Large-span arch bridge girth welding multi-robot collaborative operation system based on flexible guide rails

Abstract

The invention discloses a multi-robot collaborative operation system for girth welding of a large-span arch bridge based on a flexible guide rail, and relates to the related field of welding robots. The system comprises a flexible annular track and a multi-robot execution layer; a multi-robot execution layer is arranged at the top end of the flexible annular rail and comprises a preheating robot, a welding robot, a grinding robot and a detection robot. The preheating robot is used for conducting electromagnetic induction heating and precise temperature control on a weld joint area before welding, hydrogen-induced cracks are eliminated, and preparation is made for welding. The welding robot is used for completing multi-layer and multi-pass automatic welding along a welding seam, tracking the welding seam in real time, monitoring a molten pool and guaranteeing welding forming and quality. A robot group and a flexible annular track are adopted; by controlling the working sequence of the robot group, automation of girth welding of the large-span arch bridge can be achieved, and the operation stability and the welding safety of the working mode that a single robot is matched with manual assistance are achieved.

Description

Technical Field

[0001] This invention relates to the field of welding robots, specifically to a multi-robot collaborative operation system for circumferential welding of a large-span arch bridge based on flexible guide rails. Background Technology

[0002] In large-span arch bridges, the arch ribs of the main arch segments are typically pre-assembled and fixed using flanges, with the gaps usually reinforced by welding. Currently, welding of the main arch segments of large-span arch bridges still relies heavily on manual operation, facing multiple challenges such as limited working space (narrow gaps between arch ribs), low construction efficiency (difficult high-altitude transport), and significant safety risks (working at heights near edges). Therefore, there is an urgent need to design a multi-robot collaborative operation system for circumferential welding of large-span arch bridges based on flexible guide rails. Through the coordinated operation of a cluster of multiple robots in preheating, welding, grinding, and inspection, high-quality and high-efficiency automated welding of arch rib segments of large-span arch bridges in high-altitude environments can be achieved.

[0003] Current bridge steel structure welding operations mainly employ manual welding or a semi-automated mode of "single robot + human assistance." Even when a single welding robot performs only the core weld filling and deposition operations, key aspects such as work area planning, trajectory accuracy control, and adaptive adjustment of welding parameters still heavily rely on human intervention: before operation, manual workpiece clamping and positioning, welding station debugging, robot trajectory teaching programming, and welding torch and welding material installation and inspection are required; during operation, manual monitoring of the welding status is required, along with manual adjustment of the robot's posture, correction of welding parameters, cleaning of weld slag, and inspection of defects such as weld misalignment and incomplete fusion; after operation, manual inspection of the weld appearance and grinding and repair of defects are also required. This operation mode is not only labor-intensive, but the welding quality is also significantly affected by subjective factors such as human skill and sense of responsibility, making it difficult to guarantee consistent quality. The operation efficiency is limited by the pace of human assistance, failing to fully utilize the technological advantages of robots. The aforementioned problems are particularly pronounced in the high-altitude, high-intensity, and high-requirement special operating scenarios of the main arch segments of long-span arch bridges. These problems stem from several factors: the main arch segments are typically located tens or even hundreds of meters above the ground, resulting in limited working space; the large number of arch rib segments and welds in long spans of large-span arch bridges, requiring long continuous welding times for individual circumferential welds, leading to high operational intensity; the main arch is a critical load-bearing structure, and the weld quality directly affects the overall safety and service life of the bridge; furthermore, the variable weather conditions, such as wind and temperature, in high-altitude operations place extremely high demands on the stability control of the welding process. Therefore, it is urgent to break through traditional operating models, leverage the collaborative advantages of multi-robot clusters, and construct an automated circumferential welding system adapted to the special working conditions of long-span arch bridges, fundamentally improving welding efficiency and quality assurance capabilities. Summary of the Invention

[0004] The purpose of this invention is to provide a multi-robot collaborative operation system for circumferential welding of large-span arch bridges based on flexible guide rails. This system adopts a special operation mode in which multiple robot actuators are attached to the curved surface of the arch bridge via flexible guide rails to perform collaborative circumferential welding operations. While adapting to complex spatial curved surface morphology, it achieves multi-station parallel and efficient welding, thereby solving the technical problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a multi-robot collaborative operation system for circumferential welding of a long-span arch bridge based on a flexible guide rail, comprising a flexible ring track and a multi-robot execution layer;

[0006] The multi-robot execution layer includes a preheating robot, a welding robot, a grinding robot, and an inspection robot;

[0007] The preheating robot is used to perform electromagnetic induction heating and precise temperature control on the weld area before welding, eliminating hydrogen-induced cracks and preparing for welding.

[0008] The welding robot is used to complete multi-layer and multi-pass automatic welding along the weld seam, track the weld seam in real time, monitor the molten pool, and ensure welding formation and quality.

[0009] The grinding robot is used to automatically remove welding slag, spatter and oxide scale after welding, and to grind the weld surface with constant force to improve the appearance and subsequent inspection accuracy.

[0010] The inspection robot uses an ultrasonic phased array to automatically detect internal defects in the weld, simultaneously supplies coupling agent, and provides weld quality judgment results.

[0011] Furthermore, the preheating robot includes a first execution module, an electromagnetic preheating module, and a first vision module. One end of the first execution module is provided with the electromagnetic preheating module and the first vision module, and the first vision module is located at the upper end of the electromagnetic preheating module.

[0012] Furthermore, the electromagnetic preheating module includes a quick-change flange, a coil module, a water-cooling chamber, and a temperature sensor;

[0013] The electromagnetic preheating module is connected to the end of the first execution module via a quick-change flange for quick assembly and rigid fixation; the coil module is installed at the other end of the quick-change flange.

[0014] The coil module is made of hollow copper tubing. The water-cooling cavity is integrated into the base of the coil module. Through the closed-loop cooling path design of the water-cooling cavity, the heat of the coil module is removed by water cooling circulation to prevent overheating and burning.

[0015] The temperature sensor includes a K-type thermocouple and an infrared temperature probe. The infrared temperature probe is placed close to the surface of the workpiece, and the data is directly connected to the controller.

[0016] Furthermore, the welding robot includes a second execution module, a welding torch, and a second vision module;

[0017] The second execution module is provided with a welding torch and a second vision module at one end, with the second vision module located at the upper end of the welding torch;

[0018] A clamp is provided between the second execution module and the welding torch. The clamp is connected to the second execution module via a flange. The clamp is used to install and fix the welding torch.

[0019] The second execution module is used to directly carry and drive the welding torch to move, thereby controlling the position and posture of the welding torch and causing the welding torch to complete the welding action along the programmed trajectory.

[0020] Furthermore, the second execution module is at least a five-axis arm mechanism, and each joint of the five-axis arm mechanism is driven by a servo motor and a harmonic reducer.

[0021] Furthermore, the polishing robot includes a third execution module, a polishing module, and a third vision module. The output end of the third execution module is provided with the polishing module and the third vision module, and the third vision module is located at the top of the polishing module.

[0022] Furthermore, the grinding module includes a quick-change flange, a pneumatic floating module, a force sensor module, an elastic buffer layer, and a high-speed grinding motor;

[0023] The pneumatic floating module includes a high-precision cylinder, a pressure regulating valve, and a linear guide rail. The high-precision cylinder uses compressed air as power, and the pressure regulating valve adjusts the air pressure to control the grinding force. Combined with the linear guide rail, it achieves smooth floating without jamming.

[0024] The force sensor module has a built-in tensile and compressive sensor to realize closed-loop constant force control. It collects grinding contact force data in real time, transmits the signal to the controller, compares it with the preset force value, and automatically adjusts the air pressure and motor speed through PID algorithm to realize closed-loop constant force control.

[0025] The elastic buffer layer uses a highly elastic and wear-resistant rubber pad, which is placed between the pneumatic floating module and the high-speed grinding motor to absorb vibration during the grinding process, reduce the grinding wheel bounce, improve the surface grinding accuracy, and protect the sensor and the robotic arm.

[0026] The high-speed grinding motor is a brushless DC motor, which is small in size and has high torque.

[0027] Furthermore, the detection robot includes a fourth execution module, a constant force attachment ultrasonic phased array detection module, and a fourth vision module;

[0028] The output end of the fourth execution module is equipped with a constant force attachment ultrasonic phased array detection module and a fourth vision module, with the fourth vision module located at the top of the constant force attachment ultrasonic phased array detection module.

[0029] Furthermore, the constant force attachment ultrasonic phased array detection module includes a constant force floating mechanism, an ultrasonic phased array probe, and a coupling agent supply unit;

[0030] The constant force floating mechanism is driven by compressed air and the adhesion force is precisely adjusted by a pressure regulating valve.

[0031] The ultrasonic phased array probe includes a probe clamp, a probe protective cover, and a wear-resistant adhesive pad. The protective cover is made of wear-resistant polyurethane material to prevent the probe from being damaged by collision, and the adhesive pad reduces the friction between the probe and the workpiece to ensure smooth detection.

[0032] The coupling agent supply unit includes a miniature diaphragm pump and a metering nozzle. The metering nozzle is close to the detection surface of the ultrasonic phased array probe, and the dispensing rate is infinitely adjustable from 0.5 to 5 mL / min, so as to achieve synchronous and uniform application of coupling agent during scanning and avoid coupling agent waste.

[0033] Furthermore, the bottom ends of the first execution module (21), the second execution module (31), the third execution module (41) and the fourth execution module (51) are all connected to a traveling module (6) by bolts. The traveling module (6) is connected to the flexible track (1) and drives the first execution module (21), the second execution module (31), the third execution module (41) and the fourth execution module (51) to move through the traveling module (6).

[0034] The preheating robot, welding robot, grinding robot, and inspection robot are all equipped with corresponding controllers. The controllers are electrically connected to each component of each machine and are used to control the execution of each component, thereby completing the circumferential welding operation of the large-span arch bridge.

[0035] Compared with the prior art, the beneficial effects of the present invention are:

[0036] This invention employs a robot swarm and a flexible circular track; by controlling the working sequence of the robot swarm, the automation of circumferential welding of large-span arch bridges can be achieved, solving the problems of operational stability and welding safety in the operation mode of single robot combined with manual assistance. Attached Figure Description

[0037] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying 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.

[0038] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0039] Figure 2 This is a schematic diagram of the preheating robot of the present invention;

[0040] Figure 3 This is a schematic diagram of the welding robot of the present invention;

[0041] Figure 4 This is a schematic diagram of the grinding robot of the present invention;

[0042] Figure 5 This is a schematic diagram of the structure of the detection robot of the present invention;

[0043] Figure 6 This is a logic diagram of the operating system of the present invention.

[0044] In the diagram: 1. Flexible circular track; 2. Preheating robot; 3. Welding robot; 4. Grinding robot; 5. Inspection robot;

[0045] 21. First execution module; 22. Electromagnetic preheating module; 23. First vision module;

[0046] 31. Second execution module; 32. Welding torch; 33. Second vision module;

[0047] 41. Third execution module; 42. Polishing module; 43. Third vision module;

[0048] 51. Fourth execution module; 52. Constant force attachment ultrasonic phased array detection module; 53. Fourth vision module;

[0049] 6. Travel module. Detailed Implementation

[0050] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0051] Example 1:

[0052] Please see Figure 1 and Figure 6 A multi-robot collaborative operation system for circumferential welding of a long-span arch bridge based on a flexible guide rail, comprising a flexible ring track 1 and a multi-robot execution layer;

[0053] The flexible circular track 1 is attached to the outer perimeter of the main arch segment by a magnetic base installed below;

[0054] The multi-robot execution layer includes a preheating robot 2, a welding robot 3, a grinding robot 4, and an inspection robot 5;

[0055] The preheating robot 2 is used to perform electromagnetic induction heating and precise temperature control on the weld area before welding to eliminate hydrogen-induced cracks and prepare for welding.

[0056] Welding robot 3 is used to complete multi-layer and multi-pass automatic welding along the weld seam, track the weld seam in real time, monitor the molten pool, and ensure the welding formation and quality.

[0057] The grinding robot 4 is used to automatically remove welding slag, spatter and oxide scale after welding, and grinds the weld surface with constant force to improve the appearance and subsequent inspection accuracy.

[0058] The inspection robot 5 uses an ultrasonic phased array to automatically detect internal defects in the weld, simultaneously supplying coupling agent and providing weld quality judgment results.

[0059] The preheating robot 2, welding robot 3, grinding robot 4 and inspection robot 5 are respectively equipped with a first execution module 21, a second execution module 31, a third execution module 41 and a fourth execution module 51;

[0060] In this embodiment, the first execution module 21, the second execution module 31, the third execution module 41 and the fourth execution module 51 can all be arm-type mechanisms with five rotating shafts. In different embodiments, arm-type mechanisms with different numbers of rotating shafts or other applicable multi-directional adjustment structures can be used.

[0061] The bottom ends of the first execution module 21, the second execution module 31, the third execution module 41 and the fourth execution module 51 are all connected to the flexible ring track 1;

[0062] The bottom ends of the first execution module 21, the second execution module 31, the third execution module 41 and the fourth execution module 51 are all bolted to a traveling module 6. The traveling module 6 is connected to the flexible track 1 and drives the first execution module 21, the second execution module 31, the third execution module 41 and the fourth execution module 51 to move.

[0063] In this embodiment, four rolling bearings are installed on each of the two sides inside the walking module 6, and they are in contact with the flexible track 1 at a 45-degree angle at the top and bottom to restrict its lateral displacement. When the walking module drives the first execution module 21, the second execution module 31, the third execution module 41 and the fourth execution module 51 to run, the motor installed inside the walking module 6 drives the ratchet at the bottom. The ratchet interacts with the groove inside the flexible track 1 to drive the robot to move along the circumferential weld.

[0064] The preheating robot 2, welding robot 3, grinding robot 4 and inspection robot 5 are all equipped with corresponding controllers. The controllers are electrically connected to each component of each machine to control the execution of each component, thereby completing the circumferential welding operation of the large-span arch bridge.

[0065] Example 2:

[0066] See Figure 2 This embodiment further proposes a specific structure for the preheating robot 2 based on the above embodiments;

[0067] The preheating robot is equipped with a first execution module 21, an electromagnetic preheating module 22, and a first vision module 23. The electromagnetic preheating module 22 is mechanically connected to the end effector of the first execution module 21 via a quick-change flange, enabling rapid disassembly and rigid fixation. Its coil module is wound with hollow copper tubing and installed at the front end of the flange. The coil plane maintains a uniform air gap with the workpiece surface. The water-cooling cavity is integrated into the back of the coil base and connected to an external circulating water cooling mechanism to form a closed-loop cooling path. The temperature sensors include a K-type thermocouple close to the workpiece surface and an infrared temperature probe aligned laterally with the preheating trajectory. The two signals are directly connected to the controller. During installation, the first vision module 23 is fixed to... The first execution module 21 is positioned above the end and completes hand-eye calibration. During operation, the controller pre-plans the preheating trajectory based on the welding robot 3's pose and controls the robot to walk at a speed of 0.5-2m / min. A medium-frequency alternating current is passed into the coil to generate induction heating. The water cooling circulation simultaneously removes the heat from the coil. Dual-channel temperature data is fed back to the controller to achieve PID closed-loop temperature control. The vision module identifies the bevel centerline in real time for servo correction. The time delay compensation algorithm maintains a fixed distance of 300-500mm with the welding robot 3 and adjusts the attitude angle synchronously. After the temperature reaches the target, a completion signal is sent to the welding robot 3 and the next preheating stage continues, realizing continuous assembly line operation.

[0068] Example 3:

[0069] See Figure 3 This embodiment further proposes a specific structure for the welding robot 3 based on the above embodiments;

[0070] The welding robot 3 includes a second execution module 31, a welding torch 32, and a second vision module 33;

[0071] The second execution module 31 is provided with a welding torch 32 and a second vision module 33 at one end, and the second vision module 33 is located at the upper end of the welding torch 32.

[0072] A clamp is provided between the second execution module 31 and the welding torch 32. The clamp is connected to the second execution module 31 via a flange. The clamp is used to install and fix the welding torch 32.

[0073] The second execution module 31 is used to directly carry and drive the welding torch 32 to move, thereby controlling the position and posture of the welding torch 32, so that the welding torch 32 completes the welding action along the programmed trajectory.

[0074] The second execution module 31 is an arm-type mechanism with at least five rotating axes, and each joint of the arm-type mechanism with five rotating axes is driven by a servo motor and a harmonic reducer.

[0075] During installation, the welding torch 32 is fixed to the holder and the distance between the conductive tip and the workpiece is adjusted. The second vision module 33 is placed above the welding torch 32 and undertakes the functions of weld seam tracking and molten pool monitoring. Multi-view vision calibration is performed to establish the mapping relationship between image coordinates and the joint space of the arm mechanism. During operation, the controller receives the pose data of the preheating robot 2 and superimposes a spacing offset of 300-500mm to generate the welding trajectory. The five-axis linkage realizes the real-time calculation and interpolation of the spatial pose of the welding torch 32. The laser vision on the second vision module 33 identifies the geometric features of the bevel and feeds back the lateral deviation for online trajectory correction. The molten pool vision collects the information on the weld depth and weld width to adjust the welding parameters. The arm mechanism dynamically adjusts the posture angle according to the curvature change of the arch bridge surface to ensure that the welding torch 32 is always perpendicular to the weld seam cutting plane and completes multi-layer and multi-pass welding. The interpass temperature data is fed back to the controller to trigger the intervention of the grinding robot 4. After welding is completed, a positioning signal is sent to the grinding robot 4 and the spacing is kept synchronously moved forward.

[0076] Example 4:

[0077] See Figure 4 This embodiment further proposes a specific structure for the polishing robot 4 based on the above embodiments;

[0078] The polishing robot 4 includes a third execution module 41, a polishing module 42, and a third vision module 43.

[0079] Grinding module 42 includes a quick-change flange, a pneumatic floating module, a force sensor module, an elastic buffer layer, and a high-speed grinding motor;

[0080] The grinding module 42 docks with the robot end effector via a quick-change flange. The pneumatic floating module uses compressed air as its power source, and the air pressure is adjusted by a pressure regulating valve to drive a high-precision cylinder. This, combined with a linear guide rail, enables the grinding head to float adaptively. The force sensor module has built-in tension and compression sensors that collect contact force in real time and feed it back to the controller. A highly elastic, wear-resistant rubber pad is placed between the floating module and the high-speed brushless DC grinding motor. During installation, the high-speed grinding motor is rigidly connected to the flange. The third vision module 43 is fixed above the end effector of the third execution module 41 and undergoes hand-eye calibration. The pressure regulating valve is integrated with the air source and controller for calibration. The target grinding force threshold and motor speed are set. During operation, the controller receives the 3D pose data of the welding robot and superimposes a 300-500mm spacing offset to generate a grinding trajectory. The third execution module 41 carries the grinding module 42 close to the weld seam height. The pneumatic floating module adapts to the surface undulations and extends and retracts. The force sensor monitors the contact force in real time and compares it with the preset value. The PID algorithm dynamically adjusts the air pressure and motor speed to achieve constant force output. The elastic buffer layer absorbs vibration and suppresses the mold jump. The third vision module 43 identifies the weld slag residue and surface roughness. After grinding is completed, it sends a positioning signal to the detection robot and moves forward synchronously while maintaining the spacing.

[0081] Example 5:

[0082] See Figure 5 This embodiment further proposes a specific structure for the detection robot 5 based on the above embodiments;

[0083] The inspection robot 5 includes a fourth execution module 51, a constant force attachment ultrasonic phased array inspection module 52, and a fourth vision module 53;

[0084] The constant force attached ultrasonic phased array detection module 52 includes a constant force floating mechanism, an ultrasonic phased array probe, and a coupling agent supply unit;

[0085] The constant-force ultrasonic phased array detection module 52 docks with the robot end effector via a quick-change flange. The constant-force floating mechanism uses compressed air as a power source, and the output air pressure is precisely adjusted by a pressure regulating valve to achieve constant-force adhesion between the probe and the workpiece surface. The ultrasonic phased array probe is fixed to the front end of the constant-force floating mechanism by a clamp. The probe protective cover is made of wear-resistant polyurethane material to cover the probe housing. An adhesion pad is placed between the probe detection surface and the workpiece to reduce friction. The coupling agent supply unit pumps coupling agent to a metering nozzle through a micro diaphragm pump. The nozzle is positioned at the front edge of the probe close to the detection surface. During installation, the probe clamp is rigidly locked to the front end of the constant-force floating mechanism, and the relative position of the nozzle and the probe detection surface is adjusted to ensure that the adhesive covers the scanning area. The fourth vision module 53 is fixed above the end effector of the fourth execution module 51 and completes hand-eye calibration. The pressure regulating valve, air source, and controller are coordinated to set the target adhesion force. The diaphragm pump is connected to the controller to set the initial adhesive dispensing amount. During operation, the controller receives the 4-position data of the grinding robot and superimposes a 300-500mm spacing offset to generate a detection trajectory. The fourth execution module 51 carries the constant force adhesion ultrasonic phased array detection module 52 close to the weld surface. The constant force floating mechanism adaptively extends and retracts according to the curvature of the surface to maintain a constant contact force between the probe and the workpiece. The ultrasonic phased array probe performs electronic scanning and dynamic focusing along the edge of the circumferential weld and transmits the data to the controller in real time. The coupling agent supply unit adjusts the adhesive dispensing amount synchronously with the scanning speed to achieve uniform wetting. The vision module assists in identifying the geometric features of the weld surface and the probe pose. After the detection is completed, the weld quality grade is generated, the detection result is fed back to the group collaborative controller, and the track occupancy is released.

[0086] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. A multi-robot collaborative operation system for circumferential welding of a long-span arch bridge based on flexible guide rails, characterized in that: It includes a flexible circular track (1) and a multi-robot execution layer; The multi-robot execution layer includes a preheating robot (2), a welding robot (3), a grinding robot (4), and an inspection robot (5); The preheating robot (2) is used to perform electromagnetic induction heating and precise temperature control on the weld area before welding, to eliminate hydrogen-induced cracks and prepare for welding. The welding robot (3) is used to complete multi-layer and multi-pass automatic welding along the weld seam, track the weld seam in real time, monitor the molten pool, and ensure welding formation and quality; The grinding robot (4) is used to automatically remove welding slag, spatter and oxide scale after welding, and to grind the weld surface with constant force to improve the appearance and subsequent inspection accuracy. The inspection robot (5) automatically detects internal defects in the weld using an ultrasonic phased array, simultaneously supplies coupling agent, and provides weld quality judgment results.

2. The multi-robot collaborative operation system for circumferential welding of a long-span arch bridge based on flexible guide rails according to claim 1, characterized in that: The preheating robot (2) includes a first execution module (21), an electromagnetic preheating module (22) and a first vision module (23). The first execution module (21) is provided with an electromagnetic preheating module (22) and a first vision module (23) at one end. The first vision module (23) is located at the upper end of the electromagnetic preheating module (22).

3. The multi-robot collaborative operation system for circumferential welding of a long-span arch bridge based on flexible guide rails according to claim 2, characterized in that: The electromagnetic preheating module (22) includes a quick-change flange, a coil module, a water-cooled cavity, and a temperature sensor; The electromagnetic preheating module (22) is connected to the end of the first execution module (21) via a quick-change flange to achieve quick disassembly and rigid fixation; the coil module is installed at the other end of the quick-change flange; The coil module is made of hollow copper tubing. The water-cooling cavity is integrated into the base of the coil module. Through the closed-loop cooling path design of the water-cooling cavity, the heat of the coil module is removed by water cooling circulation to prevent overheating and burning. The temperature sensor includes a K-type thermocouple and an infrared temperature probe.

4. The multi-robot collaborative operation system for circumferential welding of a long-span arch bridge based on flexible guide rails according to claim 2, characterized in that: The welding robot (3) includes a second execution module (31), a welding torch (32), and a second vision module (33); The second execution module (31) is provided with a welding torch (32) and a second vision module (33) at one end, and the second vision module (33) is located at the upper end of the welding torch (32); A clamp is provided between the second execution module (31) and the welding torch (32). The clamp is connected to the second execution module (31) via a flange. The clamp is used to install and fix the welding torch (32). The second execution module (31) is used to directly carry and drive the welding torch (32) to move, thereby controlling the position and posture of the welding torch (32) so that the welding torch (32) completes the welding action along the programmed trajectory.

5. The multi-robot collaborative operation system for circumferential welding of a long-span arch bridge based on flexible guide rails according to claim 4, characterized in that: The second execution module (31) is at least a five-axis arm mechanism, and each joint of the five-axis arm mechanism is driven by a servo motor and a harmonic reducer.

6. The multi-robot collaborative operation system for circumferential welding of a long-span arch bridge based on flexible guide rails according to claim 4, characterized in that: The polishing robot (4) includes a third execution module (41), a polishing module (42) and a third vision module (43). The output end of the third execution module (41) is provided with the polishing module (42) and the third vision module (43). The third vision module (43) is located at the top of the polishing module (42).

7. A multi-robot collaborative operation system for circumferential welding of a long-span arch bridge based on a flexible guide rail, as described in claim 6, is characterized in that: The grinding module (42) includes a quick-change flange, a pneumatic floating module, a force sensor module, an elastic buffer layer, and a high-speed grinding motor; The pneumatic floating module includes a high-precision cylinder, a pressure regulating valve, and a linear guide rail. The high-precision cylinder uses compressed air as power, and the pressure regulating valve adjusts the air pressure to control the grinding force. Combined with the linear guide rail, it achieves smooth floating without jamming. The force sensor module has a built-in tension and compression sensor to achieve closed-loop constant force control; The elastic buffer layer is made of highly elastic and wear-resistant rubber pads and is set between the pneumatic floating module and the high-speed grinding motor.

8. A multi-robot collaborative operation system for circumferential welding of a long-span arch bridge based on a flexible guide rail, as described in claim 6, is characterized in that: The detection robot (5) includes a fourth execution module (51), a constant force attachment ultrasonic phased array detection module (52), and a fourth vision module (53). The output end of the fourth execution module (51) is provided with a constant force attachment ultrasonic phased array detection module (52) and a fourth vision module (53), and the fourth vision module (53) is located at the top of the constant force attachment ultrasonic phased array detection module (52).

9. A multi-robot collaborative operation system for circumferential welding of a long-span arch bridge based on a flexible guide rail, as described in claim 8, is characterized in that: The constant force attached ultrasonic phased array detection module (52) includes a constant force floating mechanism, an ultrasonic phased array probe, and a coupling agent supply unit; The constant force floating mechanism is driven by compressed air and the adhesion force is precisely adjusted by a pressure regulating valve. The ultrasonic phased array probe includes a probe clamp, a probe protective cover, and a wear-resistant adhesive pad. The coupling agent supply unit includes a micro diaphragm pump and a metering nozzle, enabling the coupling agent to be applied synchronously and evenly during scanning.

10. A multi-robot collaborative operation system for circumferential welding of a long-span arch bridge based on a flexible guide rail, as described in claim 9, is characterized in that: The bottom ends of the first execution module (21), the second execution module (31), the third execution module (41) and the fourth execution module (51) are all connected to a traveling module (6) by bolts. The traveling module (6) is connected to the flexible track (1) and drives the first execution module (21), the second execution module (31), the third execution module (41) and the fourth execution module (51) to move through the traveling module (6).

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