Intelligent welding robot and method suitable for bridge steel structure

Abstract

The invention discloses an intelligent welding robot and method suitable for a bridge steel structure, and relates to the technical field of welding robots. The intelligent welding robot suitable for the bridge steel structure comprises an inclined plate, one end of the inclined plate is rotationally connected with a first rotating shaft, a wire cylinder is movably connected with the other end of the inclined plate, a test piece is used for assisting the adaptation degree of a welding part and the inclined plate, and a pressed plate is connected with a moving plate through a first rope body and a second rope body; the hydraulic cylinder loosens and presses the joint of the first rope body and the second rope body through the self-pressing plate. According to the intelligent welding robot and method suitable for the bridge steel structure, through rope body transmission, the boundary of second-time rotation is determined, the distances from a third pressure sensor to the welding positions on the two sides of the bottom of a workpiece are the same, pressure detection is matched, and the robot can be independently used as the standard for measuring whether second-time rotation of an inclined plate is qualified or not; and other devices can also be matched to assist the second rotation of the inclined plate, so that the welding work of the two sides of the bottom of the bridge U rib is conveniently completed.

Description

Technical Field

[0001] The present invention relates to the technical field of welding robots, and particularly to an intelligent welding robot and method applicable to bridge steel structures. Background Art

[0002] An intelligent welding robot for bridge steel structures usually includes an automatic / semi-automatic arc welding machine and a plasma arc welding machine. Different welding processes are integrated through an intelligent robot system to achieve efficient and precise automated welding.

[0003] Referring to Chinese Patent Classification Number: CN118003007B, a welding robot for metal brackets, which particularly relates to the technical field of welding robots, includes a guide rail member composed of a plurality of guide rail bodies spliced correspondingly. A plurality of fixing platforms are evenly distributed at the bottom of the guide rail body, and a slideway is recessed inward at the middle position of the upper surface of the guide rail body. In the present invention, the moving mechanism can stably limit the welding robot body on the guide rail member, so that the welding robot body can stably follow the guide rail member to freely choose side hanging or upside down to complete welding work in different environments. And under the action of the follow-up mechanism, when the welding robot body follows the guide rail member to complete upside-down use, the counterweight assembly falls under gravity to act on the pressing wheel and the synchronous assembly, and synchronously drives the follow-up mechanisms on both sides of the mounting table to act, so that the clamping members and plug members of the follow-up mechanisms on both sides of the mounting table are respectively inserted into the limiting channels and positioning grooves to complete double restrictions.

[0004] When the robot welds the two side edges at the bottom of the bridge U-rib, in order to improve the fluidity of the molten pool and the weld formation, optimize the accessibility of the welded part, improve the welding efficiency and stability of the robot, and control the welding deformation and stress, the bridge U-rib needs to be moderately inclined to assist the welding work of the robot. Since there are many types of bridge U-ribs and the bottom width of the U-shaped groove of the bridge U-rib is small, it is not conducive to performing complex actions at the bottom of the U-shaped groove. Often, only after welding one side of the bottom of the bridge U-rib, the bridge U-rib needs to be tilted in the reverse direction to complete the welding of the other side of the bottom. The inclination of the bridge U-rib needs to be adapted to the welding part of the robot, and it takes a lot of time for adjustment; when welding an untreated bridge U-rib, the inclination angle is unknown and experiments are required. The unadjusted bridge U-rib is likely to collide with the welding part of the robot. Summary of the Invention

[0005] Aiming at the deficiencies of the prior art, the present invention provides an intelligent welding robot and method applicable to bridge steel structures. Through rope transmission, the boundary of the second rotation is determined. The distances from the third pressure sensor to the welding positions on both sides of the bottom of the workpiece are the same. With pressure detection, it can be used alone as a standard to measure whether the second rotation of the tilting plate is qualified, or can cooperate with other devices to jointly assist the second rotation of the tilting plate, facilitating the completion of the welding work on both sides of the bottom of the bridge U-rib.

[0006] Technical solution: To achieve the above object, the present invention is realized through the following technical solutions: An intelligent welding robot applicable to bridge steel structures, comprising: a tilting plate, one end of the tilting plate is rotatably connected to a first rotating shaft, a reduction motor is arranged below the tilting plate, a wire drum is connected to the rotating part of the reduction motor through a nut, the wire drum is movably connected to the bottom of the other end of the tilting plate through a second rotating plate, fixing parts are arranged at the four corners of the tilting plate, the fixing parts are used to fix the workpiece on the tilting plate, a testing part is connected to the tilting plate, the testing part is adapted to the U-shaped groove of the workpiece, and the testing part is used to assist the adaptability between the welding part and the tilting plate. On both sides of the end of the tilting plate far from the first rotating shaft, a pressure-receiving plate and a moving plate are respectively arranged. The pressure-receiving plate is connected to the moving plate through a first rope and a second rope. The connection part of the first rope and the second rope is wound around a winding rod. A hydraulic cylinder is arranged above the winding rod, and the hydraulic cylinder loosens or presses the connection part of the first rope and the second rope through a self-pressing plate.

[0007] Preferably, side plates are respectively connected to both ends of the first rotating shaft, a top plate and a bottom plate are respectively connected to both ends of the side plates, the bottom of the reduction motor is connected to the top of the bottom plate, a guide rail is opened at the bottom of the top plate, and the top of the welding part is slidably connected to the guide rail. A controller is connected to the top plate of the bottom plate, the controller is electrically connected to the reduction motor through a wire. One end of the tilting plate is connected to a side cylinder, and the side cylinder is rotatably connected to the first rotating shaft. Chute grooves are opened at the four corners of the tilting plate. One end of each chute groove is connected to an end plate. Each end plate is connected to a clamping plate through a first spring, and the clamping plate is clamped with the workpiece. Edge openings are penetrated at the edges of the end of the tilting plate far from the first rotating shaft. First rotating holes are opened on both sides of the edge opening. A lead screw is connected to the rotating part of the reduction motor, the lead screw is threadedly connected to the nut, the nut is connected to the inner wall of the wire drum, a first rod body is connected to the side of the wire drum, a notch is penetrated at the top of the end of the second rotating plate far from the tilting plate, and second rotating holes are penetrated on both sides of the notch. The first rod body is rotatably connected to the second rotating hole. Second rod bodies are respectively connected to both sides of one end of the second rotating plate, and the second rod bodies are rotatably connected to the first rotating hole. One side of the side plate is connected to the winding rod, the top of the hydraulic device is connected to the bottom of the top plate. A middle groove is opened in the middle of the tilting plate, the workpiece is placed in the middle groove, and the inner side of the bottom of the workpiece and the transverse axis of the tilting plate are located in the same plane.

[0008] Preferably, a fixing plate is connected to the top of the bottom plate, a pressing plate is connected to the center of the fixing plate through a second spring, a friction groove is opened at the top of the pressure-receiving plate, guide rods are respectively connected to the four corners of the bottom of the pressure-receiving plate, the bottom end of each guide rod passes through the ring plate and is connected to the top of the baffle plate, the guide rod is slidably connected to the inner wall of the ring plate, and the side of the ring plate is connected to the bottom plate through a reinforcing strip.

[0009] Preferably, a third pressure sensor is installed at the bottom of the moving plate. One side of the side plate is connected with a cross plate. A limiting hole is formed through the top of one end of the cross plate. A guiding plate is connected to the top of the moving plate. The guiding plate is slidably connected with the limiting hole. A notch is formed through the edge of the moving plate. The top of the first rope passes through the notch and is wound around the winding rod. The self-pressing plate is arranged directly above the connection between the first rope and the second rope.

[0010] Preferably, the first rope and the second rope on both sides of the axis of the winding rod are parallel to each other. The first rope and the second rope form a total rope with an unchanged total length. The moving directions of the first rope and the second rope are opposite. The change amount of the length of the first rope is the same as that of the second rope. The third pressure sensor and the pressure-receiving plate are arranged on both sides of the tilting plate. When the tilting plate is horizontally placed, the distance from the third pressure sensor to the tilting plate is the same as the distance from the pressure-receiving plate to the tilting plate. When the tilting plate is tilted, the distance from the third pressure sensor to the tilting plate is also the same as the distance from the pressure-receiving plate to the tilting plate.

[0011] Preferably, after the tilting of the tilting plate is completed, the self-pressing plate is used to tightly press the total rope. The guiding plate is used to limit the vertical movement of the moving plate. The guiding rod is used to limit the vertical movement of the pressure-receiving plate.

[0012] Preferably, the test piece includes: a magnetic attraction plate. The bottom of the magnetic attraction plate is connected to the top plate of the tilting plate. Four corners of the top of the magnetic attraction plate are respectively connected to an expanding plate through a connecting plate. The top of the expanding plate is connected with a flat plate. A second placement groove is formed in the top of the flat plate. A second pressure sensor is placed in the second placement groove. One end of the flat plate is connected with a plurality of threaded cylinders. Each threaded cylinder is threadedly connected with a threaded rod. A round rod is arranged between adjacent threaded rods. Two ends of the round rod are respectively connected to the adjacent sides of the adjacent threaded rods close to each other. A notch is formed in the side surface of the threaded cylinder. The round rod is rotatably connected with a ring. A first rotating plate is connected to the side surface of the ring. A first placement groove is formed in one side of the first rotating plate. A first pressure sensor is placed in the first placement groove.

[0013] Preferably, the diameter of the round rod is smaller than that of the threaded rod. After the second rotating plate rotates and fits into the U-shaped groove, rotate the threaded rod. The threaded rod moves along the axis direction of the threaded cylinder. The threaded rod abuts against one side of the ring.

[0014] A method includes the intelligent welding robot applicable to bridge steel structures. When the tilting plate is in a horizontal state, the distances from the third pressure sensor and the pressure-receiving plate to the tilting plate are the same. The reduction motor is started, the lead screw rotates, the second rotating plate drives the tilting plate to rotate, and the tilting plate rotates from the horizontal state to an inclined state, so that the U-shaped groove on the workpiece is adapted to the welding part of the robot. During the rotation of the tilting plate, the end of the tilting plate far from the first rotating shaft presses against the pressure-receiving plate, and the pressure-receiving plate pulls the moving plate through the first rope and the second rope. The pressure-receiving plate and the moving plate are both limited and move in the vertical direction. After the rotation of the tilting plate ends, the distances from the third pressure sensor and the pressure-receiving plate to the tilting plate are also the same. The telescopic part drives the self-pressing plate to press the total rope, and the first rope and the second rope cannot move, and the positions of the moving plate and the third pressure sensor are fixed. At this time, the third pressure sensor is marked as an anchor point. When one side of the bottom of the workpiece is welded and the workpiece needs to be tilted and the other side of the bottom is welded, the workpiece is horizontal with the tilting plate, and the anchor point is used as the highest point after tilting. When the tilting plate approaches the third pressure sensor, the stepping motor controls the lead screw to decelerate. When the tilting plate touches the third pressure sensor, the lead screw stops rotating. After a new U-shaped groove appears, the first rotating plate is rotated so that the opening angle of the test piece is adapted to a corner at the bottom of the U-shaped groove, and the tilting angle is found through the pressure position between the welding part of the robot and the test piece.

[0015] Beneficial effects: The present invention provides an intelligent welding robot and method applicable to bridge steel structures. Compared with the prior art, the following beneficial effects are achieved: 1. The inner side of the bottom of the workpiece and the transverse axis of the tilting plate are in the same plane. After two rotations, the distances from the third pressure sensor to the welding points on both sides of the bottom of the workpiece are the same. After the tilting plate rotates, it drives the total rope. Through rope transmission, the limit of the second rotation is determined. Combined with pressure detection, it can be used alone as a standard to measure whether the second rotation of the tilting plate is qualified, or it can cooperate with other devices to assist the second rotation of the tilting plate together, facilitating the welding work on both sides of the bottom of the bridge U-rib.

[0016] 2. The test piece is fixed by magnetic attraction, and all the rings are controlled to rotate simultaneously by the rotating threaded rod, which is convenient for quickly fixing the first rotating plate after adjusting the angle. A corner plate is constructed by the first rotating plate and the flat plate, and the corner plate is adapted to a corner at the bottom of the bridge U-rib. The bridge U-rib can be measured by measuring the corner plate instead. The welding part of the robot does not need to enter the U-shaped groove of the bridge U-rib, and only needs to be tested on the corner plate, reducing the possibility of the welding part of the robot colliding with the inner wall of the bridge U-rib. Before officially adjusting the tilting angle, the appropriate tilting angle can be debugged and found through the test piece. The device has a simple structure, low cost, is easy to operate, can adapt to different models of bridge U-ribs, and has strong versatility.

[0017] 3. During the first rotation, the rope body drives to determine the boundary of the second rotation. After the inclination angle of one corner of the U-rib of the bridge is determined, quickly and accurately locate the position of the tilting plate after the second rotation, and then inversely deduce the distances that the welding part of the robot moves in the horizontal and vertical directions, which is convenient for summarizing into the controller and facilitating the movement of the robot. The test piece cooperates with the pressure-receiving plate, the total rope, and the moving plate to assist in collecting the movement data of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The drawings incorporated herein and constituting a part of the specification illustrate embodiments of the present application, and together with the specification are further used to explain the principles of the present application and enable those skilled in the relevant art to implement and use the present application.

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention, and those of ordinary skill in the art can also obtain other drawings based on these drawings without creative efforts.

[0020] Figure 1 It is a schematic structural diagram of the present invention.

[0021] Figure 2 It is a schematic structural diagram of the part where the tilting plate is located, the part where the top plate is located, and the part where the pressing plate is located.

[0022] Figure 3 It is a schematic structural diagram of the part where the tilting plate is located.

[0023] Figure 4 It is a schematic structural diagram of the part where the tilting plate and the expanding plate are located.

[0024] Figure 5 It is a schematic structural diagram of the first rotating plate, the flat plate, and the magnetic attracting plate.

[0025] Figure 6 It is a schematic structural diagram of the part where the first rotating plate and the flat plate are located.

[0026] Figure 7 It is a separated view of the first rotating plate, the flat plate, and the threaded rod.

[0027] Figure 8 It is a separated view of the part where the threaded rod and the round rod are located and the part where the threaded barrel and the ring are located.

[0028] Figure 9 It is a schematic structural diagram of the part where the reduction motor, the controller, and the second rotating plate are located.

[0029] Figure 10 It is a schematic structural diagram of the part where the pressing plate is located and the part where the moving plate is located.

[0030] Figure 11 It is a schematic structural diagram of the part where the pressing plate is located.

[0031] Figure 12 It is a schematic structural diagram of the part where the moving plate is located.

[0032] The reference numerals in the figure are: 11, top plate; 12, side plate; 13, bottom plate; 14, robotic arm; 21, tilting plate; 22, side cylinder; 23, first rotating shaft; 24, sliding groove; 25, first spring; 26, end plate; 27, side opening; 28, first rotating hole; 29, clamping plate; 3, U-shaped groove; 41, expanding plate; 42, connecting plate; 43, magnetic attracting plate; 44, first rotating plate; 45, first pressure sensor; 46, flat plate; 47, second pressure sensor; 48, first placement groove; 49, second placement groove; 51, threaded cylinder; 52, ring; 53, notch; 54, threaded rod; 55, round rod; 61, reduction motor; 62, wire; 63, controller; 64, lead screw; 65, nut; 66, wire cylinder; 67, first rod body; 68, second rotating plate; 69, second rod body; 71, second rotating hole; 72, side opening; 73, notch; 81, fixing plate; 82, reinforcing strip; 83, ring plate; 84, connecting strip; 85, second spring; 86, pressure receiving plate; 87, guiding rod; 88, baffle; 89, first rope body; 91, second rope body; 92, winding rod; 93, self-pressing plate; 94, hydraulic cylinder; 95, moving plate; 96, third pressure sensor; 97, guiding plate; 98, cross plate; 99, limiting hole.

[0033] 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. According to specific needs, those of ordinary skill in the art can adjust or modify these devices and environments, and the adjustments or modifications made are still included in the scope of the appended claims. Detailed implementation manners

[0034] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention are described clearly and completely. Obviously, the described embodiments are some but not all of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0035] To better understand the above technical solutions, the above technical solutions will be described in detail below in conjunction with the accompanying drawings of the specification and specific implementation manners.

[0036] Embodiment 1: AsFigure 1 - Figure 12 As shown, an embodiment of the present invention provides an intelligent welding robot applicable to bridge steel structures, including: a tilting plate 21, one end of the tilting plate 21 is rotatably connected to a first rotating shaft 23, a reduction motor 61 is arranged below the tilting plate 21, a rotating part of the reduction motor 61 is connected with a wire drum 66 through a nut 65, the wire drum 66 is movably connected with the bottom of the other end of the tilting plate 21 through a second rotating plate 68, fixing parts are arranged at four corners of the tilting plate 21, and the fixing parts are used for fixing the workpiece on the tilting plate 21. A testing part is connected to the tilting plate 21, the testing part is adapted to the U-shaped groove 3U of the workpiece, and the testing part is used to assist the matching degree between the welding part and the tilting plate 21. On both sides of one end of the tilting plate 21 far from the first rotating shaft 23, a pressure receiving plate 86 and a moving plate 95 are respectively arranged. The pressure receiving plate 86 is connected with the moving plate 95 through a first rope 89 and a second rope 91. The connection part of the first rope 89 and the second rope 91 is wound around a winding rod 92. A hydraulic cylinder 94 is arranged above the winding rod 92, and the hydraulic cylinder 94 loosens and presses the connection part of the first rope 89 and the second rope 91 through a self-pressing plate 93.

[0037] Both ends of the first rotating shaft 23 are respectively connected with side plates 12. Both ends of the side plates 12 are respectively connected with a top plate 11 and a bottom plate 13. The bottom of the reduction motor 61 is connected with the top of the bottom plate 13. A guide rail is opened at the bottom of the top plate 11, and the guide rail is slidably connected with the top of the welding part. The bottom plate 13 and the top plate 11 are connected with a controller 63. The controller 63 is electrically connected with the reduction motor 61 through a wire 62. One end of the tilting plate 21 is connected with a side cylinder 22, and the side cylinder 22 is rotatably connected with the first rotating shaft 23. Chute grooves 24 are opened at four corners of the tilting plate 21. One end of each chute groove 24 is connected with an end plate 26. Each end plate 26 is connected with a clamping plate 29 through a first spring 25, and the clamping plate 29 is clamped with the workpiece. At the edge of one end of the tilting plate 21 far from the first rotating shaft 23, a side opening 7227 is penetrated. First rotating holes 28 are opened on both sides of the side opening 7227. A lead screw 64 is connected with the rotating part of the reduction motor 61. The lead screw 64 is in threaded connection with the nut 65. The nut 65 is connected with the inner wall of the wire drum 66. A first rod body 67 is connected with the side of the wire drum 66. A notch 7353 is penetrated through the top of the other end of the second rotating plate 68 far from the tilting plate 21. Second rotating holes 71 are penetrated through both sides of the notch 7353. The first rod body 67 is rotatably connected with the second rotating holes 71. Second rod bodies 69 are respectively connected with both sides of one end of the second rotating plate 68, and the second rod bodies 69 are rotatably connected with the first rotating holes 28. One side of the side plate 12 is connected with the winding rod 92. The bottom of the top plate 11 is connected with the top of the hydraulic device. A middle groove is opened in the middle of the tilting plate 21, the workpiece is placed in the middle groove, and the inner side of the bottom of the workpiece and the transverse axis of the tilting plate 21 are in the same plane.

[0038] The inner side of the bottom of the workpiece and the transverse axis of the tilting plate 21 are in the same plane. After two rotations, the distances from the third pressure sensor 96 to the welding joints on both sides of the bottom of the workpiece are the same.

[0039] A fixing plate 81 is connected to the top of the bottom plate 13. A pressure receiving plate 86 is connected to the center of the fixing plate 81 through a second spring 85. A friction groove is formed in the top of the pressure receiving plate 86. Guide rods 87 are connected to the four corners of the bottom of the pressure receiving plate 86. The bottom end of each guide rod 87 passes through the annular plate 83 and is connected to the top of the baffle plate 88. The guide rods 87 are slidably connected to the inner wall of the annular plate 83. The side surface of the annular plate 83 is connected to the bottom plate 13 through a reinforcing strip 82.

[0040] A third pressure sensor 96 is installed at the bottom of the moving plate 95. A cross plate 98 is connected to one side of the side plate 12. A limiting hole 99 is formed through the top of one end of the cross plate 98. A guide plate 97 is connected to the top of the moving plate 95. The guide plate 97 is slidably connected to the limiting hole 99. A notch 7353 is formed through the edge of the moving plate 95. The top of the first rope body 89 passes through the notch 7353 and is wound around the winding rod 92. The self-pressing plate 93 is arranged directly above the connection between the first rope body 89 and the second rope body 91.

[0041] The first rope body 89 and the second rope body 91 located on both sides of the axis of the winding rod 92 are parallel to each other. The first rope body 89 and the second rope body 91 form a total rope, and the length of the total rope remains unchanged. The moving directions of the first rope body 89 and the second rope body 91 are opposite. The change amount of the length of the first rope body 89 is the same as the change amount of the length of the second rope body 91. The third pressure sensor 96 and the pressure receiving plate 86 are arranged on both sides of the inclined plate 21. When the inclined plate 21 is horizontally placed, the distance from the third pressure sensor 96 to the inclined plate 21 is the same as the distance from the pressure receiving plate 86 to the inclined plate 21. When the inclined plate 21 is tilted, the distance from the third pressure sensor 96 to the inclined plate 21 is also the same as the distance from the pressure receiving plate 86 to the inclined plate 21.

[0042] After the inclined plate 21 is tilted, the self-pressing plate 93 is used to tightly press the total rope. The guide plate 97 is used to limit the vertical movement of the moving plate 95. The guide rods 87 are used to limit the vertical movement of the pressure receiving plate 86.

[0043] A method includes an intelligent welding robot applicable to bridge steel structures. When the tilting plate 21 is in a horizontal state, the distances from the third pressure sensor 96 and the pressure-receiving plate 86 to the tilting plate 21 are the same. The reduction motor 61 is started, the lead screw 64 rotates, and the second rotating plate 68 drives the tilting plate 21 to rotate. The tilting plate 21 rotates from the horizontal state to an inclined state, so that the U-shaped groove 3U on the workpiece is adapted to the welding part of the robot. During the rotation of the tilting plate 21, the end of the tilting plate 21 far from the first rotating shaft 23 presses the pressure-receiving plate 86. The pressure-receiving plate 86 pulls the moving plate 95 through the first rope 89 and the second rope 91. The pressure-receiving plate 86 and the moving plate 95 are both limited and move in the vertical direction. After the rotation of the tilting plate 21 ends, the distances from the third pressure sensor 96 and the pressure-receiving plate 86 to the tilting plate 21 are also the same. The telescopic part drives the self-pressing plate 93 to press the total rope tightly. The first rope 89 and the second rope cannot move, and the positions of the moving plate 95 and the third pressure sensor 96 are fixed. At this time, the third pressure sensor 96 is marked as an anchor point. When one side of the bottom of the workpiece is welded and the workpiece needs to be tilted and the other side of the bottom is welded, the workpiece is horizontal with the tilting plate 21, and the anchor point is used as the highest point after tilting. When the tilting plate 21 approaches the third pressure sensor 96, the stepping motor controls the lead screw 64 to decelerate. When the tilting plate 21 contacts the third pressure sensor 96, the lead screw 64 stops rotating.

[0044] During use, the workpiece is placed on the tilting plate 21, squeezing the first spring 25, so that the clamping plate 29 is clamped with the workpiece, fixing the workpiece on the tilting plate 21 to prevent the workpiece from sliding off the tilting plate 21 during rotation and welding. Initially, the tilting plate 21 is placed horizontally. The inclination angle of the workpiece (including the bridge U-rib) is known, and the descending height of one end of the workpiece and the tilting plate 21 is known. When the tilting plate 21 rotates for the first time, the rotating part of the deceleration motor 61 drives the lead screw 64 to rotate, and the nut 65 drives the wire drum 66, the second rotating plate 68, and the tilting plate 21 to move vertically along the axis of the lead screw 64 in sequence. One end of the tilting plate 21 squeezes the pressure receiving plate 86, and the second spring 85 is compressed. The guide rod 87 is limited by the ring plate 83, so that the guide rod 87 and the pressure receiving plate 86 can only move along the axis direction of the ring plate 83. On both sides of the axis of the winding rod 92 are the first rope body 89 and the second rope body 91 respectively. The pressure receiving plate 86 pulls the first rope body 89 downward, the first rope body 89 lengthens, the second rope body 91 shortens, and the second rope body 91 drives the moving plate 95 and the third pressure sensor 96 to move upward. The guide plate 97 is limited by the limiting hole 99, so that the third pressure sensor 96 can only move in the vertical direction. Since the first rope body 89 and the second rope body 91 form a total rope and the length of the total rope remains unchanged, the increase amount of the first rope body 89 is the same as the decrease amount of the second rope body 91. And initially, the distances from the third pressure sensor 96 and the pressure receiving plate 86 to the tilting plate 21 are the same. Therefore, after the tilting plate 21 rotates, the distances from the third pressure sensor 96 and the pressure receiving plate 86 to the tilting plate 21 are also the same. At this time, the position of the third sensor is equivalent to an anchor point, determining the highest point of the second rotation of the tilting plate 21. When the welding of one side of the bottom of the bridge U-rib is completed, the welding part of the robot retracts upward to the initial state, facilitating the second rotation of the bridge U-rib.

[0045] Start the hydraulic cylinder 94. The telescopic end of the hydraulic cylinder 94 drives the self-pressing plate 93 to press the total rope tightly. The first rope body 89 and the second rope body 91 cannot move, and the moving plate 95 and the third pressure sensor 96 cannot move either, thus completing the fixation of the anchor point and fixing the highest point of the second rotation.

[0046] Since welding is required on both sides of the bottom of the bridge U-rib, the welding part of the robot has a certain volume, and the space at the bottom of the U-shaped groove 3U is narrow. It is difficult for the welding part of the robot to complete large-amplitude rotation and adjustment in the U-shaped groove 3U. Moreover, to ensure the stability and accuracy of welding, the welding part of the robot mostly undergoes horizontal displacement. The tilting plate 21 needs to rotate in the reverse direction with the bridge U-rib. After two rotations, the tilting plate 21 is symmetric about the horizontal plane, that is, the angles with respect to the horizontal plane after the two rotations are the same. After the second rotation, for the welding head of the robot, there is a small horizontal distance between the two welding positions. It only needs to move a small distance horizontally along the guide rail on the top plate 11 to reach the welding position on the other side of the bottom of the bridge U-rib. During the second rotation, the wire spool 66 drives the tilting plate 21 and the bridge U-rib to rotate around the first rotating shaft 23, and the bridge U-rib moves upward. When the top end of the bridge U-rib approaches the third pressure sensor 96, the controller 63 controls the reduction motor 61 to decelerate, and the rotation speed of the lead screw 64 decreases. The top end of the bridge U-rib slowly moves upward. When the top end of the bridge U-rib touches the third pressure sensor 96, the reduction motor 61 stops rotating, and the second rotation of the tilting plate 21 ends. If the value of the pressure sensor exceeds the threshold (usually 5 - 10 N, that is, the deviation of the rotated angle from the standard angle is less than 0.3°), through the rope transmission, the limit of the second rotation is determined. Combining with the pressure detection, it can be used alone as the standard to measure whether the second rotation of the tilting plate 21 is qualified, or it can cooperate with other devices to assist the second rotation of the tilting plate 21 together.

[0047] The structure is simple, and it can directly and accurately obtain whether the tilting plate 21 reaches the predetermined position after the second rotation.

[0048] Embodiment 2: As Figure 1 - Figure 8 shown, an embodiment of the present invention provides an intelligent welding robot applicable to bridge steel structures. The test piece includes: a magnetic attraction plate 43, the bottom of the magnetic attraction plate 43 is connected to the top plate 11 of the tilting plate 21. Four corners of the top of the magnetic attraction plate 43 are connected to an expansion plate 41 through a connecting plate 42. The top of the expansion plate 41 is connected to a flat plate 46. A second placement groove 49 is opened on the top of the flat plate 46. A second pressure sensor 47 is placed in the second placement groove 49. One end of the flat plate 46 is connected with a plurality of threaded cylinders 51. Each threaded cylinder 51 is threadedly connected to a threaded rod 54. A round rod 55 is arranged between adjacent threaded rods 54. Two ends of the round rod 55 are respectively connected to the adjacent sides of the adjacent threaded rods 54 close to each other. A notch 7353 is opened on the side surface of the threaded cylinder 51. The round rod 55 is rotatably connected to a ring 52. A first rotating plate 44 is connected to the side surface of the ring 52. A first placement groove 48 is opened on one side of the first rotating plate 44. A first pressure sensor 45 is placed in the first placement groove 48.

[0049] The diameter of the round rod 55 is smaller than that of the threaded rod 54. After the second rotating plate 68 rotates and fits with the U-shaped groove 3U, the threaded rod 54 is rotated, and the threaded rod 54 moves along the axial direction of the threaded barrel 51, and the threaded rod 54 abuts against one side of the circular ring 52.

[0050] When the bridge U-rib is a new model, it is necessary to find the inclination angle of the tilting plate 21 by oneself. The test piece is placed on one side of the bridge U-rib, and the magnetic attraction plate 43 is magnetically fixed to the tilting plate 21. The surface area of the magnetic attraction plate 43 is large and the magnetic attraction effect is good. During the rotation process and the inclined state of the tilting plate 21, the magnetic attraction plate 43 will not move. The magnetic attraction plate 43 can also be reinforced with the tilting plate 21 by screws. The upper surface of the flat plate 46 and the bottom wall of the U-shaped groove 3U are in the same plane. Rotate the first rotating plate 44 so that the side of the first rotating plate 44 close to the flat plate 46 is in the same plane as the inner wall of one side of the U-shaped groove 3U. Turn the threaded rod 54, and the threaded rod 54 moves along the axial direction of the threaded barrel 51. The diameter of the threaded rod 54 is larger than that of the round rod 55, and the diameter of the threaded rod 54 is smaller than that of the circular ring 52. After turning, the threaded rod 54 presses all the circular rings 52 tightly, and the circular rings 52 cannot rotate, completing the fixation of the first rotating plate 44. First pressure sensors 45 and second pressure sensors 47 are respectively installed on one side of the first rotating plate 44 and the second rotating plate 68. A number of sensing points are distributed on the first pressure sensors 45. When the tilting plate 21 rotates to a common inclination angle (30°-45°), when the welding part of the robot moves downward or works, if only the pressure is generated near the sensing points at the welding position, it means that the inclination angle is adjusted well. If the pressure is generated at the sensing points at non-welding positions, the inclination angle is not adjusted well, and the inclination angle is adjusted according to the pressure points.

[0051] During the first rotation, the rope body drives to determine the boundary of the second rotation. When the inclination angle of one corner of the bridge U-rib is determined, quickly and accurately locate the position of the tilting plate 21 after the second rotation, so as to reverse-deduce the moving distances of the robot welding part in the horizontal and vertical directions, which is convenient to be summarized into the controller 63 and convenient for the movement of the robot.

[0052] The test piece is fixed by magnetic attraction, and the rotation of all the circular rings 52 is controlled simultaneously by the rotating threaded rod 54, which is convenient to quickly complete the fixation of the first rotating plate 44 after the angle is adjusted. A corner plate is constructed by the first rotating plate 44 and the flat plate 46, and the corner plate is adapted to the bottom corner of the bridge U-rib. The bridge U-rib can be measured by measuring the corner plate instead. The welding part of the robot does not need to rise into the U-shaped groove 3U of the bridge U-rib, and only needs to be tested on the corner plate, reducing the possibility of the welding part of the robot colliding with the inner wall of the bridge U-rib. Before formally adjusting the inclination angle, the appropriate inclination angle can be debugged and found through the test piece. The device has a simple structure, low cost, is easy to operate, can adapt to different models of bridge U-ribs, and has strong versatility.

[0053] The present invention covers any alternatives, modifications, equivalent methods, and solutions made within the spirit and scope of the present invention. To enable the public to have a thorough understanding of the present invention, specific details have been described in detail in the above preferred embodiments of the present invention. However, those skilled in the art can fully understand the present invention even without the description of these details. In addition, well-known methods, processes, procedures, components, and circuits, etc. have not been described in detail to avoid unnecessary confusion to the essence of the present invention.

[0054] The above description is only a preferred embodiment of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and refinements can be made, and these improvements and refinements should also be regarded as the protection scope of the present invention.

Claims

1. An intelligent welding robot applicable to bridge steel structures, characterized in that, Including: An inclined plate (21), one end of the inclined plate (21) is rotatably connected to a first rotating shaft (23), a reduction motor (61) is arranged below the inclined plate (21), a rotating part of the reduction motor (61) is connected with a wire cylinder (66) through a nut (65), the wire cylinder (66) is movably connected to the bottom of the other end of the inclined plate (21) through a second rotating plate (68), fixing parts are arranged at four corners of the inclined plate (21), the fixing parts are used for fixing a workpiece on the inclined plate (21), a testing part is connected to the inclined plate (21), the testing part is adapted to a U-shaped groove (3U) of the workpiece, the testing part is used for assisting the adaptability of a welding part to the inclined plate (21), pressure receiving plates (86) and moving plates (95) are respectively arranged on two sides of the end of the inclined plate (21) far away from the first rotating shaft (23), the pressure receiving plate (86) is connected with the moving plate (95) through a first rope body (89) and a second rope body (91), a connection part of the first rope body (89) and the second rope body (91) is wound around a winding rod (92), a hydraulic cylinder (94) is arranged above the winding rod (92), and the hydraulic cylinder (94) loosens and presses the connection part of the first rope body (89) and the second rope body (91) through a self-pressing plate (93).

2. The intelligent welding robot applicable to bridge steel structures according to claim 1, wherein: Both ends of the first rotating shaft (23) are respectively connected with side plates (12), both ends of the side plates (12) are respectively connected with a top plate (11) and a bottom plate (13), the bottom of the reduction motor (61) is connected with the top of the bottom plate (13), a guide rail is provided at the bottom of the top plate (11), and the top of the welding part is slidably connected with the guide rail. A controller (63) is connected between the top plate (11) and the bottom plate (13). The controller (63) is electrically connected with the reduction motor (61) through a wire (62). One end of the tilting plate (21) is connected with a side cylinder (22), and the side cylinder (22) is rotatably connected with the first rotating shaft (23). Chute (24) is provided at each of the four corners of the tilting plate (21). One end of each chute (24) is connected with an end plate (26), and each end plate (26) is connected with a clamping plate (29) through a first spring (25). The clamping plate (29) is clamped with the workpiece. An edge opening (72)(27) is penetrated and provided at the edge of the tilting plate (21) away from the first rotating shaft (23). First rotating holes (28) are provided on both sides of the edge opening (72)(27). The rotating part of the reduction motor (61) is connected with a lead screw (64), the lead screw (64) is in threaded connection with a nut (65), the nut (65) is connected with the inner wall of a wire cylinder (66), a first rod body (67) is connected to the side of the wire cylinder (66), a notch (73)(53) is penetrated and provided at the top of the second rotating plate (68) away from the tilting plate (21), and second rotating holes (71) are penetrated and provided on both sides of the notch (73)(53). The first rod body (67) is rotatably connected with the second rotating holes (71). Second rod bodies (69) are connected to both sides of one end of the second rotating plate (68), and the second rod bodies (69) are rotatably connected with the first rotating holes (28). One side of the side plate (12) is connected with a winding rod (92), the top of the top plate (11) is connected with the top of a hydraulic device, a middle groove is provided in the middle of the tilting plate (21), the workpiece is placed in the middle groove, and the inner side of the bottom of the workpiece and the transverse axis of the tilting plate (21) are located in the same plane.

3. The intelligent welding robot applicable to bridge steel structures according to claim 2, wherein: A fixing plate (81) is connected to the top of the bottom plate (13). A pressing plate is connected to the center of the fixing plate (81) through a second spring (85). A friction groove is provided at the top of the pressure-receiving plate (86). Guide rods (87) are connected to the four corners of the bottom of the pressure-receiving plate (86). The bottom end of each guide rod (87) passes through a ring plate (83) and is connected to the top of a baffle (88). The guide rods (87) are slidably connected with the inner wall of the ring plate (83). The side of the ring plate (83) is connected with the bottom plate (13) through a reinforcing strip (82).

4. The intelligent welding robot applicable to bridge steel structures according to claim 3, characterized in that: A third pressure sensor (96) is installed at the bottom of the moving plate (95). One side of the side plate (12) is connected to a cross plate (98). A limiting hole (99) is formed through the top of one end of the cross plate (98). A guiding plate (97) is connected to the top of the moving plate (95). The guiding plate (97) is slidably connected to the limiting hole (99). Notches (73)(53) are formed through the edge of the moving plate (95). The top of the first rope body (89) passes through the notches (73)(53) and is wound around a winding rod (92). The self - pressing plate (93) is arranged directly above the connection of the first rope body (89) and the second rope body (91).

5. The intelligent welding robot applicable to bridge steel structures according to claim 4, wherein: The first rope body (89) and the second rope body (91) on both sides of the axis of the winding rod (92) are parallel to each other. The first rope body (89) and the second rope body (91) form a total rope with an unchanged total length. The moving directions of the first rope body (89) and the second rope body (91) are opposite. The change amount of the length of the first rope body (89) is the same as that of the second rope body (91). The third pressure sensor (96) and the pressure - receiving plate (86) are arranged on both sides of the tilting plate (21). When the tilting plate (21) is horizontally placed, the distance from the third pressure sensor (96) to the tilting plate (21) is the same as the distance from the pressure - receiving plate (86) to the tilting plate (21). When the tilting plate (21) is tilted, the distance from the third pressure sensor (96) to the tilting plate (21) is also the same as the distance from the pressure - receiving plate (86) to the tilting plate (21).

6. The intelligent welding robot applicable to bridge steel structures according to claim 4, characterized in that: When the tilting of the tilting plate (21) is completed, the self - pressing plate (93) is used to tightly press the total rope. The guiding plate (97) is used to limit the vertical movement of the moving plate (95). The guiding rod (87) is used to limit the vertical movement of the pressure - receiving plate (86).

7. The intelligent welding robot applicable to bridge steel structures according to claim 1, wherein The test piece includes: a magnetic attraction plate (43). The bottom of the magnetic attraction plate (43) is connected to the top plate (11) of the tilting plate (21). Four corners of the top of the magnetic attraction plate (43) are respectively connected to an expanding plate (41) through connecting plates (42). The top of the expanding plate (41) is connected to a flat plate (46). A second placement groove (49) is formed in the top of the flat plate (46). A second pressure sensor (47) is placed in the second placement groove (49). One end of the flat plate (46) is connected to several threaded cylinders (51). Each threaded cylinder (51) is threadedly connected to a threaded rod (54). A round rod (55) is arranged between adjacent threaded rods (54). Two ends of the round rod (55) are respectively connected to the adjacent sides of the adjacent threaded rods (54) that are close to each other. Notches (73)(53) are formed in the side of the threaded cylinder (51). The round rod (55) is rotatably connected to a ring (52). The side of the ring (52) is connected to a first rotating plate (44). A first placement groove (48) is formed in one side of the first rotating plate (44). A first pressure sensor (45) is placed in the first placement groove (48).

8. The intelligent welding robot applicable to bridge steel structures according to claim 7, characterized in that: The diameter of the round rod (55) is smaller than that of the threaded rod (54). After the second rotating plate (68) rotates and fits with the U-shaped groove (3U), the threaded rod (54) is rotated, and the threaded rod (54) moves along the axial direction of the threaded barrel (51), and the threaded rod (54) abuts against one side of the ring (52).

9. A method, comprising the intelligent welding robot applicable to bridge steel structures according to any one of claims 1-8, characterized in that: When the tilting plate (21) is in a horizontal state, the distances from the third pressure sensor (96) and the pressure receiving plate (86) to the tilting plate (21) are the same. The reduction motor (61) is started, the lead screw (64) rotates, and the second rotating plate (68) drives the tilting plate (21) to rotate. The tilting plate (21) rotates from a horizontal state to an inclined state, so that the U-shaped groove (3U) on the workpiece is adapted to the welding part of the robot. During the rotation of the tilting plate (21), the end of the tilting plate (21) far from the first rotating shaft (23) presses against the pressure receiving plate (86), and the pressure receiving plate (86) pulls the moving plate (95) through the first rope body (89) and the second rope body (91). The pressure receiving plate (86) and the moving plate (95) are both limited and move in the vertical direction. After the tilting plate (21) finishes rotating, the distances from the third pressure sensor (96) and the pressure receiving plate (86) to the tilting plate (21) are also the same. The telescopic part drives the self-pressing plate (93) to press the total rope tightly, and the first rope body (89) and the second rope cannot move. The positions of the moving plate (95) and the third pressure sensor (96) are fixed. At this time, the third pressure sensor (96) is marked as an anchor point. When one side of the bottom of the workpiece is welded and the workpiece needs to be tilted and the other side of the bottom is welded, the workpiece is horizontal with the tilting plate (21), and the anchor point is used as the highest point after tilting. When the tilting plate (21) approaches the third pressure sensor (96), the stepping motor controls the lead screw (64) to decelerate. When the tilting plate (21) contacts the third pressure sensor (96), the lead screw (64) stops rotating. After a new U-shaped groove (3U) appears, the first rotating plate (44) is rotated so that the opening angle of the test piece is adapted to a corner at the bottom of the U-shaped groove (3U), and the tilting angle is found through the pressure position between the welding part of the robot and the test piece.

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