Multi-angle self-adaptive bridge steel box girder welding robot system

Abstract

The invention discloses a multi-angle self-adaptive bridge steel box girder welding robot system, relates to the technical field of steel box girder welding, and aims to solve the problems of welding deformation and stress damage in the welding process of a steel box girder structure. Butt seam welding of the two adjacent U-shaped rib parts is conducted firstly through the adaptive welding assembly, and then seam welding of the U-shaped rib parts and the top plate part is completed through the longitudinal movement action of the adaptive welding assembly; in the welding process of the joint / butt joint, the deformation compensation assembly is assisted to perform deformation compensation action of the pressed U-shaped rib piece, so that the phenomenon of stress damage of a welding seam caused by deformation of the U-shaped rib piece under heavy pressure is prevented, that is, the welding operation and the deformation compensation action are automatically adapted to be applied, and the welding quality is improved. And the welding procedure of the bridge steel box girder can be rapidly carried out, and the welding machining efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of steel box girder welding, and in particular to a multi-angle self-adaptive bridge steel box girder welding robot system. Background Art

[0002] As the core load-bearing structure of long-span bridges, the manufacturing quality of steel box girders directly affects the safety and life of the bridge. Most steel box girders are made of top plates, bottom plates, webs, transverse diaphragms, longitudinal diaphragms and stiffening ribs connected by full welding. Stiffening ribs are auxiliary components in steel box girders and are used to enhance the bearing capacity of the top plates, bottom plates and webs. U-shaped ribs serve as longitudinal stiffening ribs with good torsional resistance and stiffening effects. The welding between the U-shaped ribs and the top plates is particularly important.

[0003] Although automation has been introduced in recent years for the integral welding of steel box girders, traditional welding robot systems still have the following limitations: The spatial angles of special-shaped components such as U-shaped ribs and diaphragms in steel box girders are complex. Common gantry welding equipment (see Chinese invention patent publication number CN119820230A) flips the steel box girder to weld the seam between the U-shaped ribs and the top plate. This flipping operation requires first turning the top plate upside down, welding the U-shaped ribs, and then resetting it. This operation is extremely cumbersome and lacks real-time deformation compensation capabilities, leading to welding deformation and stress damage. To this end, the present application proposes a solution, which is based on the normal welding of U-shaped ribs on the upright foundation of the top plate. The welding process can perform deformation compensation in real time to solve the above-mentioned technical defects. Summary of the Invention

[0004] The purpose of the present invention is to provide a multi-angle adaptive bridge steel box girder welding robot system to solve the problems of welding deformation and stress damage in the welding process of steel box girder structures.

[0005] The objectives of the present invention can be achieved through the following technical solutions: a multi-angle adaptive bridge steel box girder welding robot system, comprising a curved movable rail and a linear movable rail arranged on the outside of a top plate and a U-shaped rib, wherein an adaptive welding assembly corresponding to the joint of the top plate and the U-shaped rib is slidably mounted on the curved movable rail, and the linear movable rail is arranged between two adjacent groups of top plates and U-shaped ribs and is used for the longitudinal movement of the curved movable rail; The inner wall of the U-shaped rib is provided with a deformation compensation component that contacts the inner walls on both sides; The bottoms of the top plate and the U-shaped ribs are spaced apart with a preceding movable base and a succeeding movable base. Each group of the top plate and the U-shaped ribs approaches, docks and moves as a whole along the direction from the preceding movable base to the succeeding movable base.

[0006] It is further configured as follows: the adaptive welding assembly includes a welding table slidably arranged on the outside of the curved movable rail, a slider is slidably installed on the welding table, a lifting rod is installed at the middle of the upper end of the slider, and a welding head is installed at the output end of the lifting rod.

[0007] It is further configured as follows: moving seats are installed at both ends of the welding table, and walking wheels slidingly connected to the curved moving rails are installed on the moving seats.

[0008] It is further configured as follows: the deformation compensation component includes a lower rod symmetrically arranged at the inner bottom of the U-shaped rib, both ends of the lower rod are equipped with angle supports in contact with the inner bottom angle of the U-shaped rib, and a vertical rod is installed in the middle of the upper end of the lower rod.

[0009] It is further configured as follows: a barrel is symmetrically mounted on the upper end of the vertical rod, a motor is arranged in the barrel and a screw is connected to the output end, the end of the screw is threadedly connected to a threaded ring, and the threaded ring is externally connected to an expansion frame that abuts against the inner wall of the U-shaped rib.

[0010] It is further configured as follows: a cross bar is commonly installed between the upper ends of a pair of vertical rods, and a guide rod penetrating the threaded ring is installed at the lower end of the barrel for guiding the axial movement of the expansion and shifting frame.

[0011] It is further configured as follows: the top plate member includes top plate 1 and top plate 2 arranged in parallel, the U-shaped rib member includes U-shaped rib 1 and U-shaped rib 2 arranged in parallel, and the top plate 1 and U-shaped rib 1, top plate 2 and U-shaped rib 2 respectively constitute a steel box beam structure.

[0012] It is further configured as follows: the curved movable rail is longitudinally slidably installed on the linear movable rail, and a lifting rod is installed on the linear movable rail.

[0013] It is further configured as follows: stepping wheels are evenly distributed on the preceding movable base and the succeeding movable base for horizontal movement of the top plate and the U-shaped rib.

[0014] The present invention has the following beneficial effects: 1. The present invention addresses the problems of welding deformation and stress damage in the welding process of steel box girder structures. It mainly utilizes the top plate to be pre-placed on the U-shaped ribs, and first performs butt welding of two adjacent U-shaped ribs through an adaptive welding assembly, and then completes the seam welding of the U-shaped ribs and the top plate by the longitudinal movement of the adaptive welding assembly. During the welding process of joints / butt seams, deformation compensation components are used to compensate for the deformation of the U-shaped ribs under pressure, preventing stress damage to the welds caused by deformation of the U-shaped ribs under heavy pressure. That is, the welding operation and deformation compensation action are automatically adapted to the application, so that the welding process of the bridge steel box girder can be carried out quickly and the welding processing efficiency is improved.

[0015] 2. During the overall welding process of the steel box girder, the preceding movable base and the succeeding movable base are first used to continuously drive the steel box girder structure to move horizontally, and the butt joints of adjacent sets of steel box girder structures are positioned at the center of the preceding movable base and the succeeding movable base. Subsequently, the butt welding of the steel box girder structures after the welding assembly is adapted to be butted along the curved movable rail, and the butt welding of the two sets of U-shaped ribs and the two sets of top plates after the welding assembly is adapted to be butted along the straight movable rail are performed. After welding is completed, the preceding mobile base and the subsequent mobile base drive the two sets of welded steel box girder structures to move out, that is, the implementation process of approaching, docking and overall merging movement is carried out continuously, which is conducive to forming continuous and uniform welds and improving welding quality and welding processing efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0017] Figure 1 It is a structural schematic diagram of the present invention; Figure 2 Schematic diagram of the U-shaped rib and top plate in the moving state of the present invention; Figure 3 This is a diagram of the installation structure of the deformation compensation component of the present invention; Figure 4 A schematic diagram of a partial structural breakdown of a deformation compensation component of the present invention; Figure 5 This is a diagram of the installation structure of the welding assembly of the present invention; Figure 6 A structural diagram of an adaptable welding assembly of the present invention; Figure 7 This is a structural diagram of the mobile base of the present invention; Figure 8 It is a schematic diagram of the multi-angle welding state of the welding assembly adapted to the present invention.

[0018] In the figure: 1-1, the preceding mobile base; 1-2, the succeeding mobile base; 2-1, top plate 1; 2-2, top plate 2; 3-1, U-shaped rib one; 3-2, U-shaped rib two; 4. Curved moving rail; 5. Straight moving rail; 6. Deformation compensation assembly; 61. Lower stage rod; 62. Angle support; 63. Vertical rod; 64. Barrel; 65. Expansion frame; 66. Crossbar; 67. Screw; 68. Threaded ring; 7. Adaptable welding components; 71. Welding table; 72. Moving seat; 73. Traveling wheels; 74. Slider; 75. Lifting rod; 76. Welding head; 8. Lifting rod; 9. Stepping wheel. DETAILED DESCRIPTION

[0019] The technical solutions of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0020] Example 1: Aiming at the problems of welding deformation and stress damage in the welding process of steel box girder structure, the following technical solution is proposed: Reference Figure 1 - Figure 8 As shown, a multi-angle adaptive bridge steel box girder welding robot system in this embodiment includes a curved movable rail 4 and a linear movable rail 5 arranged on the outside of the top plate and U-shaped ribs. An adaptive welding assembly 7 corresponding to the joint of the top plate and U-shaped ribs is slidably mounted on the curved movable rail 4. The linear movable rail 5 is arranged between two adjacent groups of top plate members and U-shaped ribs and is used for the longitudinal movement of the curved movable rail 4. The adaptive welding assembly 7 includes a welding table 71 slidably arranged on the outside of the curved movable rail 4, a slider 74 is slidably mounted on the welding table 71, a lifting rod 75 is mounted on the middle part of the upper end of the slider 74, and a welding head 76 is mounted on the output end of the lifting rod 75. Moving seats 72 are mounted at both ends of the welding table 71, and the moving seats 72 are mounted on the walking wheels 73 that are slidably connected to the curved movable rail 4; For the welding process of steel box girder structure, refer to Figure 8 As shown, the welding process utilizes an adaptive welding assembly to move longitudinally along the joint between the top plate and the U-shaped rib in the steel box girder structure, combined with movement along the adaptability curve of the butt joint between the two steel box girder structures. During the welding process, the welding head 76 can be telescopically moved to complete accurate welding adapted to the butt joint position, reducing weld discontinuity. The welding process is moved from the middle to both sides, thereby forming symmetrical welding and reducing the probability of deformation and stress damage. The inner wall of the U-shaped rib is provided with a deformation compensation component 6 that contacts the inner walls on both sides. The deformation compensation component 6 includes a lower rod 61 symmetrically arranged at the bottom of the U-shaped rib, and both ends of the lower rod 61 are equipped with angle braces 62 that contact the inner bottom corners of the U-shaped rib. A vertical rod 63 is installed in the middle of the upper end of the lower rod 61. A barrel 64 is symmetrically mounted on the upper end of the vertical rods 63. A motor is installed in the barrel 64, and a screw 67 is connected to the output end. The end of the screw 67 is threadedly connected to a threaded ring 68. The threaded ring 68 is externally connected to an expansion and moving frame 65 that abuts against the inner wall of the U-shaped rib. A cross bar 66 is commonly mounted between the upper ends of the pair of vertical rods 63. A guide rod that penetrates the threaded ring 68 is mounted on the lower end of the barrel 64 to guide the axial movement of the expansion and moving frame 65. It is important to note that the expansion frame 65 is formed by pre-welding a bolt on the inner wall of the U-shaped rib, and the expansion frame 65 is locked with a nut through the bolt. When the top plate is superimposed on the U-shaped rib, the outward expansion force exerted on the U-shaped rib can be alleviated by the inward contraction of the expansion frame 65, thereby achieving the purpose of deformation compensation. Of course, after the welding of the steel box girder is completed, the welded bolts can be cut to complete the rapid removal of the deformation compensation assembly 6. For the deformation compensation process of steel box girder structure, refer to 3 and Figure 4 As shown, after the butt welding of a pair of adjacent steel box girder structures is completed, the deformation compensation assembly 6 is installed on the inner wall of the U-shaped rib, and the motor in the deformation compensation assembly 6 is communicatively connected to the controller. A photoelectric sensor electrically connected to the controller is provided in the front view direction of the steel box girder structure during the welding process. In accordance with the design specifications, a photoelectric sensor is used to perform real-time measurement of the distance between the two top ends of each U-shaped rib, and the measured data is compared with the standard value of the design specification to generate an expansion signal or a contraction signal and send it to the motor in the deformation compensation component 6. The motor controls the screw 67 to rotate forward or reverse according to the received signal, so that the symmetrically arranged expansion frame 65 drives the U-shaped rib to expand or contract in accordance with the design specifications, avoiding stress damage problems during the synchronous welding process, ensuring that the weld is continuous and the finished steel box girder weld meets the requirements.

[0021] A preceding movable base 1-1 and a subsequent movable base 1-2 are provided at intervals at the bottom of the top plate and the U-shaped ribs. Each set of top plate and U-shaped ribs approaches, docks, and moves as a whole along the direction from the preceding movable base 1-1 to the subsequent movable base 1-2. The overall welding process of the steel box girder in the present invention refers to Figure 2 and Figure 5 and Figure 7 As shown, first, the preceding movable base 1-1 and the succeeding movable base 1-2 continuously drive the steel box girder structure to move horizontally, and make the docking point of an adjacent set of steel box girder structures be located in the middle of the preceding movable base 1-1 and the succeeding movable base 1-2; Then, the welding assembly 7 is adapted to perform butt welding between the steel box girder structures after docking along the curved movable rail 4, and the welding assembly 7 is adapted to perform joint welding between the two groups of U-shaped ribs and the two groups of top plate members after docking along the straight movable rail 5. After the welding is completed, the preceding movable base 1-1 and the subsequent movable base 1-2 drive the two groups of welded steel box girder structures to move out.

[0022] The basic principle of the present invention is that the welding operation between the top plate and the U-shaped ribs is carried out simultaneously in a prefabrication plant of a bridge steel box girder, and two or more sets of steel box girder structures are welded together. Specifically, the top plate is pre-placed on the U-shaped ribs, and the butt welding of two adjacent U-shaped ribs is first performed by the adaptive welding assembly 7. Then, the longitudinal movement of the adaptive welding assembly 7 is used to complete the seam welding of the U-shaped ribs and the top plate. During the welding process of the joints / butt seams, the deformation compensation component 6 is assisted to perform deformation compensation for the compressed U-shaped ribs to prevent the deformation of the U-shaped ribs under heavy pressure, which in turn causes stress damage to the welds. That is, the combination of the above-mentioned automated adaptive welding operation and the application of deformation compensation action enables the welding process of the bridge steel box girder to be carried out quickly and improves the welding processing efficiency.

[0023] Example 2: This example further optimizes the structure of how the top plate and the U-shaped ribs are brought closer, docked, and moved together as a whole in accordance with Example 1; Reference Figure 1 and Figure 3 As shown, the top plate includes a top plate 1 2-1 and a top plate 2-2 arranged in parallel, and the U-shaped rib includes a U-shaped rib 1 3-1 and a U-shaped rib 2 3-2 arranged in parallel. The top plate 1 2-1 and the U-shaped rib 1 3-1, the top plate 2-2 and the U-shaped rib 2 3-2 respectively constitute a steel box girder structure; The steel box girder structure can be welded in two welding processes: the butt joint of the U-shaped rib 1 3-1 and the U-shaped rib 2 3-2, and the overall butt joint of the U-shaped rib 1 3-1 and the U-shaped rib 2 3-2, and the top plate 1 2-1 and the top plate 2-2. In both welding processes, the curved corresponding movement of the welding assembly 7 is coordinated with the linear corresponding movement to continuously complete the welding, thereby continuously improving the welding quality. The curved movable rail 4 is longitudinally slidably installed on the straight movable rail 5, and a lifting rod 8 is installed on the straight movable rail 5. In combination with the above, the straight movable rail 5 is hoisted above the middle of the welding station by the lifting rod 8, and the curved movable rail 4 can move horizontally relative to the straight movable rail 5, so as to cooperate with the welding assembly 7 to complete two welding steps respectively during the welding process, and can complete adaptive multi-angle welding processing according to the special-shaped structure of the steel box girder structure, thereby improving welding efficiency.

[0024] Stepping wheels 9 are evenly distributed on the preceding moving base 1-1 and the subsequent moving base 1-2, which are used for the horizontal movement of the top plate and the U-shaped ribs. Before, during and after welding, the top plate and the U-shaped ribs are horizontally moved by the stepping wheels 9 on the preceding moving base 1-1 and the subsequent moving base 1-2, respectively, thereby realizing the process of approaching, docking and overall merging movement of the steel box girder structure along the direction from the preceding moving base 1-1 to the subsequent moving base 1-2.

[0025] Structural advantages: This embodiment is based on embodiment 1, and can continuously complete multi-angle welding adapted to the shape of the steel box girder by using the corresponding movement action of the curve and the corresponding movement action of the straight line during the welding process, so that the overall weld is continuous and uniform, thereby improving the welding quality and welding efficiency.

[0026] Example 3: Reference Figure 1 - Figure 8 As shown, this embodiment combines the first embodiment and the second embodiment to form a multi-angle adaptive bridge steel box girder welding method, including the following steps: Step 1: First, the preceding movable base 1-1 and the succeeding movable base 1-2 continuously drive the steel box girder structure to move horizontally, and make the docking point of adjacent sets of steel box girder structures be located in the middle of the preceding movable base 1-1 and the succeeding movable base 1-2; Step 2: Then, the butt welding of the steel box girder structures after the welding assembly 7 is adapted to be butted along the curved movable rail 4 is performed, and the joint welding of the two sets of U-shaped ribs and the two sets of top plate members after the welding assembly 7 is adapted to be butted along the straight movable rail 5 is performed; Step 3: During the synchronous welding process in step 2, after the butt welding of a pair of adjacent steel box girder structures is completed, the deformation compensation assembly 6 is installed on the inner wall of the U-shaped rib. A photoelectric sensor is used to measure the distance between the two top ends of each U-shaped rib in real time. The measured data is compared with the standard value of the design specification to generate an expansion signal or a contraction signal and send it to the motor in the deformation compensation assembly 6. The motor controls the screw 67 to rotate forward or reverse according to the received signal, so that the symmetrically arranged expansion frame 65 drives the U-shaped rib to expand or contract in accordance with the design specification, thereby avoiding stress damage during the synchronous welding process, ensuring that the weld is continuous and the welded steel box girder meets the requirements. Step 4: After the welding is completed, the stepping wheels 9 on the preceding movable base 1-1 and the succeeding movable base 1-2 drive the two welded steel box beam structures to move out.

[0027] In summary, the top plate is pre-placed on the U-shaped rib, and the butt welding of two adjacent U-shaped ribs is first performed by the adaptive welding assembly 7, and then the longitudinal movement of the adaptive welding assembly 7 is used to complete the seam welding of the U-shaped rib and the top plate. During the welding process of the joints / butt seams, the deformation compensation component 6 is assisted to perform deformation compensation for the compressed U-shaped ribs to prevent the deformation of the U-shaped ribs under heavy pressure, which in turn causes stress damage to the welds. That is, the welding operation and the deformation compensation action are automatically adapted to each other, so that the welding process of the bridge steel box girder can be carried out quickly and the welding processing efficiency is improved.

[0028] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as within the scope of protection of the present invention.

Claims

1. A multi-angle adaptive bridge steel box girder welding robot system, comprising a curved movable rail (4) and a linear movable rail (5) arranged on the outside of a top plate and a U-shaped rib, characterized in that: An adaptable welding assembly (7) corresponding to the joints of the top plate and the U-shaped ribs is slidably mounted on the curved movable rail (4); the linear movable rail (5) is arranged between two adjacent groups of top plate and U-shaped ribs and is used for the longitudinal movement of the curved movable rail (4); The inner wall of the U-shaped rib is provided with a deformation compensation component (6) that contacts the inner walls on both sides; A preceding movable base (1-1) and a subsequent movable base (1-2) are provided at intervals at the bottom of the top plate and the U-shaped ribs, and each group of the top plate and the U-shaped ribs approaches, docks, and moves as a whole in a direction from the preceding movable base (1-1) to the subsequent movable base (1-2).

2. The multi-angle adaptive bridge steel box girder welding robot system according to claim 1 is characterized in that: The adaptive welding assembly (7) comprises a welding table (71) slidably arranged on the outside of the curved movable rail (4), a slider (74) slidably mounted on the welding table (71), a lifting rod (75) mounted at the middle of the upper end of the slider (74), and a welding head (76) mounted at the output end of the lifting rod (75).

3. The multi-angle adaptive bridge steel box girder welding robot system according to claim 2 is characterized in that: A movable seat (72) is installed at both ends of the welding table (71), and a walking wheel (73) slidably connected to the curved movable rail (4) is installed on the movable seat (72).

4. The multi-angle adaptive bridge steel box girder welding robot system according to claim 1 is characterized in that: The deformation compensation component (6) comprises a lower rod (61) symmetrically arranged at the inner bottom of the U-shaped rib, and angle supports (62) in contact with the inner bottom angle of the U-shaped rib are installed at both ends of the lower rod (61), and a vertical rod (63) is installed in the middle of the upper end of the lower rod (61).

5. The multi-angle adaptive bridge steel box girder welding robot system according to claim 4 is characterized in that: A barrel (64) is symmetrically mounted on the upper end of the vertical rod (63), a motor is arranged in the barrel (64), and a screw (67) is connected to the output end. The end of the screw (67) is threadedly connected to a threaded ring (68), and the threaded ring (68) is externally connected to an expansion frame (65) that abuts against the inner wall of the U-shaped rib.

6. The multi-angle adaptive bridge steel box girder welding robot system according to claim 5, characterized in that: A cross bar (66) is commonly installed between the upper ends of a pair of vertical bars (63), and a guide bar penetrating the threaded ring (68) is installed at the lower end of the barrel (64) for guiding the axial movement of the expansion frame (65).

7. The multi-angle adaptive bridge steel box girder welding robot system according to claim 1, characterized in that: The top plate member includes a top plate 1 (2-1) and a top plate 2 (2-2) arranged in parallel, and the U-shaped rib member includes a U-shaped rib 1 (3-1) and a U-shaped rib 2 (3-2) arranged in parallel. The top plate 1 (2-1) and the U-shaped rib 1 (3-1), the top plate 2 (2-2) and the U-shaped rib 2 (3-2) respectively constitute a steel box beam structure.

8. The multi-angle adaptive bridge steel box girder welding robot system according to claim 1, characterized in that: The curved movable rail (4) is longitudinally slidably mounted on the linear movable rail (5), and a hoisting rod (8) is mounted on the linear movable rail (5).

9. The multi-angle adaptive bridge steel box girder welding robot system according to claim 1, characterized in that: Stepping wheels (9) are evenly distributed on the preceding movable base (1-1) and the succeeding movable base (1-2) and are used for the horizontal movement of the top plate and the U-shaped rib.

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