Bridge construction metal part laser welding robot and method

Abstract

The invention relates to the field of bridge welding, and particularly discloses a bridge construction metal part laser welding robot and method.The bridge construction metal part laser welding robot comprises a walking part, at least one end of the walking part is provided with a welding head, the walking part is attached to a cross beam, and the walking part is relatively fixed to the cross beam through a clamping assembly; the welding head is connected with the walking piece through the mechanical arm, the mechanical arm drives the welding head to move along the welding contour line of the cross beam and the bearing column, and welding action is completed. By means of alternate clamping and moving of the two separated bodies, the device can stably and uninterruptedly advance to all welding joints on the cross beam, a traditional manual or large-scale equipment frequent positioning operation mode is replaced, the continuity and overall efficiency of long-distance and multi-station welding construction are remarkably improved, and the working efficiency is improved. Automatic continuous welding operation on the bridge steel structure is achieved.

Description

Technical Field

[0001] This invention relates to the field of bridge welding technology, and in particular to a laser welding robot and method for bridge construction metal parts. Background Technology

[0002] Laser welding of metal components in bridge construction utilizes a high-energy-density laser beam as a heat source. The high-intensity laser beam is radiated onto the metal surface, and through the interaction between the laser and the metal, the metal absorbs the laser energy, converting it into heat energy, melting the metal, and then cooling and crystallizing to form a weld. This is a highly efficient and precise welding method. In bridge construction, laser welding is mainly used for welding thick steel plates such as steel beams, steel columns, bridge decks, and bridge span structures. It can weld steel plates up to 10mm thick or even thicker, producing tight, slag-free, and smooth welds with no need for subsequent processing. In bridge construction, the welding process for crossbeams and load-bearing columns involves pre-fixing with bolts or tack welds to facilitate subsequent precise welding.

[0003] The challenge of bridge welding robots lies in their ability to move along bridge beams and achieve continuous welding. Existing technologies have made significant contributions to this endeavor. For example, prior art publication CN120115819A discloses a laser welding robot for bridge construction metal components. This robot includes a robot body, a controller, and a chassis. The controller is electrically mounted on one side of the top of the robot body via wires. This invention, by incorporating an adjustment and movement mechanism, a sliding limit mechanism, and a detection timing mechanism in conjunction with an adjustment and positioning mechanism, drives the laser welding robot body and chassis to adjust, detect, and limit their movement. This solves the problem that existing laser welding robots, due to the complex distribution of metal components on bridges with varying orientations, angles, and spatial relationships, have limited position adjustment capabilities and often require extensive manual adjustments. This not only consumes time and increases labor costs but also reduces the effectiveness of the laser welding robot. This invention achieves the desired effect of steering and adjustment movement.

[0004] Current technology can achieve fully automated welding of small metal parts, but there is still no equipment capable of welding beams and load-bearing columns. The aforementioned technologies or those on the market cannot effectively weld the beams and load-bearing columns due to the distribution of the robotic arms. Furthermore, the existing welding robots also have certain drawbacks in their movement: firstly, they mostly move on bridge beams using tracked or clamping wheel methods, which have certain requirements on the structural shape of the beams and are not widely adaptable; secondly, the robot is not securely fixed to the beams and is prone to slipping during movement, so there is still room for improvement in welding efficiency. Summary of the Invention

[0005] The purpose of this section is to outline some aspects of embodiments of the present invention and to briefly describe some preferred embodiments. Simplifications or omissions may be made in this section, as well as in the abstract and title of this application, to avoid obscuring the purpose of these documents; however, such simplifications or omissions should not be construed as limiting the scope of the invention.

[0006] This invention provides a laser welding robot and method for metal components in bridge construction, which can solve the problems mentioned in the background art. The specific solution is as follows:

[0007] On one hand, the present invention provides a laser welding robot for metal components in bridge construction, including a walking component, at least one end of which has a welding head. The walking component is attached to a crossbeam and is fixed relative to the crossbeam by a clamping assembly. The welding head is connected to the walking component by a robotic arm, which drives the welding head to move along the welding contour line between the crossbeam and the load-bearing column to complete the welding action.

[0008] The traveling component includes two separate bodies connected by a telescopic component, which drives the two separate bodies to move relative to each other.

[0009] The clamping components on the two separate bodies can be clamped onto the crossbeam either one or both at the same time;

[0010] When one of the separated parts is clamped onto the crossbeam by the clamping assembly, the telescopic component drives the other separated part to slide on the crossbeam, causing the traveling component to move on the crossbeam and weld each crossbeam of the entire bridge in sequence.

[0011] Preferably, the robotic arm on a single separate body moves the welding head across at least two adjacent faces of the load-bearing column, such that the welding head covers half of the welding outline of the beam and the load-bearing column.

[0012] Preferably, both separators are equipped with vision sensors that can analyze the position of the separators on the crossbeam, and the telescopic components extend and retract based on the feedback from the vision sensors.

[0013] Preferably, the robotic arm includes several telescopic sleeves, which are sequentially fitted from the inside out. The ends of the telescopic sleeves are connected by a limiting structure to prevent them from falling off. The outermost telescopic sleeve is fixed to the separating body. The telescopic sleeves can slide against each other by external force. The telescopic sleeves are configured in a concentric arc shape.

[0014] Preferably, all of the telescopic sleeves are hollow and have an open end near the separator. The outermost telescopic sleeve is fixed to the separator. A control pump is installed on the separator. The control pump is used to inject or extract the driving medium into or from the telescopic sleeves to achieve relative movement of the telescopic sleeves.

[0015] Preferably, the driving medium is air. Air is injected into the telescopic sleeve by controlling the pump, which causes several telescopic sleeves to extend. The air inside the telescopic sleeves is extracted by controlling the pump, and the several telescopic sleeves are contracted by negative pressure.

[0016] Preferably, the driving medium is hydraulic oil. The hydraulic oil is injected into the telescopic sleeve by controlling the pump, which can drive several telescopic sleeves to extend. The hydraulic oil in the telescopic sleeve is extracted by controlling the pump, and several telescopic rods retract under negative pressure.

[0017] Preferably, the welding head is connected to the innermost telescopic sleeve end via a rotating component and a lifting component. The rotating component drives the welding head to rotate along the horizontal plane, and the lifting component drives the welding head to rise and fall along the vertical line.

[0018] Preferably, the clamping assembly includes clamping columns disposed on both sides of the separator, the clamping columns on both sides of the separator being close to each other and able to clamp on both sides of the crossbeam, the clamping columns being driven to move closer to each other by pneumatic or hydraulic pressure.

[0019] On the other hand, the present invention provides a laser welding method for metal components in bridge construction, comprising the following steps:

[0020] S1. The traveling component is attached to the crossbeam that has been positioned on the bridge. The traveling component includes a first separation body and a second separation body connected by a telescopic component. The two separation bodies are provided with clamping components for fixing to the crossbeam.

[0021] S2, drive the traveling component to move on the crossbeam:

[0022] The clamping assembly of the first separator clamps the crossbeam, and the telescopic component pushes the second separator to slide along the crossbeam.

[0023] The clamping assembly of the second separator clamps the crossbeam and releases the clamping assembly of the first separator, and the telescopic component pulls the first separator to slide along the crossbeam;

[0024] S3. Repeat the above clamping, sliding and releasing steps to move the traveling component along the crossbeam;

[0025] After the moving part moves to the welding station, the robotic arm drives the welding head to move along the welding contour line between the crossbeam and the load-bearing column, and laser welding is performed.

[0026] Compared with the prior art, the present invention can achieve at least one of the following beneficial effects:

[0027] 1. This invention, through the alternating clamping and movement of two separate bodies, can stably and continuously travel to each welding node on the crossbeam, replacing the traditional manual or large-scale equipment frequent positioning operation method, significantly improving the continuity and overall efficiency of long-distance, multi-station welding construction, realizing automated continuous welding operation on bridge steel structures, and ensuring that the separate bodies can be stably fixed on the crossbeam during operation, and that slippage will not occur during the movement process.

[0028] 2. This invention, by setting up an arc-shaped telescopic sleeve robotic arm structure and combining it with the flipping function of the welding head, enables the walking component to move flexibly within the narrow and restricted space formed by the crossbeam and the load-bearing column. This ensures that the laser welding head can accurately reach and run along the entire irregular welding contour line, guaranteeing the integrity of the weld and the welding quality. It effectively solves the problems of motion interference and welding accessibility in complex spaces.

[0029] 3. This invention uses a visual sensor for initial calibration and real-time guidance, establishing a precise absolute coordinate reference for all movements of the moving parts; this enables the movement of the separated body, the trajectory planning of the robotic arm, and the posture adjustment of the welding head to be based on unified and accurate spatial position information, reducing human measurement errors, realizing high-precision and repeatable automated welding, and improving the accuracy and automation level of welding positioning.

[0030] 4. By adopting a hydraulic linkage design for the clamping assembly, the clamping action of the two separate parts is controlled by a shared oil circuit system, so that the clamping of one part and the loosening and movement of the other part can be completed smoothly and automatically. This not only simplifies the control logic, but also improves the reliability and response speed of the stepping movement, and ensures the stability and safety of the walking parts in high-altitude operations.

[0031] 5. This invention achieves fine-tuning of height through threaded columns and adjusting rings, and the end of the robotic arm is equipped with a welding head posture adjustment mechanism with multiple degrees of freedom (rotation, lifting, and flipping). These designs enable the walking parts to adapt to beams and load-bearing columns of different sizes and specifications, as well as complex on-site installation conditions. Through flexible adjustments, the optimal welding position can always be found, improving the versatility and engineering applicability of the equipment, and enhancing the robot's environmental adaptability and ease of adjustment.

[0032] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures particularly pointed out in the written description and the accompanying drawings. Attached Figure Description

[0033] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Wherein:

[0034] Figure 1 This is a schematic diagram of the installation of the traveling component of the present invention on the crossbeam;

[0035] Figure 2 This is a schematic diagram of the installation of the traveling component of the present invention on a single crossbeam;

[0036] Figure 3 This is a perspective view of the separator of the present invention;

[0037] Figure 4 This is a perspective view of the other side of the walking component of the present invention;

[0038] Figure 5 This is a perspective view of the entire invention;

[0039] Figure 6 This is a structural diagram of the welding head of the present invention;

[0040] Figure 7 This is a perspective view of the welding head, rotating component, and lifting component of the present invention;

[0041] Figure 8 This is a perspective view of the fixing block of the avoidance block of the present invention;

[0042] Figure 9 This is a schematic diagram of the movement of the avoidance block of the present invention;

[0043] Figure 10 This is a perspective view of the clamping assembly of the present invention;

[0044] Figure 11 This is a schematic diagram of the movement of the clamping assembly of the present invention;

[0045] Figure 12 This is a cross-sectional view of the internal portion of the separator of the present invention.

[0046] The reference numerals in the attached figures are as follows:

[0047] 1. Welding head; 2. Crossbeam; 3. Load-bearing column; 4. Separator; 5. Telescopic component; 6. Vision sensor; 7. Threaded column; 8. Adjusting ring; 9. Telescopic sleeve; 10. Rotating component; 11. Lifting component; 12. Cover; 13. Clearing block; 14. Fixing block; 15. Hinge ear; 16. Hinge column; 17. Driven gear; 18. Drive motor; 19. Drive gear; 20. Clamping column; 21. Sliding column; 22. Fixing component; 23. Drive groove; 24. Extrusion component; 25. Spring; 26. Hydraulic chamber; 27. Piston column; 28. Oil pipe; 29. ​​Solenoid valve; 30. Hydraulic pump. Detailed Implementation

[0048] Preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, which form part of the present invention and, together with the embodiments of the present invention, serve to illustrate the principles of the present invention.

[0049] Example 1: As Figure 1 , Figure 2 As shown, this embodiment provides a laser welding robot for metal components in bridge construction, including a walking component. At least one end of the walking component has a welding head 1. The walking component is attached to a crossbeam 2 and is fixed relative to the crossbeam 2 by a clamping assembly. The welding head 1 is connected to the walking component by a robotic arm. The robotic arm drives the welding head 1 to move along the welding contour line of the crossbeam 2 and the load-bearing column 3. When the welding head 1 has performed welding work on the entire welding contour line, the welding action is completed.

[0050] The traveling component includes two separate bodies 4, which are connected by a telescopic member 5. The telescopic member 5 drives the two separate bodies 4 to move relative to each other. The telescopic member 5 can be a hydraulic telescopic rod.

[0051] The clamping components on the two separate bodies 4 can be clamped onto the crossbeam 2 either by one or both at the same time. In other words, the clamping components on the two separate bodies 4 can be controlled separately, so that the clamping component on one of the separate bodies 4 can work or the clamping components on both of the separate bodies 4 can work.

[0052] In the above scheme, when one of the separating bodies 4 is fixed to the crossbeam 2 under the clamping action of the clamping assembly, the telescopic component 5 drives the other separating body 4 to slide on the crossbeam 2, so that the two separating bodies 4 can move sequentially on the crossbeam 2, so that the traveling component moves on the crossbeam 2 and welds each crossbeam 2 of the entire bridge sequentially, so that the end of each crossbeam 2 is welded and fixed to the top of the load-bearing column 3, thereby achieving the automatic welding function.

[0053] As one possible embodiment, since the separation body 4, the robotic arm and the welding head 1 will cause motion interference with the load-bearing column 3, the robotic arm on a single separation body 4 drives the welding head 1 to move on at least two adjacent surfaces of the load-bearing column 3, so that the welding head 1 covers half of the welding outline of the crossbeam 2 and the load-bearing column 3. Then, through the mutual movement between the two separation bodies 4, another separation body 4 is moved to the welding position to weld the remaining welding area.

[0054] As one possible implementation, such as Figure 3 As shown, both separate bodies 4 are equipped with vision sensors 6. The vision sensors 6 can analyze the position of the separate body 4 on the crossbeam 2, and the telescopic component 5 performs telescopic movement based on the feedback from the vision sensors 6.

[0055] It should be noted that the specific location of the separator 4 on the crossbeam 2 is achieved through visual guidance. The specific solution is as follows:

[0056] Phase 1: One-time calibration (establishing a baseline):

[0057] Locating the seam: Control the movement of the separator 4 in the manner mentioned above so that the seam of the crossbeam 2 enters the field of view of the vision sensor 6.

[0058] Accurate identification: The vision sensor 6 scans or photographs the seam, and through built-in or host computer image processing algorithms (such as edge detection, laser line center extraction, or template matching based on seam features), accurately calculates the coordinates of the seam center in the sensor coordinate system.

[0059] Record the reference point: Permanently save this coordinate to the controller's memory or configuration file as the zero point of the entire system's position reference.

[0060] Second stage: Loop execution (motion based on the reference point):

[0061] Receiving instructions: The operator or the host system gives instructions, such as "move 150mm to the right from the reference point".

[0062] Calculate the target position: The controller converts the command into absolute coordinates: the target position.

[0063] Execution of motion: The controller drives the telescopic component 5 to move the separated body 4 to the calculated target position.

[0064] like Figure 3 As shown, a threaded post 7 is fixed to the bottom of the separator 4, and an adjusting ring 8 is installed on the external thread of the threaded post 7. The height of the adjusting ring 8 can be adjusted by rotating the adjusting ring 8, thereby adjusting the height position of the separator 4 on the crossbeam 2.

[0065] As one possible implementation, such as Figure 4 , Figure 5 As shown, the robotic arm includes several telescopic sleeves 9, which are sequentially fitted from the inside out and are sealed together. The ends of the telescopic sleeves 9 are connected by a limiting structure (not shown in the figure). The limiting structure can prevent the telescopic sleeves 9 from falling off each other. The outermost telescopic sleeve 9 is fixed to the outer wall of the separating body 4. The telescopic sleeves 9 can slide against each other by external force. The telescopic sleeves 9 are configured in a concentric arc shape.

[0066] It should be noted that during welding preparation, the separated body 4 needs to be moved to the vicinity of the load-bearing column 3 using the aforementioned visual guidance positioning method. Specifically, the center line of the ring formed by the telescopic sleeve 9 can be aligned with the center line of the load-bearing column 3 through the built-in controller and prior calculation.

[0067] Several telescopic sleeves 9 are hollow and open at both ends, with the end near the welding head 1 being closed, thus forming a connected cavity inside the several telescopic sleeves 9. The outermost telescopic sleeve 9 is fixed to the outer wall of the separator 4. A control pump (not shown in the figure) is installed on the separator 4. The control pump is used to inject or extract the driving medium into the telescopic sleeves 9 to realize the relative movement of the several telescopic sleeves 9.

[0068] It should be noted that the driving medium can be air. Air is injected into the telescopic sleeve 9 by controlling the pump, which causes several telescopic sleeves 9 to extend. The air inside the telescopic sleeve 9 is extracted by controlling the pump, and the several telescopic sleeves 9 are contracted under negative pressure.

[0069] The driving medium can also be hydraulic oil. By controlling the pump, hydraulic oil is injected into the telescopic sleeve 9, which can drive several telescopic sleeves 9 to extend. By controlling the pump, the hydraulic oil in the telescopic sleeve 9 is extracted. Under the action of negative pressure, several telescopic sleeves 9 contract, thereby achieving the purpose of extension and retraction. This allows the welding head 1 to make a circular motion around the load-bearing column 3 under the drive of the robotic arm, thereby welding the outline to be welded.

[0070] As one possible implementation, such as Figure 6 , Figure 7 As shown, since the outline to be welded is not a regular circle, the welding head 1 is connected to the end of the innermost telescopic sleeve 9 through the rotating part 10 and the lifting part 11. The rotating part 10 drives the welding head 1 to rotate along the horizontal plane, and the lifting part 11 drives the welding head 1 to rise and fall along the vertical line. The engineer can perform path planning for the rotating part 10, the lifting part 11 and the robotic arm, which facilitates the automatic welding of each welding point of the crossbeam 2 in the future.

[0071] The lifting component 11 is fixedly connected to the top of the welding head 1, and the bottom output end of the rotating component 10 is fixedly connected to the top end of the lifting component 11. The lifting component 11 can be an electric telescopic rod, and the rotating component 10 can be a motor.

[0072] As one possible implementation, such as Figure 8 , Figure 9 As shown, in order to prevent the welding head 1 from interfering with the crossbeam 2 under the action of the robotic arm within a limited space, a cover 12 is fixedly connected to the outside of the rotating part 10, a clearance block 13 is fixedly connected to one side of the cover 12, a fixing block 14 is provided below the clearance block 13, the fixing block 14 is fixedly connected to the end of the innermost telescopic sleeve 9, the end of the clearance block 13 is connected to a hinge ear 15, and a hinge post 16 is connected to the side of the fixing block 14 near the hinge ear 15, and the hinge ear 15 is hinged to the hinge post 16.

[0073] like Figure 7 As shown, a driven gear 17 is connected to the outer wall of the hinge ear 15, and a drive motor 18 is installed on the outer wall of the fixed block 14. A drive gear 19 is fixed to the output shaft of the drive motor 18. The drive gear 19 meshes with the driven gear 17. The drive motor 18 drives the drive gear 19 to rotate, and the drive gear 19 drives the driven gear 17 to rotate. The driven gear 17 drives the hinge ear 15 and the clearance block 13 to rotate around the hinge post 16, thereby causing the welding head 1 to flip and avoid motion interference with the crossbeam 2.

[0074] As one possible implementation, such as Figure 10 As shown, the clamping assembly includes clamping columns 20 disposed on both sides of the separator 4. When the clamping columns 20 on both sides of the separator 4 approach each other, they can clamp the two sides of the crossbeam 2. The clamping columns 20 on both sides of the crossbeam 2 are driven to approach each other by air pressure or hydraulic pressure.

[0075] The specific solution is as follows: four clamping columns 20 are provided on a single separator 4. The four clamping columns 20 are divided into two groups. One end of the clamping column 20 is fixedly connected to a sliding column 21. The sliding column 21 is slidably connected to the side wall of the separator 4. The two clamping columns 20 in each group are fixed together by a fastener 22. The two groups of clamping columns 20 are respectively set on both sides of the crossbeam 2. When the two groups of clamping columns 20 are close, they can be clamped on the crossbeam 2, thereby keeping the separator 4 and the crossbeam 2 in a fixed state.

[0076] like Figure 11As shown, as a scheme for driving the two sets of clamping columns 20 to move relative to each other, a driving groove 23 is provided at one end of the two fixed members 22 adjacent to each other. The driving groove 23 has an inclined surface. A pressing member 24 is provided above the driving groove 23. The two ends of the pressing member 24 are inserted into the driving groove 23. The clamping column 20 is connected to the side wall of the separating body 4 through a spring 25. In the default state without external force, the spring 25 contracts, causing the two sets of clamping columns 20 to move away from each other. When the pressing member 24 moves downward, the two fixed members 22 move closer to each other under the pushing action of the inclined surface, thereby causing the two sets of clamping columns 20 to move closer to each other.

[0077] like Figure 12 As shown, a piston rod 27 is fixedly connected to the top of the extrusion part 24, and a hydraulic chamber 26 is opened on the top of the separator 4. The piston rod 27 and the hydraulic chamber 26 are connected in a sealed sliding connection. An oil pipe 28 is connected between the two separators 4. The two ends of the oil pipe 28 are respectively connected to the hydraulic chamber 26 on the two separators 4. Solenoid valves 29 and hydraulic pumps 30 are connected to both ends of the oil pipe 28.

[0078] In the above scheme, the total capacity of the hydraulic chambers 26 on the two separators 4 is less than the oil storage capacity, and the oil storage capacity is less than the total capacity of the two hydraulic chambers 26 and the oil pipe 28. When one of the separators 4 needs to be moved, the two solenoid valves 29 and the hydraulic pump 30 are opened to inject oil into the hydraulic chamber 26 on the other separator 4 that needs to be fixed to the crossbeam 2. The two sets of clamping columns 20 on the separator 4 that needs to be moved are released under the restoring action of the spring 25. At this time, the separator 4 is moved on the crossbeam 2 by the telescopic member 5, thereby completing a movement process. In this way, the two separators 4 can move on the crossbeam 2 continuously, thereby achieving the effect of adjusting the position of the separators 4.

[0079] Example 2: This example differs from Example 1 in that it provides a laser welding method for metal components used in bridge construction, comprising the following steps:

[0080] S1. Alternating Movement and Positioning Clamping: The two separating bodies 4 achieve "peristaltic" movement on the crossbeam 2. During operation, the clamping assembly on one separating body 4 (composed of clamping column 20, spring 25, hydraulic chamber 26, piston column 27, etc.) clamps the crossbeam 2 under hydraulic drive to fix itself. At the same time, through the linkage system composed of oil pipe 28 and hydraulic pump 30, oil is pumped into the hydraulic chamber 26 of the other separating body 4 to be moved, causing its clamping assembly to release the crossbeam 2 under the action of spring 25. Then, the telescopic component 5 moves, pushing or pulling the released separating body 4 to slide along the crossbeam 2 to a new position. Subsequently, the oil is transferred to realize the interchange of the clamping states of the two separating bodies 4, thereby completing one step. This process can be repeated, so that the traveling component can move continuously and stably on the crossbeam 2 to each welding station.

[0081] S2. Robotic Arm Drive and Path Coverage: Upon reaching the welding position, the robotic arm, composed of multiple concentric arc-shaped telescopic sleeves 9, begins to work; the control pump injects or extracts the driving medium (air or hydraulic oil) into the sealed telescopic sleeve 9 cavity, driving the relative sliding of each layer of telescopic sleeve 9, thereby realizing the extension and retraction of the robotic arm; its movement trajectory is planned as a ring around the load-bearing column 3, with the aim of driving the welding head 1 to move along the welding contour line; due to space constraints and the irregularity of the contour, the robotic arm on a single separator 4 usually only completes the welding of half of the contour; through the alternating movement and relay operation of the two separators 4, the welding of the entire circle of weld is completed by the two welding heads 1.

[0082] S3. Fine position adjustment of welding head 1: The welding head 1, installed at the end of the innermost telescopic sleeve 9, is equipped with a multi-degree-of-freedom adjustment mechanism; the rotating component 10 can drive the welding head 1 to rotate in the horizontal plane to adjust the welding angle; the lifting component 11 can drive it to rise and fall vertically to adapt to the weld contour; by driving the drive gear 19 and driven gear 17 through the drive motor 18, the welding head 1, together with the rotating component 10, the lifting component 11 and the cover 12, can be rotated around the hinge column 16; this rotation action can effectively avoid obstacles such as the crossbeam 2, solve the motion interference problem, and ensure that the welding head 1 can reach and maintain the best welding posture.

[0083] S4. Continuous automated operation: Through the above steps, after the traveling component completes half a circle of welding at a welding station, the separation body 4 moves alternately to position another separation body 4 carrying the welding head 1 at the station to complete the remaining half circle of welding; then, the traveling component moves along the crossbeam 2 to the connection between the next crossbeam 2 and the load-bearing column 3, and repeats the above welding process, thereby realizing automated and continuous welding construction of multiple nodes of the entire bridge.

[0084] In summary, this invention, through the alternating clamping and movement of two separate bodies 4, enables stable and uninterrupted movement to various welding nodes on the crossbeam 2, replacing the traditional manual or large-scale equipment-intensive positioning methods. This significantly improves the continuity and overall efficiency of long-distance, multi-station welding construction, realizing automated continuous welding operations on bridge steel structures. By setting up an arc-shaped telescopic sleeve 9 and a robotic arm 9 structure, combined with the flipping function of the welding head 1, the moving parts can move flexibly within the narrow and confined space formed by the crossbeam 2 and the load-bearing column 3, ensuring that the laser welding head 1 can accurately reach and run along the entire irregular welding contour line, guaranteeing the integrity and welding quality of the weld, and effectively solving the problems of motion interference and welding accessibility in complex spaces. Initial calibration and real-time guidance are performed by a vision sensor 6, establishing a precise absolute coordinate reference for all movements of the moving parts. This allows the movement of the separate bodies 4, the trajectory planning of the robotic arm, and the posture adjustment of the welding head 1 to all be based on a unified... Accurate spatial positioning information reduces human measurement errors, enabling high-precision, repeatable automated welding and improving the accuracy and automation level of welding positioning. By adopting a hydraulic linkage design for the clamping assembly, the clamping actions of the two separate bodies 4 are linked and controlled through a shared oil circuit system, allowing the clamping of one side and the loosening and movement of the other side to be completed smoothly and automatically. This not only simplifies the control logic but also improves the reliability and response speed of the stepping movement, ensuring the stability and safety of the walking parts in high-altitude operations. The height is finely adjusted through the threaded column 7 and the adjusting ring 8, and the end of the robotic arm is equipped with a multi-degree-of-freedom (rotation, lifting, flipping) welding head 1 posture adjustment mechanism. These designs enable the walking parts to adapt to beams 2 and load-bearing columns 3 of different sizes and specifications, as well as complex on-site installation conditions. Through flexible adjustments, the optimal welding position can always be found, improving the versatility and engineering applicability of the equipment and enhancing the robot's environmental adaptability and adjustment convenience.

[0085] In the description of this specification, references to terms such as "an embodiment," "example," "specific example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0086] The terms "first," "second," "third," "fourth," etc. (if present) in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that embodiments of the present application described herein can be implemented, for example, in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0087] The devices or elements referred to in the embodiments of this application or implied herein must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as limiting the embodiments of this application. In the description of the embodiments of this application, "a plurality of" means two or more, unless otherwise precisely specified.

[0088] The preferred embodiments of the present invention disclosed above are merely illustrative of the invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the invention to the specific implementations described. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the invention, thereby enabling those skilled in the art to better understand and utilize the invention. The invention is limited only by the claims and their full scope and equivalents.

Claims

1. A laser welding robot for metal components in bridge construction, comprising a walking component, wherein at least one end of the walking component has a welding head, characterized in that: The traveling component is attached to the crossbeam and is fixed relative to the crossbeam by a clamping assembly; the welding head is connected to the traveling component by a robotic arm, and the robotic arm drives the welding head to move along the welding contour line between the crossbeam and the load-bearing column to complete the welding action. The traveling component includes two separate bodies connected by a telescopic component, which drives the two separate bodies to move relative to each other. The clamping components on the two separate bodies can be clamped onto the crossbeam either one or both at the same time; When one of the separated parts is clamped onto the crossbeam by the clamping assembly, the telescopic component drives the other separated part to slide on the crossbeam, causing the traveling component to move on the crossbeam and weld each crossbeam of the entire bridge in sequence.

2. The laser welding robot for bridge construction metal parts as described in claim 1, characterized in that: The robotic arm on a single separate body moves the welding head across at least two adjacent faces of the load-bearing column, so that the welding head covers half of the welding outline of the beam and the load-bearing column.

3. The laser welding robot for bridge construction metal parts as described in claim 1, characterized in that: Both separators are equipped with vision sensors that can analyze their position on the crossbeam, and the telescopic components extend and retract based on the feedback from the vision sensors.

4. The laser welding robot for bridge construction metal parts as described in claim 1, characterized in that: The robotic arm consists of several telescopic sleeves, which are sequentially fitted from the inside out. The ends of the telescopic sleeves are connected by a limiting structure to prevent them from falling off. The outermost telescopic sleeve is fixed to the separating body. The telescopic sleeves can slide against each other by external force. The telescopic sleeves are configured in a concentric arc shape.

5. The laser welding robot for bridge construction metal parts as described in claim 4, characterized in that: Several telescopic sleeves are hollow and have an open end near the separator. The outermost telescopic sleeve is fixed to the separator. A control pump is installed on the separator. The control pump is used to inject or extract the driving medium into or from the telescopic sleeves to achieve relative movement of the several telescopic sleeves.

6. The laser welding robot for bridge construction metal parts as described in claim 5, characterized in that: The driving medium is air. Air is injected into the telescopic sleeve by controlling the pump, which causes several telescopic sleeves to extend. The air inside the telescopic sleeves is extracted by controlling the pump, and the negative pressure causes several telescopic sleeves to contract.

7. The laser welding robot for bridge construction metal parts as described in claim 5, characterized in that: The driving medium is hydraulic oil. The hydraulic oil is injected into the telescopic sleeve by the control pump, which can drive several telescopic sleeves to extend. The hydraulic oil in the telescopic sleeve is extracted by the control pump, and several telescopic rods retract under negative pressure.

8. The laser welding robot for bridge construction metal parts as described in claim 4, characterized in that: The welding head is connected to the innermost telescopic sleeve end via a rotating component and a lifting component. The rotating component drives the welding head to rotate along the horizontal plane, and the lifting component drives the welding head to rise and fall along the vertical line.

9. The laser welding robot for bridge construction metal parts as described in claim 1, characterized in that: The clamping assembly includes clamping columns disposed on both sides of the separator. The clamping columns on both sides of the separator are close to each other and can clamp onto both sides of the crossbeam. The clamping columns are driven to move closer to each other by air pressure or hydraulic pressure.

10. A method for laser welding metal components in bridge construction, employing a laser welding robot for bridge construction metal components as described in any one of claims 1-9, characterized in that, Includes the following steps: S1. The traveling component is attached to the crossbeam that has been positioned on the bridge. The traveling component includes a first separation body and a second separation body connected by a telescopic component. The two separation bodies are provided with clamping components for fixing to the crossbeam. S2, drive the traveling component to move on the crossbeam: The clamping assembly of the first separator clamps the crossbeam, and the telescopic component pushes the second separator to slide along the crossbeam. The clamping assembly of the second separator clamps the crossbeam and releases the clamping assembly of the first separator, and the telescopic component pulls the first separator to slide along the crossbeam; S3. Repeat the above clamping, sliding and releasing steps to move the traveling component along the crossbeam; After the moving part moves to the welding station, the robotic arm drives the welding head to move along the welding contour line between the crossbeam and the load-bearing column, and laser welding is performed.

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