left and right ends of the main board, a linkage belt is wrapped between the front ends of the two runners, and a slider is arranged at the center of the front end of the linkage belt.

[0012] Optionally, a second crawler belt covers the inner surface of the support rod, one end of the second crawler belt is connected to a splicing board, and a crawler belt connecting plate is connected to the top of the splicing board.

[0013] Optionally, the rotating disc assembly includes a disc, a concave sliding opening is formed at the center of the top surface of the disc, a support column is connected to the inside of the concave sliding opening, a convex sliding rod is formed at the bottom of the support column, and the convex sliding rod is connected to the concave sliding opening.

[0014] Optionally, the robotic arm assembly includes an L-shaped fixing block, a main fixing block of the robotic arm is arranged on the top of the L-shaped fixing block, a concave mounting plate is arranged at the center of the top surface of the main fixing block of the robotic arm, and first hydraulic telescopic devices are respectively arranged on the left and right sides of the concave mounting plate.

[0015] Optionally, the steel frame grasping assembly includes a convex mounting plate. The front end of the convex mounting plate is connected to a small arm. The front end of the small arm is connected to a rotating cylinder. The front end of the rotating cylinder is connected to a gripper connecting block. The bottom of the gripper connecting block is connected to a second hydraulic telescopic device. On the center of the bottom surface of the second hydraulic telescopic device, on both sides near the left and right, there are respectively gripper rotating shafts. On one side of each gripper rotating shaft, there is an arc-shaped gripper plate. On the inner surface of the arc-shaped gripper plate, several arc-shaped shock-absorbing plates are arranged in a row. The protection assembly includes a protection frame, a protection motor, a protection lead screw, a protection slider, a docking motor, a docking frame, and a collection structure. Inside the protection frame, there is a fixed connection with a protection motor. One end of the protection motor is inserted with a protection lead screw. The surface of the protection lead screw is threaded through a protection slider. On the upper surface of the protection slider, there is a fixed connection with a docking motor. One end of the docking motor is inserted with a docking frame. Inside the docking frame, there is an inserted collection structure.

[0016] A method for using a self-aligning welding trolley for a steel structure bridge truss includes the following steps:

[0017] Step 1: First, use the wheel assembly to push the trolley assembly to a designated position, and then use the existing robotic arm technology to start the two robotic arm assemblies to grab the two steel frames to be welded and move them to the front of the welding workbench assembly and the steel frame modeling and scanning assembly.

[0018] Step 2: Use the blue light three-dimensional modeling scanner body to scan the two steel frames in front to generate a three-dimensional model, transmit the data to the modeling scanner data box to collect the data and then transmit it to the PC of the backstage staff to judge and select the welding surface, and then transmit the data to the welding control power box.

[0019] Step 3: The welding control power box provides the data position of the welding area to the module moving assembly and various welding assemblies. The module moving assembly drives the various welding assemblies to the welding surface by means of track sliding, and then selects one of the three welding methods for automatic welding. By rotating the docking frame through the docking motor, the collection structure is rotated 360 degrees in parallel. By driving the protection lead screw through the protection motor, the protection slider and the collection structure are moved in parallel. According to the required welding position, the position of the collection structure can be adjusted at multiple angles, so as to facilitate the collection of welding slag falling at different positions.

[0020] Compared with the prior art, the present invention has at least the following beneficial effects:

[0021] In the above solution, by setting up a prior art blue light three-dimensional modeling scanner, three-dimensional models are generated for two bridge steel frames to be welded, and the best welding surface is determined through two layers of judgment, namely programming and manual judgment. The data is then transmitted to an automatic welding device. The use of a robotic arm to directly grab can save the time of manually operating a crane, and the body structure of the robotic arm is relatively fixed, so accidents such as the swinging of the lifting rope will not occur. In addition, diversifying the welding gun methods can immediately activate the second or third welding method when one welding method is not ideal, quickly making up for mistakes and providing the effect of diversified welding methods, solving the problems of single function and single welding method of general automatic welding devices. By rotating the docking frame through a docking motor, the collection structure is rotated 360 degrees in parallel. By driving a protection lead screw through a protection motor, the protection slider and the collection structure are moved in parallel. According to the welding position required, the position of the collection structure can be adjusted at multiple angles, so as to facilitate the collection of welding slag falling at different positions, solving the problem of welding slag falling during the welding of two bridge steel frames polluting the equipment.

[0022] By setting up a blue light three-dimensional modeling scanner, which is a high-precision measuring instrument used to scan, obtain, and analyze the geometric structure or shape data of objects in the real world. The data collected is often used for three-dimensional reconstruction calculations to create digital models of actual objects in the virtual world. These models have a wide range of uses. Using blue grating scanning technology, it is not affected by ambient light sources during scanning, can directly scan the reflective and dark surfaces of objects, and the operation is more convenient. The three-dimensional scanner combines the advantages of high scanning and high precision and can freely switch between different measurement ranges. Multiple splicing methods enable it to perfectly handle scanning from small parts to large objects such as the entire vehicle body, and can generate dense point cloud data. Even for complex surfaces, the data capture can clearly express. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The drawings incorporated herein and constituting a part of the specification illustrate embodiments of the present invention and, together with the specification, are further used to explain the principles of the present invention and enable those skilled in the relevant art to implement and use the present invention.

[0024] Figure 1 It is a three-dimensional structure schematic diagram of a self-aligning welding trolley for a steel structure bridge truss;

[0025] Figure 2 It is a schematic diagram of the structure of the trolley assembly;

[0026] Figure 3 It is a schematic diagram of the structure of the wheel assembly;

[0027] Figure 4 It is a schematic diagram of the structure of the welding workbench assembly;

[0028] Figure 5Schematic diagram of the overall structure of the module moving component;

[0029] Figure 6 Schematic diagram of the front half structure of the module moving component;

[0030] Figure 7 Schematic diagram of the structure of multiple types of welding components;

[0031] Figure 8 Schematic diagram of the structure of the steel frame modeling and scanning component;

[0032] Figure 9 Schematic diagram of the overall structure of the robotic arm grasping device;

[0033] Figure 10 Schematic diagram of the structure of the rotating disc component;

[0034] Figure 11 Schematic diagram of the structure of the robotic arm component;

[0035] Figure 12 Schematic diagram of the structure of the small arm of the steel frame grasping component;

[0036] Figure 13 Schematic diagram of the structure of the gripper of the steel frame grasping component;

[0037] Figure 14 Schematic diagram of the structure of the protection component.

[0038] [Reference signs]

[0039] 1. Trolley assembly; 101. Table board; 102. Rectangular frame; 103. Lifting lug; 104. Support plate; 105. Chain; 106. Rotary motor; 107. Gear; 2. Wheel assembly; 201. Mobile drive motor; 202. Oval connecting plate; 203. Wheel; 3. Welding workbench assembly; 301. Workbench; 302. Drive power supply; 303. Welding control power supply box; 304. Modeling scanner data box; 4. Module moving assembly; 401. Main board; 402. Top board; 403. First crawler; 404. Runner; 405. Linkage belt; 406. Slide block; 407. Support rod; 408. Second crawler; 409. Splicing plate; 410. Crawler connecting plate; 5. Multi-type welding assembly; 501. Connecting block; 502. First rotating shaft; 503. Second rotating shaft; 504. First welding gun; 505. First mounting plate; 506. Second mounting plate; 507. Second welding gun; 508. Third welding gun; 6. Steel frame modeling and scanning assembly; 601. Equipment tree; 602. Blu-ray three-dimensional modeling scanner body; 7. Rotating disc assembly; 701. Disc; 702. Concave sliding opening; 703. Support column; 704. Convex sliding rod; 8. Robot arm assembly; 801. L-shaped fixing block; 802. Main fixing block of robot arm; 803. Concave mounting plate; 804. First hydraulic telescopic device; 9. Steel frame grasping assembly; 901. Convex mounting plate; 902. Forearm; 903. Rotary drum; 904. Gripper connecting block; 905. Second hydraulic telescopic device; 906. Gripper rotating shaft; 907. Arc-shaped gripper plate; 908. Arc-shaped shock-absorbing plate; 10. Protection assembly; 1001. Protection frame; 1002. Protection motor; 1003. Protection lead screw; 1004. Protection slide block; 1005. Docking motor; 1006. Docking frame; 1007. Collection structure.

[0040] As shown in the figure, in order to clearly implement the structure of the embodiments of the present invention, specific structures and devices are marked in the figure, but this is only for schematic needs and is not intended to limit the present invention to this specific structure, device and environment. Those of ordinary skill in the art can adjust or modify these devices and environments according to specific needs. Detailed implementation manners

[0041] The following describes in detail a steel structure bridge truss self-aligning welding trolley and its usage method provided by the present invention in conjunction with the accompanying drawings and specific embodiments. At the same time, it should be noted here that in order to make the embodiments more detailed, the following embodiments are the best and preferred embodiments. For some well-known technologies, those skilled in the art can also adopt other alternative methods for implementation; and the accompanying drawings are only for more specifically describing the embodiments and are not intended to specifically limit the present invention.

[0042] It should be noted that in the specification, the mention of "an embodiment", "embodiment", "exemplary embodiment", "some embodiments", etc. indicates that the described embodiments may include specific features, structures, or characteristics, but not necessarily every embodiment includes such specific features, structures, or characteristics. Additionally, when combining an embodiment to describe a specific feature, structure, or characteristic, implementing such a feature, structure, or characteristic in combination with other embodiments (whether explicitly described or not) should be within the knowledge of those skilled in the relevant art.

[0043] Generally, terms can be understood at least in part from their use in context. For example, at least in part depending on the context, the term "one or more" as used herein can be used to describe any feature, structure, or characteristic in a singular sense, or can be used to describe a combination of features, structures, or characteristics in a plural sense. Additionally, the term "based on" can be understood as not necessarily intended to convey a set of exclusive factors, but rather, at least in part depending on the context, can allow for the existence of other factors that are not necessarily explicitly described.

[0044] It can be understood that the meanings of "on", "above", and "over" in the present invention should be construed in the broadest manner such that "on" not only means "directly on" something, but also includes the meaning of being "on" something with intervening features or layers therebetween, and "above" or "over" not only means "above" or "over" something, but also can include the meaning of being "above" or "over" something with no intervening features or layers therebetween.

[0045] Furthermore, spatial relative terms such as "under", "below", "lower", "above", "upper", etc. are used herein for convenience of description to describe the relationship of one element or feature to another or other elements or features, as shown in the figures. The spatial relative terms are intended to cover different orientations in the use or operation of the device other than the orientation depicted in the figures. The device can be oriented in other ways, and the spatial relative descriptive terms used herein can be interpreted correspondingly.

[0046] Such as Figures 1 to 3As shown in the figure, an embodiment of the present invention provides a self-aligning welding trolley for a steel structure bridge truss and a method of using the same, including a trolley assembly 1. Wheel assemblies 2 are respectively provided at the bottom surface of the trolley assembly 1 near the front and rear edges. A welding workbench assembly 3 is provided at the rear edge of the top surface of the trolley assembly 1. Rotating disc assemblies 7 are respectively provided at the left and right edges of the center of the top surface of the trolley assembly 1. A module moving assembly 4 is connected to the front surface of the welding workbench assembly 3. A plurality of types of welding assemblies 5 are connected to the front surface of the module moving assembly 4. Steel frame modeling scanning assemblies 6 are respectively provided at the left and right edges of the top surface of the welding workbench assembly 3. A robotic arm assembly 8 is connected to the top of each rotating disc assembly 7. A steel frame grasping assembly 9 is connected to one end of the top of the robotic arm assembly 8. The trolley assembly 1 includes a table board 101. A rectangular frame 102 penetrates through the outer side of the top of the table board 101. Lifting lugs 103 are respectively connected to the positions near the outer surfaces of the four sides of the rectangular frame 102. A support board 104 covers the inner surface of the table board 101. Chains 105 are arranged in a row on the top surface of the support board 104 near the right edge. A rotating motor 106 is provided at the center of the right edge of the top surface of the table board 101. The output end of the rotating motor 106 is connected to a gear 107. The wheel assembly 2 includes a moving drive motor 201. Wheels 203 are respectively connected to the left and right ends of the moving drive motor 201. Oval connecting plates 202 are respectively provided between the left and right ends of the moving drive motor 201 and the two wheels 203.

[0047] By starting the rotation of the rotating motor 106 to drive the gear 107, the chain 105 at the bottom can be moved left and right, thereby driving the support board 104 at the bottom. The rectangular frame 102 penetrates through the four corners of the table board 101 and is usually used to protect the internal equipment during handling and movement. The rectangular frame 102 needs to be removed during operation, otherwise it will affect the rotation and grasping of the steel frame by the robotic arm. In addition, the four lifting lugs 103 facilitate tying lifting ropes during handling to use a crane to lift the entire equipment. Finally, the moving drive motor 201 is an existing wheel drive technology.

[0048] As Figures 4 to 8As shown in the figure, the multi - type welding assembly 5 includes a connecting block 501. The front surface of the connecting block 501 is provided with a first rotating shaft 502. The front end of the first rotating shaft 502 is connected to a second rotating shaft 503. The front end of the second rotating shaft 503 is fixed with a first welding gun 504. The center and the bottom edge of the outer surface of the first welding gun 504 are respectively wrapped with a first mounting plate 505 and a second mounting plate 506. One end of the first mounting plate 505 is connected to a second welding gun 507. One end of the second mounting plate 506 is connected to a third welding gun 508. The steel frame modeling and scanning assembly 6 includes a device tree 601. The top of the device tree 601 is provided with a blue - light three - dimensional modeling scanner body 602. The welding workbench assembly 3 includes a workbench 301. The left - hand edge of the front end of the workbench 301 is provided with a drive power supply 302. The left and right edges of the top surface of the workbench 301 are respectively provided with a welding control power supply box 303 and a modeling scanner data box 304. The module moving assembly 4 includes a main board 401 and a support rod 407. The top of the main board 401 is provided with a top board 402. The top surface of the top board 402 is covered with a first track 403. The left and right ends of the main board 401 are respectively provided with a rotating wheel 404. A linkage belt 405 is wrapped between the front ends of the two rotating wheels 404. The center of the front end of the linkage belt 405 is provided with a slider 406. The inner surface of the support rod 407 is covered with a second track 408. One end of the second track 408 is connected to a splicing board 409. The top of the splicing board 409 is connected to a track connection board 410.

[0049] The power sources of the welding workbench assembly 3, the module moving assembly 4, the multi - type welding assembly 5, and the steel frame modeling and scanning assembly 6 come from the drive power supply 302, the welding control power supply box 303, and the modeling scanner data box 304. Among them, the rotating wheels 404 are installed on the front surface of the workbench 301 and will not be unable to rotate due to contact with the main board 401. The slider 406 is fixed between the linkage belt 405 and the main board 401. Rotating the rotating wheels 404 drives the linkage belt 405, which can drive the slider 406 to move left and right, thereby driving the outer structure to move left and right. The way of moving up and down is to set drive power supplies at the bottom and top of the support rod 407 to provide power for the internal second track 408 to drive the outer - connected splicing board 409 and track connection board 410, thereby driving the outer structure to move up and down.

[0050] Through the multi - type welding assembly 5, the first rotating shaft 502 inside the structure can rotate up and down, and the second rotating shaft 503 can rotate left and right, driving the first welding gun 504, the first mounting plate 505, the second mounting plate 506, the second welding gun 507, and the third welding gun 508 to perform small - amplitude rotational orientations up, down, left, and right. Among them, the three welding guns can move straight to connect different welding machines to provide multiple welding methods.

[0051] As Figures 9 to 13As shown in the figure, the rotating disk assembly 7 includes a disk 701. A concave sliding opening 702 is provided at the center of the top surface of the disk 701. A support column 703 is connected inside the concave sliding opening 702. A convex sliding rod 704 is provided at the bottom of the support column 703. The convex sliding rod 704 is connected to the concave sliding opening 702. The robotic arm assembly 8 includes an L-shaped fixing block 801. A main robotic arm fixing block 802 is provided at the top of the L-shaped fixing block 801. A concave mounting plate 803 is provided at the center of the top surface of the main robotic arm fixing block 802. First hydraulic telescopic devices 804 are respectively provided on the left and right sides of the concave mounting plate 803. The steel frame grasping assembly 9 includes a convex mounting plate 901. A small arm 902 is connected to the front end of the convex mounting plate 901. A rotating cylinder 903 is connected to the front end of the small arm 902. A gripper connecting block 904 is connected to the front end of the rotating cylinder 903. A second hydraulic telescopic device 905 is connected to the bottom of the gripper connecting block 904. Gripper rotating shafts 906 are respectively provided on the left and right sides near the center of the bottom surface of the second hydraulic telescopic device 905. An arc-shaped gripper plate 907 is connected to one side of each gripper rotating shaft 906. A plurality of arc-shaped shock-absorbing plates 908 are arranged on the inner surface of the arc-shaped gripper plate 907. The protection assembly 10 includes a protection frame 1001, a protection motor 1002, a protection lead screw 1003, a protection slider 1004, a docking motor 1005, a docking frame 1006, and a collection structure 1007. The protection motor 1002 is fixedly connected inside the protection frame 1001. The protection lead screw 1003 is inserted into one end of the protection motor 1002. The protection slider 1004 is threadedly penetrated through the surface of the protection lead screw 1003. The docking motor 1005 is fixedly connected to the upper surface of the protection slider 1004. The docking frame 1006 is inserted into one end of the docking motor 1005. The collection structure 1007 is inserted into the docking frame 1006.

[0052] The rotating disk assembly 7 is a common device tree on the market and can perform simple 360° parallel azimuth rotation to drive the robotic arm at the top to rotate. The robotic arm assembly 8 is basically a common robotic arm structure, replacing the crane used when welding two steel frames. Because when the crane lifts the steel frame for welding, the lifting rope is not a fixed structure and may shake during the lifting and welding process, which may drive the steel frame at the bottom to shake together and affect the welding operation.

[0053] The collection structure 1007 collects the welding slag that falls during welding. The docking motor 1005 rotates the docking frame 1006 to make the collection structure 1007 perform 360° parallel azimuth rotation. The protection motor 1002 drives the protection lead screw 1003 to move the protection slider 1004 and the collection structure 1007 in parallel. The position of the collection structure 1007 can be adjusted at multiple angles according to the required welding position, so as to facilitate the collection of welding slag falling at different positions.

[0054] A method for using a self-aligning welding trolley for a steel structure bridge truss includes the following steps when in use;

[0055] Step 1: First, use the wheel assembly 2 of the trolley assembly 1 to push it to the designated position, and then use the existing robotic arm technology to start the two robotic arm assemblies 8 to grab the two steel frames to be welded and move them to the front of the welding workbench assembly 3 and the steel frame modeling and scanning assembly 6;

[0056] Step 2: Use the blue light three-dimensional modeling scanner body 602 to scan the two steel frames in front to generate a three-dimensional model, transmit it to the modeling scanner data box 304 to collect data and then transmit it to the PC of the backstage staff to determine and select the welding surface, and transmit the data to the welding control power supply box 303;

[0057] Step 3: The welding control power supply box 303 provides the data orientation of the welding position to the module moving assembly 4 and various welding assemblies 5. The module moving assembly 4 drives the various welding assemblies 5 to the welding surface by means of caterpillar sliding, and then selects one of the three welding methods for automatic welding. During the welding process, the docking motor 1005 rotates the docking frame 1006 to make the collection structure 1007 rotate 360 degrees in parallel. The protection motor 1002 drives the protection lead screw 1003 to make the protection slider 1004 and the collection structure 1007 move in parallel. The position of the collection structure 1007 can be adjusted at multiple angles according to the required welding position, so as to facilitate the collection of welding slag falling at different positions.

[0058] The working principle of the technical solution provided by the present invention is as follows:

[0059] First, set up a prior art blue light 3D modeling scanner to generate 3D models of two bridge steel frames to be welded, and use two layers of judgment, programming and manual, to determine the best welding surface. Transmit the data to the automatic welding equipment. Using a robotic arm to directly grab can save the time of manually operating a crane, and the body structure of the robotic arm is relatively fixed, so accidents such as the swinging of the lifting rope will not occur. In addition, diversifying the welding gun methods can immediately activate the second or third welding method when one welding method is not ideal, quickly making up for mistakes and providing the effect of diversified welding methods, solving the problems of single function and single welding method of general automatic welding equipment. Then, the blue light 3D modeling scanner is a high-precision measuring instrument used to scan, obtain, and analyze the geometric structure or shape data of objects in the real world. The data collected is often used for 3D reconstruction calculations to create digital models of actual objects in the virtual world. These models have a wide range of uses. Using blue grating scanning technology, it is not interfered by environmental light sources during scanning, can directly scan the reflective and dark surfaces of objects, and is more convenient to operate. The 3D scanner combines high scanning and high-precision advantages and can freely switch between different measurement ranges. A variety of splicing methods enable it to perfectly handle scanning measurements from small parts to large objects such as the entire vehicle body. It can generate dense point cloud data, and even for complex surfaces, data capture is clearly expressed. By rotating the docking frame through the docking motor, the collection structure is rotated 360 degrees in parallel. Through the protection motor driving the protection lead screw, the protection slider and the collection structure move parallelly. According to the welding position required, the position of the collection structure can be adjusted at multiple angles, so as to facilitate the collection of welding slag falling at different positions, solving the problem of welding slag falling during the welding of two bridge steel frames polluting the equipment.

[0060] This invention covers any substitutions, modifications, equivalent methods, and solutions made within the essence and scope of this invention. To enable the public to have a thorough understanding of this invention, specific details are described in detail in the following preferred embodiments of this invention. However, those skilled in the art can fully understand this invention even without the description of these details. In addition, to avoid unnecessary confusion to the essence of this invention, well-known methods, processes, procedures, components, and circuits are not described in detail.

[0061] The above are only the preferred embodiments of this invention. It should be noted that for those of ordinary skill in the art, without departing from the principle of this invention, several improvements and refinements can be made, and these improvements and refinements should also be regarded as the protection scope of this invention.

Claims

1. A self-aligning welding trolley for a steel structure bridge truss, characterized in that, It includes a trolley assembly. At the front and rear edges of the bottom surface of the trolley assembly, wheel assemblies are respectively provided. At the rear edge of the top surface of the trolley assembly, a welding workbench assembly is provided. At the left and right edges of the center of the top surface of the trolley assembly, rotating disc assemblies are respectively provided. At the front surface of the welding workbench assembly, a module moving assembly is connected. At the front surface of the module moving assembly, various welding assemblies are connected. At the left and right ends of the top surface of the welding workbench assembly, steel frame modeling scanning assemblies are respectively provided. At the top of each rotating disc assembly, a robotic arm assembly is connected. At one end of the top of the robotic arm assembly, a steel frame grasping assembly is connected. Inside the trolley assembly, a protection assembly is provided; The various welding assemblies include a connecting block. At the front surface of the connecting block, a first rotating shaft is provided. At the front end of the first rotating shaft, a second rotating shaft is connected. At the front end of the second rotating shaft, a first welding gun is fixed. At the center and bottom edge of the outer surface of the first welding gun, a first mounting plate and a second mounting plate are respectively wrapped. At one end of the first mounting plate, a second welding gun is connected. At one end of the second mounting plate, a third welding gun is connected. The steel frame modeling scanning assembly includes an equipment tree. At the top of the equipment tree, a blue light three-dimensional modeling scanner body is provided.

2. The self-aligning welding trolley for the steel structure bridge truss according to claim 1, wherein, The trolley assembly includes a table board. A rectangular frame penetrates through the outer side of the top of the table board. At the positions near the outer surfaces of the four sides of the rectangular frame, lifting lugs are respectively connected. The inner surface of the table board is covered with a support board. At the right edge of the top surface of the support board, chains are covered in an arranged form. At the center of the right edge of the top surface of the table board, a rotating motor is provided. The output end of the rotating motor is connected to a gear.

3. The self-aligning welding trolley for the steel structure bridge truss according to claim 1, characterized in that The wheel assembly includes a moving drive motor. At the left and right ends of the moving drive motor, wheels are respectively connected. Between the left and right ends of the moving drive motor and the two wheels, oval connecting plates are respectively provided.

4. The self-aligning welding trolley for the steel structure bridge truss according to claim 1, wherein The welding workbench assembly includes a workbench. At the left edge of the front end of the workbench, a drive power supply is provided. At the left and right edges of the top surface of the workbench, a welding control power supply box and a modeling scanner data box are respectively provided.

5. The self-aligning welding trolley for the steel structure bridge truss according to claim 1, wherein, The module moving assembly includes a main board and a support rod. At the top of the main board, a top board is provided. At the top surface of the top board, a first crawler belt is covered. At the left and right ends of the main board, rotating wheels are respectively provided. Between the front ends of the two rotating wheels, a linkage belt is wrapped. At the center of the front end of the linkage belt, a slider is provided.

6. The self-aligning welding trolley for a steel structure bridge truss according to claim 5, characterized in that, The inner surface of the support rod is covered with a second crawler belt. At one end of the second crawler belt, a splicing board is connected. At the top of the splicing board, a crawler belt connecting plate is connected.

7. The self-aligning welding trolley for the steel structure bridge truss according to claim 1, wherein The rotating disc assembly includes a disc. At the center of the top surface of the disc, a concave sliding opening is formed. Inside the concave sliding opening, a support column is connected. At the bottom of the support column, a convex sliding rod is formed. The convex sliding rod is connected to the concave sliding opening.

8. The self-aligning welding trolley for a steel structure bridge truss according to claim 1, characterized in that The robotic arm assembly includes an L-shaped fixed block, a main robotic arm fixed block is provided at the top of the L-shaped fixed block, a concave mounting plate is provided at the center of the top surface of the main robotic arm fixed block, and first hydraulic telescopic devices are respectively provided on the left and right sides of the concave mounting plate.

9. The self-aligning welding trolley for the steel structure bridge truss according to claim 1, characterized in that, The steel frame grasping assembly includes a convex mounting plate, a small arm is connected to the front end of the convex mounting plate, a rotating cylinder is connected to the front end of the small arm, a gripper connection block is connected to the front end of the rotating cylinder, a second hydraulic telescopic device is connected to the bottom of the gripper connection block, gripper rotating shafts are respectively provided on the left and right sides near the center of the bottom surface of the second hydraulic telescopic device, an arc-shaped gripper plate is connected to one side of each gripper rotating shaft, and several arc-shaped shock-absorbing plates are arranged on the inner surface of the arc-shaped gripper plate in an array. The protection assembly includes a protection frame, a protection motor, a protection lead screw, a protection slider, a docking motor, a docking frame, and a collection structure. The protection motor is fixedly connected inside the protection frame, the protection lead screw is inserted into one end of the protection motor, the protection slider is threadedly penetrated through the surface of the protection lead screw, the docking motor is fixedly connected to the upper surface of the protection slider, the docking frame is inserted into one end of the docking motor, and the collection structure is inserted into the docking frame.

10. The method for using the self-aligning welding trolley for the steel structure bridge truss according to claim 1, characterized in that, It includes the following steps: Step 1: First, use the wheel assembly to push the trolley assembly to the designated position, and then use the existing robotic arm technology to start the two robotic arm assemblies to grab the two steel frames to be welded and move them to the front ends of the welding workbench assembly and the steel frame modeling and scanning assembly. Step 2: Use the blue light three-dimensional modeling scanner body to scan the two steel frames in front to generate a three-dimensional model, transmit the data to the modeling scanner data box to collect the data and then transmit it to the PC of the backstage staff to determine and select the welding surface, and transmit the data to the welding control power box. Step 3: The welding control power box provides the data orientation of the welding position to the module moving assembly and various welding assemblies. The module moving assembly drives the various welding assemblies to the welding surface by means of track sliding, and then selects one of the three welding methods for automatic welding. By rotating the docking frame through the docking motor, the collection structure rotates 360 degrees in parallel. By driving the protection lead screw through the protection motor, the protection slider and the collection structure move in parallel. The position of the collection structure can be adjusted at multiple angles according to the required welding position, so as to facilitate the collection of welding slag falling at different positions.

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