Arch rib welding robot mechanism for large-span concrete-filled steel tube arch bridge

Abstract

The invention discloses an arch rib welding robot mechanism for a large-span concrete-filled steel tube arch bridge, and belongs to the technical field of welding robots. The device comprises a walking assembly and a clamping assembly. The clamping assembly is arranged on the walking assembly; the walking assembly comprises a supporting seat, a driving motor, a control module and a walking structure; the walking structure is arranged on the supporting seat; the driving motor and the control module are arranged on the supporting seat; the driving motor is connected with the walking structure; the clamping assembly comprises a motor, a support, a rotating rod, a movable rod and a clamping piece. The support is arranged on the supporting seat; one end of the rotating rod is hinged with the support, and the other end is hinged with one end of the movable rod; one end of the movable rod is connected with the clamping piece; the motor is connected with the support, the rotating rod and the movable rod. The control module is in circuit connection with the walking structure, the motor and the driving motor. Under the condition that the walking structure does not move, the orientation of the clamping piece can be changed through rotation of the rotating base, the position of the clamping piece is changed, and flexibility is high.

Description

Technical Field

[0001] The invention belongs to the technical field of welding robots, and in particular relates to an arch rib welding robot mechanism for a long-span steel tube concrete arch bridge. Background Art

[0002] Concrete-filled steel tube arch bridges are modern bridges that utilize a composite structure of steel tubes and concrete. They offer advantages such as large spans and beautiful shapes. Their arch supports are constructed from numerous prefabricated steel tube segments, assembled and welded on-site. However, due to site constraints, these supports are often welded manually, which is labor-intensive and can also negatively impact the health of workers during prolonged welding.

[0003] Therefore, the current arch-assisted welding has begun to have a walking welding trolley. For the arch-assisted welding of steel tube concrete arch bridges, the walking welding trolley is fixed on the steel tube segment by magnetic adsorption, and walks along the arch-assisted welding route. During the walking process, welding is performed. For example, the invention with patent announcement number CN110666285B discloses an automatic walking welding system for arch bridges, which includes a welding power cabinet, a wire feeder, an automatic walking welding trolley and a control system. The automatic walking welding trolley includes a trolley body, an adjustable permanent magnetic wheel module, a longitudinal movement module, a transverse movement module, a welding gun and a wire feeding tube. The trolley body is provided with a transverse movement module, the transverse movement module is provided with a longitudinal movement module, the bottom of the trolley body is provided with an adjustable permanent magnetic wheel module, and the welding power cabinet, wire feeder, adjustable permanent magnetic wheel module, longitudinal movement module and transverse movement module are all connected to the control system.

[0004] The automated welding trolley in the aforementioned system boasts lightweight, compact size, and ease of operation. However, the control system controls the trolley's welding gun, which can only move vertically and horizontally in the longitudinal and transverse modules. It cannot steer, and can only adjust the distance between the welding gun and the weld seam as the trolley moves. This results in limited flexibility and poor adjustability. A highly flexible and adaptable robotic mechanism for arch rib welding of long-span concrete-filled steel tube arch bridges was needed. Summary of the Invention

[0005] The present invention provides an arch rib welding robot mechanism for a long-span steel tube concrete arch bridge to solve the technical problems mentioned in the background technology.

[0006] To achieve the above objectives, the present invention adopts the following technical solutions: A robot mechanism for welding an arch rib of a large-span steel tube concrete arch bridge, comprising a walking assembly and a clamping assembly for clamping a welding gun; the clamping assembly is arranged on the walking assembly; the walking assembly comprises a support seat, a drive motor, a control module and a walking structure; the walking structure is arranged on both sides of the support seat; the drive motor and the control module are arranged on the support seat; the drive motor is connected to the walking structure to drive the walking structure to rotate; the drive motor is connected to the control module circuit; the clamping assembly comprises a motor, a support, a rotating rod, a movable rod and a clamping piece; the support is rotatably arranged on the support seat; one end of the rotating rod is hinged to the support, and the other end thereof is hinged to one end of the movable rod; the end of the movable rod away from the rotating rod is connected to the clamping piece; the motor is respectively connected to the support, the rotating rod and the movable rod to drive the support, the rotating rod and the movable rod to rotate; the control module is connected to the walking structure and the motor circuit.

[0007] As a further improvement of the technical solution, the motor includes a first motor, a second motor and a third motor; the first motor is arranged on the support seat, and its output end is mechanically connected to the support to drive the support to rotate; the second motor and the third motor are both arranged on the support; the output end of the second motor is mechanically connected to one end of the rotating rod close to the support; the output end of the third motor is mechanically connected to one end of the movable rod close to the support.

[0008] As a further improvement of the technical solution, the rotating rod includes a first rotating rod, a second rotating rod and a connecting plate; the first rotating rod and the second rotating rod are distributed in parallel and spaced apart; the two ends of the connecting plate are respectively connected to the middle parts of the first rotating rod and the second rotating rod; the output end of the second motor is mechanically connected to the first rotating rod; the second rotating rod is hinged on the support.

[0009] As a further improvement of the technical solution, the movable rod includes a first movable rod, a second movable rod, and a third movable rod; the first movable rod and the second movable rod are spaced apart; one end of the first movable rod is hinged to one end of the rotating rod, and the other end thereof is connected to the clamping member; one end of the third movable rod is mechanically connected to the output end of the third motor, and the other end thereof is hinged to one end of the second movable rod; the end of the second movable rod away from the third movable rod is connected to the clamping member, and the end of the second movable rod close to the third movable rod is hinged to the rotating rod.

[0010] As a further improvement of the technical solution, the movable rod also includes a fourth movable rod; the third movable rod is mechanically connected to the third motor through the fourth movable rod; the length of the fourth movable rod is smaller than the length of the third movable rod; one end of the fourth movable rod is connected to the output end of the third motor, and the other end thereof is hinged to one end of the third movable rod close to the third motor.

[0011] As a further improvement of the technical solution, the movable rod also includes a fifth movable rod, a sixth movable rod and a connecting rod; one end of the fifth movable rod is hinged to the support, and the other end thereof is hinged to one end of the connecting rod; one end of the connecting rod away from the fifth movable rod is hinged to an end of the first movable rod close to the rotating rod; one end of the sixth movable rod is hinged to an end of the connecting rod away from the fifth movable rod, and the other end thereof is connected to the clamping member.

[0012] As a further improvement of the technical solution, the length of the connecting rod is smaller than the length of the sixth movable rod.

[0013] As a further improvement of the technical solution, the length of the sixth movable rod is parallel to that of the first movable rod; the sixth movable rod is located above the first movable rod; and the rotating rod is located between the fifth movable rod and the sixth movable rod.

[0014] As a further improvement of the technical solution, the clamping member includes a support plate, a clamping motor, a clamping gear, a clamping plate and a clamping groove; the support plate is hinged to the end of the first movable rod, the second movable rod and the sixth movable rod away from the support; one end of the two clamping plates is horizontally rotated and arranged on the end of the support plate away from the support; the two clamping plates are engaged in transmission connection; an arc-shaped slot is provided on the end of the clamping plate away from the support plate; the two clamping plates approach each other, and when the arc-shaped slot is closed, the clamping groove is formed; the clamping motor is vertically arranged on the support plate; the output end of the clamping motor passes through the plate surface of the support plate and is connected to the clamping gear; the clamping gear is engaged in transmission connection with the end of one of the clamping plates close to the support plate; the clamping motor is connected to the control module circuit.

[0015] As a further improvement of the technical solution, the clamping member also includes a fixing rod; one end of the fixing rod is connected to the side of the support plate close to the first movable rod, and the other end faces upward; the end of the sixth movable rod away from the connecting rod is hinged to the end of the fixing rod away from the support plate.

[0016] As a further improvement of the technical solution, the walking component also includes a camera; the camera is arranged on one end of the support close to the clamping member; and the camera is connected to the control module circuit.

[0017] As a further improvement of the technical solution, the clamping assembly also includes a remote controller; the remote controller is electrically connected to the control module.

[0018] Compared with the prior art, the present invention has the following beneficial effects: The present application can change the direction of the clamping member by rotating the rotating seat without moving the walking structure, and at the same time change the lifting and lowering and forward and backward movement of the clamping member by rotating the connecting rod and the movable rod, thereby adjusting the distance between the welding gun and the welding seam, which has high flexibility and multiple adjustment methods; when in use, the welding power supply cabinet, wire feeder, etc. are placed on the aerial work platform, and the walking structure is placed on the arch support of the steel tube concrete arch bridge. According to the size of the pipe diameter, the wire feeding speed of the wire feeder, the current and voltage of the welding power supply cabinet, etc. are adjusted, the welding gun is placed on the clamping member, and the walking structure is controlled to move by the control module. The walking structure always maintains magnetic attraction with the steel pipe during movement and is adsorbed on the steel pipe. When turning is required, the control module controls the first motor to rotate, and the first motor drives the support to rotate, adjusts the direction of the rotating rod, the movable rod and the clamping member, thereby changing the position of the welding gun. When the clamping member needs to move forward or backward, the control module controls the second motor to rotate, and the second motor drives the support to rotate, adjusts the direction of the rotating rod, the movable rod and the clamping member, thereby changing the position of the welding gun. The machine drives the first rotating rod to rotate, and the first rotating rod rotates clockwise or counterclockwise with the output end of the motor. During the rotation process, the second rotating rod and the connecting plate rotate together, and the rotating first rotating rod and the second rotating rod drive the first movable rod and the second movable rod to move forward or backward, thereby moving the clamping member and the welding gun forward or backward. At the same time, the first rotating rod and the second rotating rod drive the movable clamping member and the welding gun to rise or fall slightly. When the clamping member needs to fall or rise, the control module controls the third motor to rotate, and the third motor drives the fourth movable rod to rotate, and the fourth movable rod rotates clockwise or counterclockwise along the output end of the third motor. During the rotation of the fourth movable rod, the hinge between the third movable rod and the fourth movable rod rotates around the output end of the third motor, thereby increasing or shortening the distance between the end of the second movable rod close to the third movable rod and the output end of the third motor, so that the second movable rod rises or falls away from the end of the third movable rod, thereby completing the rising or falling of the clamping member. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any creative work.

[0020] Figure 1 A schematic diagram of the structure of an arch rib welding robot mechanism for a long-span steel tube concrete arch bridge provided by the present invention Figure 1; Figure 2 The structure diagram provided by the present invention Figure 2 ; Figure 3 The structure diagram provided by the present invention Figure 3 ; Figure 4 The structure diagram provided by the present invention Figure 4 ; Figure 5 The structure diagram provided by the present invention Figure 5 ; Figure markings: 1-walking assembly, 11-support base, 12-drive motor, 13-control module, 14-walking structure, 15-camera, 2-clamping assembly, 21-motor, 211-first motor, 212-second motor, 213-third motor, 22-support, 23-rotating rod, 231-first rotating rod, 232-second rotating rod, 233-connecting plate, 24-movable rod, 241-first movable rod, 242-second movable rod, 243-third movable rod, 244-fourth movable rod, 245-fifth movable rod, 246-sixth movable rod, 247-connecting rod, 25-clamping member, 251-support plate, 252-clamping motor, 253-clamping gear, 254-clamping plate, 255-fixed rod. DETAILED DESCRIPTION

[0021] To further clarify the objectives, technical solutions, and advantages of the embodiments of the present invention, the technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are only a portion of the embodiments of the present invention, not all of them. Based on the described embodiments of the present invention, all other embodiments derived by persons of ordinary skill in the art without requiring creative effort are within the scope of protection of the present invention. Unless otherwise defined, technical or scientific terms used herein shall have the ordinary meanings understood by persons of ordinary skill in the field to which the present invention pertains.

[0022] The words "first", "second" and similar terms used in the specification and claims of the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. Similarly, unless the context clearly indicates otherwise, the singular forms of "a", "an" or "the" and similar terms do not indicate a quantitative limitation, but rather indicate the presence of at least one. Words such as "include" or "comprise" mean that the elements or objects preceding "include" or "comprise" include the features, wholes, steps, operations, elements and / or components listed after "include" or "comprise", and do not exclude the existence or addition of one or more other features, wholes, steps, operations, elements, components and / or their collections. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0023] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "installed," "connected," "connected," and "disposed" should be understood in a broad sense. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention in specific contexts.

[0024] Example 1: like Figures 1 to 3As shown, a robot mechanism for welding the arch ribs of a large-span steel tube concrete arch bridge comprises a walking assembly 1 and a clamping assembly 2 for clamping a welding gun; the clamping assembly 2 is arranged on the walking assembly 1; the walking assembly 2 comprises a support base 11, a drive motor 12, a control module 13 and a walking structure 14; the walking structure 14 is arranged on both sides of the support base 11; the drive motor 12 and the control module 13 are arranged on the support base 11; the drive motor 12 is connected to the walking structure 14 to drive the walking structure 14 to move, and the walking structure 14 can be a permanent magnetic wheel or a magnetic track. The magnetic track is provided with a permanent magnet to adsorb with the steel material for walking. The long-lasting magnetic wheel and magnetic track belong to the existing technology and are not the improvement points of this application, so they will not be described in detail; the drive motor 12 is connected to the control module 13 circuit; the clamping assembly 2 includes a motor 21, a support 22, a rotating rod 23, a movable rod 24 and a clamping piece 25; the support 22 is rotatably set on the walking assembly 1; one end of the rotating rod 23 is hinged to the support 22, and the other end is hinged to one end of the movable rod 24; the end of the movable rod 24 away from the rotating rod 23 is connected to the clamping piece 25; the motor 21 is connected to the support 22, the rotating rod 23, and the movable rod 24 respectively, driving the support 22 and the rotating rod 23 to rotate; the control module 13 is connected to the motor 21 circuit. In addition, it should be noted that the connection method between the control module and the drive motor and the motor is a conventional connection. The specific model of the control module is not the improvement point of this application, so it will not be described here.

[0025] like Figures 2 to 5 As shown, preferably, the motor 21 includes a first motor 211, a second motor 212 and a third motor 213; the first motor 211 is arranged on the support base 11, and its output end is mechanically connected to the support 22 to drive the support 22 to rotate, and the output end of the first motor 213 can be directly connected to the support 22; the second motor 212 and the third motor 213 are both arranged on the support 22 and rotate with the support 22; the output end of the second motor 212 is mechanically connected to one end of the rotating rod 23 close to the support 22, and the second motor 212 drives the rotating rod 23 to rotate, and the output end of the second motor 212 can be directly connected to the rotating rod 23; the output end of the third motor 213 is mechanically connected to one end of the movable rod 24 close to the support 22, and the third motor 213 drives the movable rod 24 to rotate; the first motor 211, the second motor 212 and the third motor 213 are all small servo motors; the first motor 211, the second motor 212 and the third motor 213 are all connected to the control module 13 cable. It should also be noted that the connection method between the first motor and the rotating seat, and the second motor and the connecting rod is a conventional connection, which will not be described in detail here.

[0026] like Figures 3 to 5As shown, preferably, the rotating rod 23 includes a first rotating rod 231, a second rotating rod 232 and a connecting plate 243; the first rotating rod 231 and the second rotating rod 232 are distributed in parallel and spaced apart, and a gap is left between the first rotating rod 231 and the second rotating rod 232 to facilitate the hinged installation of the first rotating rod 231 and the second rotating rod 232; the two ends of the connecting plate 243 are respectively connected to the middle parts of the first rotating rod 231 and the second rotating rod 232; the output end of the second motor 212 is mechanically connected to the first rotating rod 231, optionally, the output end of the second motor 212 is directly connected to the first rotating rod 231, driving the first rotating rod 231 to rotate; the second rotating rod 232 is hinged to the support 22, and the first rotating rod 231 and the second rotating rod 232 are connected into one through the connecting plate 243, so that the second rotating rod 232 rotates with the first rotating rod 231.

[0027] like Figure 4 and Figure 5 As shown, preferably, the movable rod 24 includes a first movable rod 241, a second movable rod 242, and a third movable rod 243; the first movable rod 241 and the second movable rod 242 are spaced apart, and the length direction of the first movable rod 241 is parallel to the length direction of the second movable rod 242; one end of the first movable rod 241 is hinged to one end of the rotating rod 23, and the other end is connected to the clamping member 25, that is, one end of the first movable rod 241 is hinged to the first rotating rod 231, and the other end is connected to the clamping member 25; one end of the third movable rod 243 is hinged to the output end of the third motor 213 The third movable rod 242 is mechanically connected, and the other end is hinged to one end of the second movable rod 242. The output end of the third motor 213 can be directly connected to the third movable rod 243; the end of the second movable rod 242 away from the third movable rod 243 is connected to the clamping member 25, and the end close to the third movable rod 243 is hinged to the rotating rod 23; the third motor 213 drives the third movable rod 243 to rotate, and the second movable rod 242 rotates with the rotation of the third movable rod 243, thereby driving the clamping member 25 to rotate, and the first movable rod 241 rotates with the clamping member 25 to complete the position adjustment of the clamping member 25.

[0028] like Figure 4 and Figure 5As shown, preferably, the movable rod 24 also includes a fourth movable rod 244; the third movable rod 243 is mechanically connected to the third motor 213 through the fourth movable rod 244; the length of the fourth movable rod 244 is less than the length of the third movable rod 243; one end of the fourth movable rod 244 is connected to the output end of the third motor 213, and the other end thereof is hinged to the end of the third movable rod 243 close to the third motor 213; the output end of the third motor 213 is directly connected to the fourth movable rod 244, driving the fourth movable rod 244 to rotate, and then the fourth movable rod 244 drives the third movable rod 243 to rotate, so as to adjust the distance between the end of the second movable rod 242 close to the third movable rod 243 and the third motor 213.

[0029] like Figure 4 and Figure 5 As shown, preferably, the movable rod 24 also includes a fifth movable rod 245, a sixth movable rod 246 and a connecting rod 247; one end of the fifth movable rod 245 is hinged to the support 22, and the other end thereof is hinged to one end of the connecting rod 247; the end of the connecting rod 247 away from the fifth movable rod 245 is hinged to the end of the first movable rod 241 close to the first rotating rod 231, and the hinge point of the connecting rod 247 and the first movable rod 241 and the hinge point of the first movable rod 241 and the first rotating rod 231 are on the same straight line; one end of the sixth movable rod 246 is hinged to the end of the connecting rod 247 away from the fifth movable rod 245, and the other end thereof is connected to the clamping member 25, and the hinge point of the sixth movable rod 246 and the clamping member 25 is located above the hinge point of the first movable rod 241 and the clamping member 25. That is, the hinge point between the sixth movable rod 246 and the clamping member 25 is not on the same straight line as the hinge point between the first movable rod 241 and the clamping member 25. The first movable rod 241, the second movable rod 242 and the sixth movable rod 246 jointly support the clamping member 25, so that the clamping member 25 remains stable; preferably, the length of the connecting rod 247 is less than the length of the sixth movable rod 246, so that the fifth movable rod can drive the first movable rod 241 and the sixth movable rod 246 to rotate; preferably, the length of the sixth movable rod 246 is parallel to the length of the first movable rod 241, so as to realize the synchronous rotation of the first movable rod 246 and the sixth movable rod 246; the sixth movable rod 246 is located above the first movable rod 241; the rotating rod 23 is located between the fifth movable rod 245 and the sixth movable rod 246.

[0030] Working method: When in use, the welding power supply cabinet, wire feeder, etc. are placed on the aerial work platform, and the walking structure 14 is placed on the arch support of the steel tube concrete arch bridge. According to the size of the pipe diameter, the wire feeding speed of the wire feeder, the current and voltage of the welding power supply cabinet, etc. are adjusted. The welding gun is placed on the clamping part 25, and the walking structure 14 is controlled to move by the control module 13. The walking structure 14 always maintains magnetic attraction with the steel pipe during the movement and is adsorbed on the steel pipe. When turning is required, the control module 13 controls the first motor 211 to rotate, and the first motor 211 drives the support 22 to rotate, and the rotation is adjusted. The rod 23, the movable rod 24 and the clamping member 25 are turned to change the position of the welding gun. When the clamping member 25 needs to move forward or backward, the control module 13 controls the second motor 212 to rotate, and the second motor 212 drives the first rotating rod 231 to rotate. The first rotating rod 231 rotates clockwise or counterclockwise with the output end of the motor 212. During the rotation, the second rotating rod 232 and the connecting plate 243 rotate together. The rotating first rotating rod 231 and the second rotating rod 232 drive the first movable rod 241 and the second movable rod 242 to move forward or backward, thereby moving the welding gun. The clamping member 25 and the welding gun move forward or backward, and at the same time, the first rotating rod 231 and the second rotating rod 232 drive the clamping member 25 and the welding gun to rise or fall slightly. When the clamping member 25 needs to be lowered or raised, the control module 13 controls the third motor 213 to rotate, and the third motor 213 drives the fourth movable rod 244 to rotate. The fourth movable rod 244 rotates clockwise or counterclockwise along the output end of the third motor 213. During the rotation of the fourth movable rod 244, the hinge between the third movable rod 243 and the fourth movable rod 244 rotates around the output end of the third motor 213. Rotation increases or shortens the distance between the end of the second movable rod 242 close to the third movable rod 243 and the output end of the third motor 213, so that the second movable rod 242 rises or falls away from the end of the third movable rod 243, thereby completing the rising or falling of the clamping member 25; the present application can change the orientation of the clamping member 25 by rotating the support 22 without moving the walking structure 21, and at the same time change the lifting and lowering and front and rear movement of the clamping member 25 by rotating the connecting rod and the movable rod, thereby adjusting the distance between the welding gun and the weld, with high flexibility and multiple adjustment methods.

[0031] like Figures 1 to 3 、 Figure 5As shown, preferably, the walking assembly 1 also includes a camera 15; the camera 15 is set on one end of the support 22 close to the clamping member 25; the camera 15 is circuit-connected to the control module 13; the clamping assembly 2 also includes a remote control; the remote control is electrically connected to the control module 13, and the connection between the remote control and the control module 13 is circuit-connected; the remote control has a display screen, and the camera 15 transmits the camera image to the display screen on the remote control through the control module 13. The operator then controls the operation of the walking structure 14, the first motor 211, the second motor 212, and the third motor 213 through the remote control according to the camera image. In addition, it should be noted that the connection between the camera and the control module, and the remote control and the control module are conventional connections. The specific models of the camera and the remote control are not the improvement points of this application and will not be described in detail here.

[0032] Example 2: like Figure 4 and Figure 5 As shown, compared with the first embodiment, the difference is that a structural form of the clamping member 25 is provided; the clamping member 25 includes a support plate 251, a clamping motor 252, a clamping gear 253, a clamping plate 254 and a clamping groove; both sides of the support plate 251 are hinged to the first movable rod 241, the second movable rod 242 and the sixth movable rod 245 away from the support 22; the number of clamping plates 254 is two, and one end of the two clamping plates 254 is horizontally arranged on the end plate surface of the support plate 251 away from the support 22; the two clamping plates 254 are meshed and connected in transmission, and when one clamping plate 254 rotates, the other clamping plate 254 will also rotate; an arc-shaped notch is provided at one end of the clamping plate 254 away from the support plate 251; the two plates 254 are close to each other, and when the arc-shaped notch is closed, a clamping groove for clamping the welding gun is formed; the clamping motor 252 is vertically arranged on the support The clamping motor 252 is on the plate surface of the support plate 251; the output end of the clamping motor 252 passes through the plate surface of the support plate 251 and is connected to the clamping gear 253, driving the clamping gear 253 to rotate; the clamping gear 253 is meshed and transmitted with one end of a clamping plate 254 close to the support plate 251; the clamping motor 252 is connected to the control module 13 circuit, and the clamping motor 252 is a small servo motor; when the clamping plate 254 clamps the welding gun, the welding gun is placed in the slot of the clamping plate 254, and the control module 13 controls the clamping motor 252 to start, and the clamping motor 252 drives the clamping gear 253 to rotate, and the rotating clamping gear 253 engages and drives a clamping plate 254, which then engages and transmits with another clamping plate 254, so that the two clamping plates 254 move closer to each other, and the two clamping plates 254 are closed to form a clamping groove, which clamps the welding gun. The structure is simple and electric clamping of the welding gun is realized. In addition, it should be noted that the connection method between the control module and the clamping motor is a conventional connection. The specific model of the clamping motor is not an improvement point of this application and will not be elaborated here.

[0033] like Figure 4 As shown, preferably, the clamping member 25 also includes a fixing rod 255; one end of the fixing rod 255 is connected to the side of the support plate 251 close to the first movable rod 241, and the other end thereof faces upward; the end of the sixth movable rod 246 away from the connecting rod 247 is hinged to the end of the fixing rod 255 away from the support plate 251 to facilitate the installation of the sixth movable rod 246, so that the length direction of the sixth movable rod 246 is parallel to the length direction of the first movable rod 241.

[0034] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A robot mechanism for welding arch ribs of a large-span steel tube concrete arch bridge, comprising a walking assembly (1) and a clamping assembly (2) for clamping a welding gun; the clamping assembly (2) is arranged on the walking assembly (1); the walking assembly (1) comprises a support base (11), a drive motor (12), a control module (13) and a walking structure (14); the walking structure (14) is arranged on both sides of the support base (11); the drive motor (12) and the control module (13) are arranged on the support base (11); the drive motor (12) is connected to the walking structure (14) to drive the walking structure (14) to rotate; the drive motor (12) is connected to the control module (13) in a circuit; and the invention is characterized in that: The clamping assembly (2) includes a motor (21), a support (22), a rotating rod (23), a movable rod (24) and a clamping member (25); the support (22) is rotatably arranged on the support base (11); one end of the rotating rod (23) is hinged to the support (22), and the other end thereof is hinged to one end of the movable rod (24); the end of the movable rod (24) away from the rotating rod (23) is connected to the clamping member (25); the motor (21) is respectively connected to the support (22), the rotating rod (23) and the movable rod (24), driving the support (22), the rotating rod (23) and the movable rod (24) to rotate; the control module (13) is connected to the walking structure (14) and the motor (21) circuit.

2. The arch rib welding robot mechanism for a long-span concrete-filled steel tube arch bridge according to claim 1 is characterized in that: The motor (21) includes a first motor (211), a second motor (212) and a third motor (213); the first motor (211) is arranged on the support seat (11), and its output end is mechanically connected to the support seat (22) to drive the support seat (22) to rotate; the second motor (212) and the third motor (213) are both arranged on the support seat (22); the output end of the second motor (212) is mechanically connected to one end of the rotating rod (23) close to the support seat (22); the output end of the third motor (213) is mechanically connected to one end of the movable rod (24) close to the support seat (22).

3. The arch rib welding robot mechanism for a long-span concrete-filled steel tube arch bridge according to claim 2, characterized in that: The rotating rod (23) comprises a first rotating rod (231), a second rotating rod (232) and a connecting plate (233); the first rotating rod (231) and the second rotating rod (232) are arranged in parallel and spaced apart; the two ends of the connecting plate (233) are respectively connected to the middle parts of the first rotating rod (231) and the second rotating rod (232); the output end of the second motor (212) is mechanically connected to the first rotating rod (231); and the second rotating rod (232) is hinged to the support (22).

4. The arch rib welding robot mechanism for a long-span concrete-filled steel tube arch bridge according to claim 2, characterized in that: The movable rod (24) includes a first movable rod (241), a second movable rod (242), and a third movable rod (243); the first movable rod (241) and the second movable rod (242) are spaced apart; one end of the first movable rod (241) is hinged to one end of the rotating rod (23), and the other end thereof is connected to the clamping member (25); one end of the third movable rod (243) is mechanically connected to the output end of the third motor (213), and the other end thereof is hinged to one end of the second movable rod (242); one end of the second movable rod (242) away from the third movable rod (243) is connected to the clamping member (25), and one end of the second movable rod (242) close to the third movable rod (243) is hinged to the rotating rod (23).

5. The arch rib welding robot mechanism for a long-span concrete-filled steel tube arch bridge according to claim 4, characterized in that: The movable rod (24) further includes a fourth movable rod (244); the third movable rod (243) is mechanically connected to the third motor (213) via the fourth movable rod (244); the length of the fourth movable rod (244) is shorter than the length of the third movable rod (243); one end of the fourth movable rod (244) is connected to the output end of the third motor (213), and the other end is hinged to an end of the third movable rod (243) close to the third motor (213).

6. The arch rib welding robot mechanism for a long-span concrete-filled steel tube arch bridge according to claim 4, characterized in that: The movable rod (24) further comprises a fifth movable rod (245), a sixth movable rod (246) and a connecting rod (247); one end of the fifth movable rod (245) is hinged to the support (22), and the other end thereof is hinged to one end of the connecting rod (247); one end of the connecting rod (247) away from the fifth movable rod (245) is hinged to one end of the first movable rod (241) close to the rotating rod (23); one end of the sixth movable rod (246) is hinged to one end of the connecting rod (247) away from the fifth movable rod (245), and the other end thereof is connected to the clamping member (25).

7. The arch rib welding robot mechanism for a long-span concrete-filled steel tube arch bridge according to claim 6, characterized in that: The length of the sixth movable rod (246) is parallel to the length of the first movable rod (241); the sixth movable rod (246) is located above the first movable rod (241); and the rotating rod (23) is located between the fifth movable rod (245) and the sixth movable rod (246).

8. The arch rib welding robot mechanism for a long-span concrete-filled steel tube arch bridge according to claim 6, characterized in that: The clamping member (25) includes a support plate (251), a clamping motor (252), a clamping gear (253), a clamping plate (254) and a clamping groove; the support plate (251) is hinged to the first movable rod (241), the second movable rod (242) and the sixth movable rod (246) at one end away from the support (22); one end of the two clamping plates (254) is horizontally rotatably arranged on the end of the support plate (251) away from the support (22); the two clamping plates (254) are meshed and transmission-connected; the clamping plate (254) is away from the support An arc-shaped notch is provided on one end of the support plate (251); the two clamping plates (254) are brought close to each other, and when the arc-shaped notch is closed, the clamping groove is formed; the clamping motor (252) is vertically arranged on the support plate (251); the output end of the clamping motor (252) passes through the plate surface of the support plate (251) and is connected to the clamping gear (253); the clamping gear (253) is meshed and transmission-connected with one end of the clamping plate (254) close to the support plate (251); the clamping motor (252) is connected to the control module (13) circuit.

9. The arch rib welding robot mechanism for a long-span concrete-filled steel tube arch bridge according to claim 1, characterized in that: The walking assembly (1) further includes a camera (15); the camera (15) is arranged on one end of the support (22) close to the clamping member (25); and the camera (15) is connected to the control module (13) circuit.

10. The arch rib welding robot mechanism for a long-span concrete-filled steel tube arch bridge according to any one of claims 1 to 9, characterized in that: The clamping assembly (2) further includes a remote controller; the remote controller is electrically connected to the control module (13).

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