Steel structure bridge truss self-justifying welding trolley and using method

Abstract

The application provides a steel structure bridge truss self-adjusting welding trolley and a use method, and belongs to the technical field of self-adjusting welding trolleys. The trolley assembly is provided with wheel assemblies at the bottom surfaces of the front and rear side edges, respectively, and rotary disc assemblies are arranged at the top surfaces of the left and right side edges of the center of the trolley assembly. The existing technology blue light three-dimensional modeling scanner is arranged to generate three-dimensional modeling of two bridge steel frames that need to be welded, and the best welding surface is determined by programming and artificial two-layer judgment, and the data is transmitted to the automatic welding equipment. The mechanical arm can directly grasp to save the time of manually starting the crane, the body structure of the mechanical arm is relatively fixed, and accidents such as rope shaking do not occur. In addition, the welding gun mode is diversified, so that when one welding mode is not ideal, the second or third welding mode can be started immediately.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of self-aligning welding trolley, in particular to a steel structure bridge truss self-aligning welding trolley and a use method thereof. BACKGROUND

[0002] With the development of digitalization, automation, computer, mechanical design technology, and the high attention to welding quality, automatic welding has developed into an advanced manufacturing technology, and the role of automatic welding equipment in the application of various industries is becoming larger and larger, and the application range is rapidly expanding. At present, automatic welding technology has been widely used in plastics, automobile manufacturing industry, metal processing, hardware and electrical appliances, steel structure, pressure vessel, mechanical processing and manufacturing, shipbuilding, aerospace and other fields. After the application of automatic welding technology, the appearance and internal quality of the welded parts are greatly improved, and the stability of the quality is guaranteed, the labor intensity is reduced, the working environment is improved, the artificial welding skill requirement and production cost are reduced, and the production efficiency is improved.

[0003] In the welding equipment, the microcomputer automatic control technology is developed and applied, such as numerical control welding power supply, intelligent welding machine, full-automatic special welding machine and flexible welding robot workstation. 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 automatically coordinate the actions of each component part of the complete set of welding equipment, to realize unmanned operation, that is, to realize numerical control, automation and intelligence of welding production. The microcomputer controlled welding power supply has become the main part of the automatic special welding machine and the basis of the intelligent welding equipment, such as microcomputer controlled thyristor arc welding power supply, transistor arc welding power supply, inverter arc welding power supply, multi-functional arc welding power supply, pulse arc welding power supply, etc. In welding production, it is often necessary to design and manufacture automatic welding process equipment according to the characteristics of the welded parts, such as welding machine tools, welding centers, welding production lines, etc. The self-made complete set of welding equipment can be combined with general welding power supply, automatic welding head, wire feeding mechanism, welding vehicle, etc. by a programmable microcomputer control system to unify and coordinate them into a whole.

[0004] And the existing automatic welding needs manual planning and marking of the welding surface in advance, or writing the welding surface program in advance, and the automatic welding equipment will only weld, and the welding type is mostly single type, if the existing technology blue light three-dimensional modeling scanner is used to generate three-dimensional modeling of the two bridge steel frames to be welded, and the best welding surface is determined by programming and manual two-layer judgment, the data is transmitted to the automatic welding equipment, in addition, the common steel frame grabbing device uses a crane, and the height of the crane is high, which may cause the hoisting rope to sway during the welding process and affect the welding work, the mechanical arm directly grabbing can save the time of manually opening the crane, and the body structure of the mechanical arm is relatively fixed, and the accidents such as hoisting rope swinging do not occur, and the welding gun mode is diversified, so that when one welding mode is not ideal, the second or third welding mode can be started immediately, and the welding mode diversification effect can be quickly compensated for the mistake. SUMMARY

[0005] The technical problem to be solved by the present application is to provide a steel structure bridge truss self-accurate welding trolley and a use method to solve the problem that the existing technology needs manual planning and marking of the welding surface in advance, or writing the welding surface program in advance, and the common steel frame grabbing device uses a crane, and the height of the crane is high, which may cause the hoisting rope to sway during the welding process and affect the welding work, and the mechanical arm directly grabbing can save the time of manually opening the crane.

[0006] To solve the above technical problems, the present application provides the following technical scheme:

[0007] A steel structure bridge truss self-accurate welding trolley, comprising a trolley assembly, a wheel assembly is arranged at the bottom surface of the trolley assembly near the front and rear side edges, a welding workbench assembly is arranged at the top surface of the trolley assembly near the rear end edge, a rotating disc assembly is arranged at the center of the top surface of the trolley assembly near the left and right side edges, a module moving assembly is connected to the front end surface of the welding workbench assembly, a plurality of welding assemblies are connected to the front end surface of the module moving assembly, a steel frame modeling scanning assembly is arranged at the top surface of the welding workbench assembly near the left and right end edges, a mechanical 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 mechanical arm assembly, a protection assembly is arranged in the trolley assembly, the plurality of welding assemblies comprise a connecting block, a first rotating shaft is arranged on the front end 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 wrapped around the center of the outer surface and the bottom edge 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 comprises a device tree, and a blue light three-dimensional modeling scanner body is arranged at the top of the device tree.

[0008] Optionally, the trolley assembly comprises a platform, a rectangular frame is arranged on the top outer side of the platform, lifting lugs are connected to the four corners of the rectangular frame, a support plate is arranged on the inner surface of the platform, a chain is arranged on the top surface of the support plate near the right side edge, a rotating motor is arranged on the top surface of the platform near the right side edge, and the output end of the rotating motor is connected with a gear.

[0009] Optionally, the wheel assembly comprises a moving drive motor, wheels are connected to the left and right ends of the moving drive motor, and an oval connecting plate is arranged between the left and right ends of the moving drive motor and the two wheels.

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

[0011] Optionally, the module moving assembly comprises a main plate and a support rod, a top plate is arranged on the top of the main plate, a first track is arranged on the top surface of the top plate, rotating wheels are arranged on the left and right ends of the main plate, a linkage belt is wrapped between the front ends of the two rotating wheels, and a sliding block is arranged at the front end center of the linkage belt.

[0012] Optionally, a second track is arranged on the inner surface of the support rod, a splicing plate is connected to one end of the second track, and a track connecting plate is connected to the top of the splicing plate.

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

[0014] Optionally, the mechanical arm assembly comprises an L-shaped fixing block, a mechanical arm main fixing block 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 mechanical arm main fixing block, and first hydraulic stretchers are arranged on the left and right sides of the concave mounting plate.

[0015] Optionally, the steel frame grabbing assembly comprises a convex mounting plate, a small arm connected to the front end of the convex mounting plate, a rotating drum connected to the front end of the small arm, a grab hand connecting block connected to the front end of the rotating drum, a second hydraulic telescopic device connected to the bottom of the grab hand connecting block, a grab hand rotating shaft arranged at the center of the bottom surface of the second hydraulic telescopic device and located on the left and right sides, an arc-shaped grab plate connected to one side of each grab hand rotating shaft, and a plurality of arc-shaped shock-absorbing plates arranged on the inner side surface of the arc-shaped grab plate in a row.

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

[0017] Step one, first push the trolley assembly to the designated position by using the wheel assembly, and then use existing mechanical arm technology to start two mechanical arm assemblies to grab two steel frames that need to be welded and move to the front end of the welding workbench assembly and the steel frame modeling scanning assembly.

[0018] Step two, use the blue light three-dimensional modeling scanner to scan the two steel frames in front to generate a three-dimensional model, transmit the data to the modeling scanner data box, collect data and transmit to the pc of the back-end staff, select the welding surface, and transmit the data to the welding control power box.

[0019] Step three, the welding control power box provides the data position of the welding position to the module moving assembly and the multi-type welding assembly, the module moving assembly drives the multi-type welding assembly to the welding surface by using the track sliding mode, then selects one of the three welding modes for automatic welding, rotates the docking frame by the docking motor to make the collection structure rotate in parallel in 360 degrees, drives the protection screw by the protection motor to make the protection sliding block and the collection structure move in parallel, adjusts the position of the collection structure at multiple angles according to the required welding position, so that the welding slag falling at different positions can be collected.

[0020] Compared with the prior art, the present application has at least the following advantages:

[0021] In the above scheme, by setting the prior art blue light three-dimensional modeling scanner, the two bridge steel frames to be welded are three-dimensionally modeled, and the best welding surface is determined by programming and artificial two-layer judgment, the data is transmitted to the automatic welding equipment, the mechanical arm is directly grabbed to save the time of manually opening the crane, the body structure of the mechanical arm is relatively fixed, and accidents such as rope shaking do not occur, in addition, the welding gun mode is diversified, so that when one welding mode is not ideal, the second or third welding mode can be started immediately, the failure can be quickly made up, and the effect of diversified welding modes is provided, the problems of single function and single welding mode of the general automatic welding equipment are solved, the docking motor rotates the docking frame, the collecting structure is parallelly rotated in 360 degrees, the protection motor drives the protection lead screw to make the protection sliding block and the collecting structure move in parallel, and the position of the collecting structure is adjusted at multiple angles according to the required welding position, so that the welding slag falling at different positions can be conveniently collected, and the problem of equipment pollution caused by the welding slag falling during welding of the two bridge steel frames is solved.

[0022] The blue light three-dimensional modeling scanner is a high-precision measuring instrument for scanning, acquiring and analyzing the geometric structure or shape data of objects in the real world. The collected data is often used for three-dimensional reconstruction calculation to create a digital model of the actual object in the virtual world. These models have quite extensive uses. The blue raster scanning technology is used, the scanning is not disturbed by the environment light source, the object reflective surface and dark surface can be directly scanned, the operation is more convenient, the three-dimensional scanner has the advantages of high scanning and high precision, different measurement ranges can be freely switched, and multiple splicing modes can make it perfectly responsible for scanning and measuring small parts to large objects such as vehicle bodies, dense point cloud data can be generated, and even complex surfaces can be clearly expressed. BRIEF DESCRIPTION OF DRAWINGS

[0023] The accompanying drawings, which are incorporated herein and constitute part of the specification, illustrate embodiments of the application and, together with the description, further serve to explain the principles of the application and to enable a person skilled in the relevant art to implement and use the application.

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

[0025] Figure 2 It is a trolley assembly structure schematic view;

[0026] Figure 3 It is a wheel assembly structure schematic view;

[0027] Figure 4 It is a welding workbench assembly structure schematic view;

[0028] Figure 5Fig. 1 is a schematic diagram of the overall structure of a module moving assembly;

[0029] Figure 6 Fig. 2 is a schematic diagram of the front half of the structure of a module moving assembly;

[0030] Figure 7 Fig. 3 is a schematic diagram of the structure of a multi-type welding assembly;

[0031] Figure 8 Fig. 4 is a schematic diagram of the structure of a steel frame modeling scanning assembly;

[0032] Figure 9 Fig. 5 is a schematic diagram of the overall structure of a mechanical arm grabbing device;

[0033] Figure 10 Fig. 6 is a schematic diagram of the structure of a rotating disc assembly;

[0034] Figure 11 Fig. 7 is a schematic diagram of the structure of a mechanical arm assembly;

[0035] Figure 12 Fig. 8 is a schematic diagram of the structure at the small arm of a steel frame grabbing assembly;

[0036] Figure 13 Fig. 9 is a schematic diagram of the structure at the gripper of a steel frame grabbing assembly;

[0037] Figure 14 Fig. 10 is a schematic diagram of the structure of a protection assembly.

[0038] [Reference Signs]

[0039] 1. Trolley assembly; 101. Platform; 102. Rectangular frame; 103. Lifting lug; 104. Support plate; 105. Chain; 106. Rotary motor; 107. Gear; 2. Wheel assembly; 201. Motion drive motor; 202. Elliptical 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 Mobile components; 401, Main board; 402, Top plate; 403, First track; 404, Rotary wheel; 405, Linkage belt; 406, Slider; 407, Support rod; 408, Second track; 409, Splicing plate; 410, Track connecting plate; 5. Various welding components; 501, Connecting block; 502, First shaft; 503, Second shaft; 504, First welding gun; 505, First mounting plate; 506, Second mounting plate; 50 7. Second welding gun; 508. Third welding gun; 6. Steel frame modeling and scanning assembly; 601. Equipment tree; 602. Blu-ray 3D modeling scanner body; 7. Rotating disk assembly; 701. Disk; 702. Concave sliding mouth; 703. Support column; 704. Convex sliding rod; 8. Robotic arm assembly; 801. L-shaped fixing block; 802. Main fixing block of robotic arm; 803. Concave mounting plate; 804. First hydraulic telescopic device; 9. Steel frame grabber Components include: 901, convex mounting plate; 902, forearm; 903, rotating drum; 904, gripper connecting block; 905, second hydraulic expansion joint; 906, gripper shaft; 907, arc-shaped gripper plate; 908, arc-shaped shock absorber plate; 10, protective components; 1001, protective frame; 1002, protective motor; 1003, protective lead screw; 1004, protective slider; 1005, docking motor; 1006, docking frame; 1007, collection structure.

[0040] As shown in the figure, specific structures and devices are marked in the figure to clearly illustrate the structure of the embodiments of the present invention. However, this is only for illustrative purposes and is not intended to limit the present invention to this specific structure, device and environment. Those skilled in the art can adjust or modify these devices and environments according to specific needs. Detailed Implementation

[0041] The following detailed description, in conjunction with the accompanying drawings and specific embodiments, describes a self-aligning welding trolley for steel bridge trusses and its usage method provided by the present invention. It should be noted that, to make the embodiments more comprehensive, the following embodiments are the best and preferred embodiments; those skilled in the art can also use other alternative methods to implement some known technologies; and the accompanying drawings are only for more specific description of the embodiments and are not intended to specifically limit the present invention.

[0042] It should be noted that the use of terms such as "an embodiment," "an embodiment," "an exemplary embodiment," and "some embodiments" in the specification indicates that the described embodiment may include a specific feature, structure, or characteristic, but not every embodiment necessarily includes that specific feature, structure, or characteristic. Furthermore, when a specific feature, structure, or characteristic is described in connection with an embodiment, implementing such a feature, structure, or characteristic in conjunction with other embodiments (whether explicitly described or not) should be within the knowledge of those skilled in the art.

[0043] Generally, terms can be understood at least partly from their use in context. For example, depending at least partly 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 a combination of features, structures, or characteristics in a plural sense. Additionally, the term "based on" can be understood not necessarily to convey an exclusive set of factors, but rather, alternatively, depending at least partly on the context, to allow for the presence of other factors that are not necessarily explicitly described.

[0044] It is understood that the meanings of “on”, “above”, and “above” in this invention should be interpreted in the broadest manner, such that “on” means not only “directly on” something, but also includes the meaning of being “on” something with an intervening feature or layer, and that “above” or “above” means not only “on” something, but also includes the meaning of being “on” something without an intervening feature or layer.

[0045] Furthermore, spatially related terms such as “below,” “under,” “lower,” “above,” and “upper” are used herein for convenience to describe the relationship of one element or feature to one or more other elements or features, as illustrated in the accompanying drawings. Spatially related terms are intended to cover different orientations in the use or operation of the device other than those depicted in the accompanying drawings. The device may be oriented in other ways, and the spatially related descriptive terms used herein can be interpreted similarly.

[0046] like Figures 1 to 3As shown, an embodiment of the present invention provides a self-aligning welding trolley for steel bridge trusses and a method of use, including a trolley assembly 1. Wheel assemblies 2 are respectively provided on the front and rear edges of the bottom surface of the trolley assembly 1. A welding workbench assembly 3 is provided on the rear edge of the top surface of the trolley assembly 1. Rotating disk assemblies 7 are respectively provided on 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. Multiple welding components 5 are connected to the front surface of the module moving assembly 4. Steel frame modeling and scanning components 6 are respectively provided on 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 disk assembly 7. A steel frame modeling and scanning assembly 6 is connected to the top of one end of the top of the robotic arm assembly 8. The frame gripping component 9 and the trolley component 1 include a platform 101. A rectangular frame 102 runs through the top outer side of the platform 101. Lifting lugs 103 are connected to the outer surfaces of the rectangular frame 102 near the four sides. The inner surface of the platform 101 is covered with a support plate 104. Chains 105 are arranged in a pattern along the right edge of the top surface of the support plate 104. A rotary motor 106 is located at the center of the right edge of the top surface of the platform 101. The output end of the rotary motor 106 is connected to a gear 107. The wheel component 2 includes a moving drive motor 201. Wheels 203 are connected to the left and right ends of the moving drive motor 201. Elliptical connecting plates 202 are provided between the left and right ends of the moving drive motor 201 and the two wheels 203.

[0047] The rotation of the rotary motor 106 drives the gear 107 to move the chain 105 at the bottom left and right, thereby moving the support plate 104 at the bottom. The rectangular frame 102 runs through the four corners of the platform 101. It is used to protect the internal equipment during normal handling and movement. The rectangular frame 102 needs to be removed during operation, otherwise it will affect the rotation of the robotic arm and the gripping of the steel frame. The four lifting lugs 103 make it convenient to attach lifting ropes to use a crane to move the whole equipment during handling. Finally, the motion drive motor 201 uses existing wheel drive technology.

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

[0049] The power supply for the welding workbench assembly 3, module moving assembly 4, multi-type welding assembly 5, and steel frame modeling and scanning assembly 6 comes from the drive power supply 302, welding control power supply box 303, and modeling scanner data box 304. The rotating wheel 404 is 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 wheel 404 drives the linkage belt 405 to drive the slider 406 to move left and right, thereby driving the outer structure to move left and right. The up and down movement is achieved by setting drive power supplies at the bottom and top of the support rod 407 to provide power to the internal second track 408 to drive the splicing plate 409 and track connecting plate 410 connected to the outside, thereby driving the outer structure to move up and down.

[0050] Through the multiple welding components 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 rotate in small directions up, down and left and right. Among them, the three welding guns can be connected to different welding machines in a straight line to provide multiple welding methods.

[0051] like Figures 9 to 13As shown, the rotating disk assembly 7 includes a disk 701, with a concave sliding opening 702 at the center of the top surface of the disk 701. A support column 703 is connected inside the concave sliding opening 702, and 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, with a main robotic arm fixing block 802 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, and first hydraulic telescopic devices 804 are provided on the left and right sides of the concave mounting plate 803. The steel frame gripping assembly 9 includes a convex mounting plate 901, with a forearm 902 connected to the front end of the convex mounting plate 901. A rotating drum 903 is connected to the front end of the forearm 902, and a gripper connecting block 904 is connected to the front end of the rotating drum 903. A second hydraulic telescopic device 904 is connected to the bottom of the gripper connecting block 904. 5. The bottom surface of the second hydraulic expansion joint 905 is provided with gripper shafts 906 on the left and right sides respectively at the center. Each gripper shaft 906 is connected to an arc-shaped gripper plate 907 on one side. The inner surface of the arc-shaped gripper plate 907 is provided with several arc-shaped shock-absorbing plates 908 arranged in a pattern. The protection component 10 includes a protection frame 1001, a protection motor 1002, a protection 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 screw 1003 is inserted into one end of the protection motor 1002. The protection slider 1004 is threaded through the surface of the protection 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 inside of the docking frame 1006.

[0052] The rotating disc assembly 7 is a common equipment tree on the market, which can perform simple parallel 360° rotation, driving the top robotic arm to rotate. The robotic arm assembly 8 is also basically a common robotic arm structure, replacing the crane used when welding two steel frames. Because the method of using a crane to lift the steel frame for welding may cause swaying during the lifting and welding process, since the lifting rope is not a fixed structure, which will cause the bottom steel frame to sway as well, thus affecting the welding operation.

[0053] The welding slag that falls during welding is collected by the collection structure 1007. The docking motor 1005 rotates the docking frame 1006, causing the collection structure 1007 to rotate 360 ​​degrees in a parallel direction. The protection motor 1002 drives the protection 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 that falls from different positions.

[0054] A method for using a self-aligning welding trolley for steel structure bridge trusses includes the following steps:

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

[0056] Step 2: Use the Blu-ray 3D modeling scanner body 602 to scan the two steel frames in front to generate a 3D model, transmit the data to the modeling scanner data box 304 to collect the data and transmit it to the PC of the back-end 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 position of the area to be welded to the module moving component 4 and the multiple welding components 5. The module moving component 4 uses the sliding of the track to drive the multiple welding components 5 to the welding surface. Then, one of the three welding methods is selected for automatic welding. During the welding process, the docking motor 1005 rotates the docking frame 1006, causing the collection structure 1007 to rotate in a parallel 360-degree direction. The protection motor 1002 drives the protection 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 from different positions.

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

[0059] Firstly, by using existing Blu-ray 3D modeling scanners, 3D models of the two bridge steel frames to be welded are generated. The optimal welding surface is determined through a combination of programming and manual evaluation. The data is then transmitted to automated welding equipment, where a robotic arm directly grasps the material, saving time compared to manual crane operation. Furthermore, the robotic arm's stable structure prevents accidents like rope swaying. Additionally, the versatility of the welding gun allows for the immediate switching to a second or third welding method if one method is unsatisfactory, quickly correcting errors and providing diverse welding options. This addresses the limitations of conventional automated welding equipment in terms of functionality and welding method. The Blu-ray 3D modeling scanner, a high-precision measuring instrument used to scan, acquire, and analyze the geometric structure or shape data of objects in the real world, is then used to perform 3D reconstruction calculations. Digital models of real-world objects are created in the virtual world. These models have a wide range of applications. Utilizing blue raster scanning technology, the scanning process is unaffected by ambient light sources and can directly scan both reflective and dark surfaces of objects, making operation more convenient. The 3D scanner combines high scanning speed and high precision, allowing for free switching between different measurement ranges. Multiple stitching methods enable it to perfectly handle scanning and measuring everything from small parts to large objects such as entire car bodies. It can generate dense point cloud data, clearly capturing and representing even complex surfaces. By rotating the docking frame with a docking motor, the collection structure can rotate 360 ​​degrees in parallel. A protective motor drives a protective screw, causing the protective slider and collection structure to move parallel. The position of the collection structure can be adjusted at multiple angles according to the required welding location, facilitating the collection of welding slag from different locations. This solves the problem of welding slag contaminating the equipment during the welding of two bridge steel frames.

[0060] This invention encompasses any substitutions, modifications, equivalent methods, and solutions made within the spirit and scope of this invention. To provide the public with a thorough understanding of this invention, specific details are described in detail in the following preferred embodiments; however, those skilled in the art will fully understand the invention even without these details. Furthermore, to avoid unnecessary misunderstanding of the essence of this invention, well-known methods, processes, procedures, components, and circuits are not described in detail.

[0061] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A steel structure bridge girder truss self-justifying welding trolley, characterized in that, Including the trolley assembly, the trolley assembly includes the platform, the top outside of the platform is penetrated with the rectangular frame, the rectangular frame is connected with the lifting lug respectively near the position of four side outside surfaces, the inside surface of the platform is covered with the support plate, the top surface of the support plate is covered with the chain in the form of arrangement at the right side edge, the top surface of the platform is equipped with the rotary motor at the right side edge center, the output of the rotary motor is connected with the gear; The bottom surface of the trolley assembly is equipped with the wheel assembly respectively at the front and rear two side edges, the wheel assembly includes the movement drive motor, the left and right ends of the movement drive motor are connected with the wheel respectively, the left and right ends of the movement drive motor and the two wheels are equipped with the oval connecting plate respectively; The top surface of the trolley assembly is equipped with the welding workbench assembly at the rear end edge, the welding workbench assembly includes the workbench, the front end of the workbench is equipped with the drive power supply at the left side edge, the top surface of the workbench is equipped with the welding control power supply box and the modeling scanner data box respectively at the left and right two side edges, the top surface of the trolley assembly is equipped with the rotary disc assembly respectively at the left and right two side edges of the center, the rotary disc assembly includes the disc, the top surface center of the disc is equipped with the concave sliding port, the inside of the concave sliding port is connected with the support column, the bottom of the support column is equipped with the convex sliding rod, the convex sliding rod is connected with the concave sliding port; The front end surface of the welding workbench assembly is connected with the module movement assembly, the module movement assembly includes the main plate and the support rod, the top of the main plate is equipped with the top plate, the top surface of the top plate is covered with the first track, the left and right ends of the main plate are equipped with the rotating wheel respectively, the front end between the two rotating wheels is wrapped with the linkage belt, the front end center of the linkage belt is equipped with the sliding block, the inside surface of the support rod is covered with the second track, one end of the second track is connected with the splicing plate, the top of the splicing plate is connected with the track connecting plate, the front end surface of the module movement assembly is connected with the multiple welding assemblies, the top surface of the welding workbench assembly is equipped with the steel frame modeling scanning assembly respectively at the left and right two end edges; The top of each rotary disc assembly is connected with the mechanical arm assembly, the mechanical arm assembly includes the L-shaped fixed block, the top of the L-shaped fixed block is equipped with the mechanical arm main fixed block, the top surface center of the mechanical arm main fixed block is equipped with the concave mounting plate, the left and right sides of the concave mounting plate are equipped with the first hydraulic telescoper respectively, the top of the mechanical arm assembly is connected with the steel frame grabbing assembly at one end, the inside of the trolley assembly is equipped with the protection assembly, the steel frame grabbing assembly includes the convex mounting plate, the front end of the convex mounting plate is connected with the small arm, the front end of the small arm is connected with the rotating drum, the front end of the rotating drum is connected with the gripper connecting block, the bottom of the gripper connecting block is connected with the second hydraulic telescoper, the bottom surface center of the second hydraulic telescoper is equipped with the gripper rotating shaft respectively at the left and right sides, one side of each gripper rotating shaft is connected with the arc-shaped grabbing plate, the inside surface of the arc-shaped grabbing plate is equipped with a plurality of arc-shaped shock-absorbing plates in the form of arrangement; The protection assembly includes a protection frame, a protection motor, a protection screw rod, a protection sliding block, a butt joint motor, a butt joint frame and a collection structure, the protection motor is fixedly connected in the protection frame, one end of the protection motor is inserted with the protection screw rod, the protection screw rod is threaded through the protection sliding block, the butt joint motor is fixedly connected to the upper surface of the protection sliding block, one end of the butt joint motor is inserted with the butt joint frame, and the butt joint frame is inserted with the collection structure; The multi-type welding assembly includes a connecting block, the front end surface of the connecting block is provided with a first rotating shaft, the front end of the first rotating shaft is connected with a second rotating shaft, the front end of the second rotating shaft is fixedly connected with a first welding gun, the outer side surface center and the bottom edge of the first welding gun are respectively wrapped with a first mounting plate and a second mounting plate, one end of the first mounting plate is connected with a second welding gun, one end of the second mounting plate is connected with a third welding gun, and the steel frame modeling scanning assembly includes a device tree, and the top of the device tree is provided with a blue light three-dimensional modeling scanner body.

2. The method of using a steel bridge girder truss self-leveling welding platform trailer as claimed in claim 1, wherein, The method comprises the following steps: Step one, first use the trolley assembly to push to the designated position by using the wheel assembly, and then use the existing mechanical arm technology to start two mechanical arm assemblies to grab two steel frames that need to be welded and move to the front end of the welding workbench assembly and the steel frame modeling scanning assembly; Step two, 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 data and transmit to the pc of the back-end staff to judge and select the welding surface, and transmit the data to the welding control power supply box; Step three, the welding control power supply box provides the data position of the welding position to the module moving assembly and the multi-type welding assembly, the module moving assembly drives the multi-type welding assembly to the welding surface by using the track sliding mode, then selects one of the three welding modes for automatic welding, rotates the butt joint frame by the butt joint motor to make the collection structure rotate in parallel in 360 degrees, drives the protection screw rod by the protection motor to make the protection sliding block and the collection structure move in parallel, and adjusts the position of the collection structure according to the required welding position, so that the welding slag falling in different positions can be collected.

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