A building steel beam structure positioning welding system
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- HUBEI YUFENG STEEL STRUCTURE CO LTD
- Filing Date
- 2026-04-21
- Publication Date
- 2026-05-29
Smart Images
Figure CN122099484A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of welding equipment, and in particular to a positioning welding system for building steel beam structures. Background Technology
[0002] Steel beams are the core load-bearing components in the load-bearing system of steel structures. Common H-beams are subject to limitations in steel mill rolling specifications, transportation clearances, hoisting capabilities, and on-site installation conditions. To meet the needs of large-span structures, H-beams are usually butt-welded, and the quality of the welding directly determines the overall load-bearing safety, fatigue life, and seismic performance of the steel beam structure.
[0003] H-beams in steel construction consist of a web and two flanges perpendicularly connected to both ends of the web. Used in load-bearing parts of steel structures, H-beams bear heavy loads and have large spans. Their flanges must bear the main tensile and compressive stresses. To provide sufficient bending capacity and ensure the stability of the welded joints, a Y-shaped bevel is usually pre-cut at the flange connection point of the two H-beams before welding. Technicians then weld the H-beam flanges using a multi-layer welding process, followed by welding the web. To ensure installation accuracy, on-site welding is sometimes required. This involves hoisting the H-beam into place, pre-fixing the fixed ends, and adjusting the gap and position of the butt welds based on actual measurement data.
[0004] Regarding the aforementioned technologies, in order to balance the welding heat, control the deflection, lateral bending, and angular deformation of H-beams, and improve the joint accuracy and structural stability of components, it is necessary to simultaneously and symmetrically weld both flanges of the H-beams. However, in on-site welding conditions, especially in high-rise buildings, due to site conditions, it is inconvenient for multiple technicians to operate simultaneously on scaffolding or high-altitude work platforms. Furthermore, after the H-beams are hoisted into place, it is difficult to correct deviations such as misalignment at the H-beam joints. At the same time, when performing multi-layer welding on the bottom flanges of H-beams, the degree of automation is low, technicians need to perform overhead welding for extended periods, resulting in high labor intensity, poor stability, difficulty in guaranteeing welding quality, and low welding efficiency. Therefore, improvements are needed. Summary of the Invention
[0005] In order to facilitate the positioning of two H-beams and improve welding quality and efficiency, this application provides a positioning and welding system for building steel beam structures.
[0006] This application provides a positioning and welding system for building steel beam structures, which adopts the following technical solution: A positioning and welding system for building steel beams includes a mounting frame and a welding robot movably mounted on the mounting frame. The mounting frame is movably mounted on the H-beam to be welded. The welding robot has a welding torch fixed to its execution end. The mounting frame is provided with a positioning component for adjusting and positioning the mounting frame and a driving component for driving the welding robot to move. The drive assembly includes a rotating frame rotatably mounted on a mounting frame. The rotating frame is a cylindrical shape with a notch, and the size of the notch of the rotating frame is larger than the size of the opposite side walls of the H-beam flange parallel to the web. The welding robot is mounted on the rotating frame, and the mounting frame is provided with a switching component that drives the rotating frame to rotate. The positioning assembly includes a positioning plate that is slidably and rotatably mounted on the mounting frame. There are two sets of positioning plates, each set corresponding to one of the two H-beams. Each set has two positioning plates, located on both sides of the web. The sidewalls of the two positioning plates that are close to each other are movably abutted against the sidewalls of the flanges that are parallel to the web. Two positioning wheels are rotatably mounted on the positioning plates, and the axis of rotation of the positioning plates is located between the two positioning wheels. The two positioning wheels are movably abutted against the sidewalls of the two flanges that are close to each other. The mounting frame is provided with an adjusting component for driving the positioning plates to slide and rotate, and a first power component for driving the positioning wheels to rotate.
[0007] By adopting the above technical solution, during construction, technicians use hoisting equipment to lift the installation frame to the position where the H-beam is to be welded, and make the upper flange of the H-beam pass through the gap of the rotating frame. At this time, the two sets of positioning plates correspond to the two H-beams respectively, and the positioning wheels are in a position away from the flange sidewall. This is the initial position of the positioning plates.
[0008] Then, the adjusting component drives the two positioning plates of the same group to slide closer to each other until the side walls of the positioning plates that are close to each other are pressed against the side walls of the flanges that are parallel to the web, thus positioning the H-beam along the flange width direction. Then, the adjusting component drives the positioning plates to rotate at a preset angle, so that the two positioning wheels are pressed against the side walls of the two flanges that are close to each other. Through the two sets of positioning plates and positioning wheels, the H-beam is positioned and fixed along the height direction. At this time, the axis of the rotating frame is consistent with the geometric center axis of the H-beam, which corrects the misalignment deviation of the connection part of the two H-beams, improves the uniformity of the weld pool on both sides of the weld during subsequent welding, and reduces the deformation or cracks caused by uneven distribution of longitudinal and transverse residual stress in the heat-affected zone. At the same time, due to the fixing of the H-beam by the positioning plates and positioning wheels, the torsional deformation caused by weld shrinkage after welding is effectively limited, thus improving the welding quality.
[0009] After the misalignment correction is completed, the first power component drives the positioning wheel to rotate, thereby moving the mounting frame along the H-beam and aligning the welding torch with the bevel on the flange, thus achieving the positioning of the welding robot and the welding torch.
[0010] During welding, the welding robot operates, driving the welding torch to weld the flange. A switching mechanism drives the rotating frame and welding robot to rotate, increasing the welding robot's degrees of freedom, optimizing equipment dimensions, and facilitating the adjustment of the welding torch posture to maintain the optimal welding angle and arc length, thereby improving welding quality. At the same time, the welding robot periodically corresponds to one of the upper and lower flanges, which facilitates multi-layer segmented alternating welding, thereby improving welding stability and efficiency, enhancing the uniformity of heat input, controlling interpass temperature, reducing the risk of cracks at the junction of the flange and web caused by local stress concentration, and improving welding quality.
[0011] After the flange welding is completed, the switching component drives the rotating frame to rotate, which makes it easy to adjust the welding torch to the position for welding the web. At the same time, the welding robot uses the welding torch to weld the web joint, thus realizing the automated welding of H-beams.
[0012] Optionally, the adjusting components are provided in four sets, and the four sets of adjusting components correspond one-to-one with the four positioning plates. The adjusting components include push plates that are slidably disposed on the mounting frame. The push plates are rotatably connected to the positioning plates. The execution end of the welding robot is provided with a video sensor. The mounting frame is provided with a second power component that drives the push plate to slide, a third power component that drives the positioning plates to deflect, and a controller. The video sensor, the first power component, the second power component, and the third power component are all electrically connected to the controller.
[0013] By adopting the above technical solution, after the mounting frame is hoisted into place, technicians use pneumatic equipment and controllers to activate the second power component, which drives the push plate and positioning plate to slide until the positioning plate is pressed against the flange. Then, the controller activates the third power component, which drives the positioning plate to rotate at a preset angle, so that the positioning wheel is pressed against the flange, realizing the automated positioning and correction of the H-beam. Then, the controller activates the first power component, which drives the positioning wheel to rotate, thus moving the mounting frame along the H-beam until the video sensor detects that the welding torch corresponds to the flange bevel, realizing the automated positioning of the welding torch, improving the consistency of weld quality and welding efficiency, and reducing the intensity of manual labor.
[0014] Optionally, a torque sensor is provided on the mounting bracket, the output end of the torque sensor is slidably inserted through the positioning plate, and the positioning plate is provided with a limiting structure that makes the output end of the torque sensor rotate synchronously with the positioning plate. The input end of the torque sensor is connected to the third power component, and the torque sensor is electrically connected to the controller.
[0015] By adopting the above technical solution, when positioning and correcting H-beams, the setting of the limiting structure allows the positioning plate to slide and press against the flange, which facilitates the setting of torque sensors to measure the torque of the H-beams acting on the positioning plate and transmit the electrical signal to the controller. Then the controller analyzes the values of the four torque sensors.
[0016] If the maximum difference of the four torque sensors is within the design range, it means that the misalignment of the two H-beams is within the allowable range, and the next process can be carried out.
[0017] If the minimum difference of the four torque sensors exceeds the design range, it means that the misalignment of the two H-beams exceeds the design range, which can easily lead to uncontrollable deformation after welding. In this case, technicians need to trim and cut the ends of the H-beams to detect the misalignment of the H-beams, reduce the risk and cost of rework, and improve the welding yield.
[0018] Optionally, the mounting frame is provided with an arc-starting assembly for easy arc ignition and termination of the welding torch. The arc-starting assembly is provided in two sets, which are arranged opposite to each other. The arc-starting assembly includes a material box on the rotating frame. The material box contains stacked arc-starting plates. The material box has a discharge port for a single arc-starting plate to pass through, and the discharge port corresponds movably to the connection between two H-beams. The rotating frame is provided with a feeding component that pushes the arc-starting plate through the discharge port and abuts against the flange, and an extrusion component that pushes the arc-starting plate and makes it correspond to the discharge port.
[0019] By adopting the above technical solution, after the H-beam is positioned and corrected, the discharge port corresponds to the connection point of the two H-beams. At this time, the extrusion component pushes the arc-starting plates stacked in the material box, so that one of the arc-starting plates is located at the discharge port. Then, the feeding component pushes the arc-starting plate through the discharge port and presses it against the flange. Then, the welding robot works to weld the arc-starting plate to both ends of the upper flange of the H-beam. Then, the switching component drives the rotating frame to rotate 180° so that the lower flange of the welding robot is aligned. At this time, the extrusion component pushes the next arc-starting plate to the discharge port. Then, the feeding component and the welding robot work to weld the arc-starting plate to both ends of the lower flange of the H-beam, thereby realizing the automated feeding and welding of the arc-starting plate and improving work efficiency.
[0020] When welding two H-beams, the unstable arc zone and defect zone at the start and end of the arc are moved outward by the arc-starting plate, so that the weld at the bevel is formed under stable arc conditions, so that the molten pool is fully penetrated and there is no arc crater. This reduces stress concentration, improves the mechanical properties of the welded joint and the welding yield. The arc-starting plate can be cut off after welding.
[0021] Optionally, the feeding component includes a feeding rod slidably disposed on the material box. The end of the feeding rod is provided with a support plate and a partition plate arranged opposite to each other. The arc-inducing plate at the discharge port is movably located between the support plate and the partition plate. The side walls of the support plate and the partition plate that are close to each other are movably abutted against the opposite side walls of the arc-inducing plate. The side wall of the partition plate away from the feeding rod is inclined. The side of the arc-inducing plate close to the feeding rod is provided with a push groove. The side wall of the push groove is movably fitted with the inclined side of the partition plate. The side walls of the arc-inducing plate and the feeding rod that are close to each other are movably fitted. A snap-fit post is elastically slidably disposed on the material box. One end of the snap-fit post is movably protruding from the inner side wall of the discharge port. The protruding end of the snap-fit post is hemispherical and movably abuts against the arc-inducing plate. The rotating frame is provided with a fourth power component for driving the feeding rod to slide and a clamping component for clamping and fixing the arc-inducing plate. The fourth power component is electrically connected to the controller.
[0022] By adopting the above technical solution, when feeding the arc-starting plate, the extruder makes the arc-starting plate at the discharge port and the side wall of the support plate close to each other press together. Then, the controller makes the fourth power component work, driving the feeding rod, support plate and partition plate to slide, so that the inclined side of the partition plate presses against the side wall of the push groove, so that the arc-starting plate at the discharge port is separated from the adjacent arc-starting plate, and the hemispherical end of the clamping column makes it difficult for the arc-starting plate to move relative to each other, until the feeding rod and the side wall of the arc-starting plate close to each other are in contact. At this time, the clamping component clamps and fixes the arc plate. Then the feeding rod continues to slide. Since the protruding end of the clamping column is hemispherical, the arc-starting plate presses against the clamping column, and the clamping column slides against the elastic force, so that the clamping column does not easily hinder the sliding of the arc-starting plate, until the arc-starting plate presses against the flange, which facilitates the welding of the arc-starting plate.
[0023] After the arc-starting plate is welded to the flange, the clamping part separates from the arc-starting plate. The fourth power component drives the feeding rod to slide in the opposite direction until the partition plate can no longer obstruct the pushing of the extrusion part and move the next arc-starting plate to the discharge port. At this time, the next arc-starting plate and the side wall of the support plate are close to each other and abut together, which facilitates the feeding of the arc-starting plate next time.
[0024] Optionally, the clamping member includes a sliding block slidably disposed on the feeding rod and a connecting rod rotatably disposed on the feeding rod. A clamping block is rotatably disposed on the sliding block. The clamping block is arranged opposite to the partition plate, and the side walls of the clamping block and the partition plate that are close to each other are respectively movably abutted against the opposite side walls of the arc-inducing plate. The connecting rod is rotatably connected to the middle part of the clamping block, and the sliding block is rotatably connected to the end of the clamping block away from the clamping part. The material box is also provided with a fifth power member for driving the sliding block to slide, and the fifth power member is electrically connected to the controller.
[0025] By adopting the above technical solution, when the feeding rod and the side wall of the arc-inducing plate are close to each other, the controller makes the fifth power component work, which drives the sliding block to slide. At the same time, through the set connecting rod, the clamping block is rotated, so that the side wall of the clamping block and the partition plate are close to each other and the opposite side walls of the arc-inducing plate are pressed together, thereby achieving the clamping and fixing of the arc-inducing plate.
[0026] Optionally, the extrusion member includes an extrusion plate that is elastically slidably disposed within the material box, and the extrusion plate abuts against an arc-inducing plate on the side away from the discharge port.
[0027] By adopting the above technical solution, the arc-starting plate is pressed against the extrusion plate by the elastically sliding extrusion plate, so that the arc-starting plate on the side away from the extrusion plate is always located at the discharge port, and the arc-starting plate at the discharge port is pressed against the support plate away from the side wall of the extrusion plate, which facilitates continuous clamping and feeding of the arc-starting plate and improves processing efficiency.
[0028] Optionally, the switching component includes an internal gear ring coaxially disposed on the inner peripheral wall of the rotating frame, the internal gear ring being adapted to the rotating frame, a drive gear being rotatably disposed on the mounting frame, the drive gear meshing with the internal gear ring, and a sixth power component being disposed on the mounting frame to drive the drive gear to rotate, the sixth power component being electrically connected to the controller.
[0029] By adopting the above technical solution, when the welding robot needs to move, the controller activates the sixth power component, which drives the drive gear to rotate, thereby driving the internal gear ring to rotate, realizing the rotation of the rotating frame, and thus driving the welding robot to move, increasing the degree of freedom of the welding robot.
[0030] In summary, this application includes at least one of the following beneficial technical effects: 1. Before welding, the second power component drives the push plate and the positioning plate to slide, so that the two positioning plates in the same group slide closer to each other until the side walls of the positioning plates that are close to each other abut against the side walls of the flanges that are parallel to the web, thereby achieving the positioning of the H-beam along the flange width direction. Then, the third power component drives the positioning plate to rotate at a preset angle, so that the two positioning wheels abut against the side walls that are close to each other on the two flanges. Through the two sets of positioning plates and positioning wheels, the H-beam is positioned and fixed along the height direction. The axis of the rotating frame is consistent with the geometric center axis of the H-beam, so as to realize the automatic positioning and correction of the misalignment deviation at the connection of the two H-beams, improve the uniformity of the weld pool on both sides of the weld during subsequent welding, and reduce the deformation or cracks caused by the uneven distribution of longitudinal and transverse residual stress in the heat-affected zone. At the same time, due to the fixing of the H-beam by the positioning plate and positioning wheels, the torsional deformation caused by weld shrinkage after welding is effectively limited, thus improving the welding quality. 2. The welding robot operates, driving the welding torch to weld the flange. Simultaneously, the controller activates the sixth power component, driving the drive gear to rotate, which in turn drives the internal gear ring to rotate, thus rotating the rotating frame and consequently moving the welding robot. This increases the welding robot's degrees of freedom, optimizes equipment dimensions, facilitates adjustment of the welding torch posture to maintain the optimal welding angle and arc length, and improves welding quality. Furthermore, the welding robot periodically aligns with either the upper or lower flange, enabling automated multi-layer, segmented, alternating welding. This enhances welding stability and efficiency, improves heat input uniformity, controls interpass temperature, reduces the risk of cracks at the flange-web junction due to localized stress concentration, and further improves welding quality. In conventional techniques, welding robots are often installed on one side of an H-beam in parallel sliding. During welding, the H-beam needs to be flipped to weld the side away from the welding robot. This is not suitable for on-site welding scenarios. Some equipment installs the welding robot on a ring rotating frame to achieve the overall welding of the H-beam. However, the ring rotating frame is not convenient for passing through the fixed end of the H-beam and transporting the welding robot to other welding positions. 3. The torque sensor measures the torque of the H-beam acting on the positioning plate and transmits the electrical signal to the controller. The controller then analyzes the values from the four torque sensors.
[0031] If the maximum difference of the four torque sensors is within the design range, it means that the misalignment of the two H-beams is within the allowable range, and the next process can be carried out. If the minimum difference of the four torque sensors exceeds the design range, it means that the misalignment of the two H-beams exceeds the design range, which can easily lead to uncontrollable deformation after welding. In this case, technicians need to trim and cut the ends of the H-beams to detect the misalignment of the H-beams, reduce the risk and cost of rework, and improve the welding yield. 4. The feeding component pushes the arc-starting plate through the discharge port and presses it against the flange. Then, the welding robot works to weld the arc-starting plate to both ends of the upper flange of the H-beam. Then, the switching component drives the rotating frame to rotate 180° so that the lower flange of the welding robot is aligned. At this time, the extrusion component pushes the next arc-starting plate to the discharge port. Then, the feeding component and the welding robot work to weld the arc-starting plate to both ends of the lower flange of the H-beam. This realizes the automated feeding and welding of the arc-starting plate. When welding two H-beams, the arc-starting plate moves the unstable arc zone and defect zone of arc initiation and termination outward, so that the weld at the bevel is formed under stable arc conditions, so that the molten pool is fully penetrated and there is no arc crater. This reduces stress concentration, improves the mechanical properties of the welded joint and the welding yield. Attached Figure Description
[0032] Figure 1 This is a schematic diagram of the overall structure of an embodiment of this application; Figure 2 This is a schematic diagram of the connection structure of the positioning plate, rotating frame, and mounting bracket; Figure 3 This is a schematic diagram of the connection mechanism between the arc-starting plate, the feeding rod, and the rotating frame; Figure 4 This is a schematic diagram of the connection structure of the clamping block, extrusion plate, material box and rotating frame.
[0033] Reference numerals: 1. Mounting bracket; 11. Welding robot; 12. Welding torch; 13. Video sensor; 14. Controller; 15. Machining port; 16. Lifting ring; 17. Grounding contact; 18. Seventh power component; 2. Drive assembly; 21. Rotating frame; 22. Switching component; 221. Internal gear ring; 222. Drive gear; 223. Sixth power component; 3. Positioning assembly; 31. Positioning plate; 32. Positioning wheel; 33. First power component; 34. Adjusting component; 341. Push plate; 342. Second power component; 343. Third power component; 35. Torque sensor; 36. Limiting structure; 361. Internal spline; 362. External spline; 4. Lead-out component; 41. Material box; 42. Arc-starting plate; 421. Push groove; 43. Discharge port; 44. Cover plate; 45. Feeding component; 451. Feeding rod; 452. Support plate; 453. Divider plate; 454. Snap-fit post; 455. Fourth power component; 46. Clamping component; 461. Sliding block; 462. Connecting rod; 463. Clamping block; 464. Fifth power component; 47. Extrusion component; 471. Extrusion plate; 5. H-beam; 51. Flange; 52. Web. Detailed Implementation
[0034] The following is in conjunction with the appendix Figure 1-4 This application will be described in further detail below.
[0035] This application discloses a positioning and welding system for building steel beam structures.
[0036] Reference Figure 1 A positioning and welding system for building steel beams includes a mounting frame 1 and a welding robot 11 movably mounted on the mounting frame 1. The mounting frame 1 is movably mounted on the H-beam 5 to be welded, and a welding torch 12 is fixed to the execution end of the welding robot 11.
[0037] The mounting frame 1 is in the shape of a "U" with the opening facing downwards, and the top of the mounting frame 1 has a processing port 15 for the welding torch 12 to pass through. When the mounting frame 1 is installed on the H-beam 5, the H-beam 5 is located between the opposite side walls of the mounting frame 1. The four corners of the top of the mounting frame 1 are fixed with lifting rings 16. The mounting rings are slidably connected with ground wire contacts 17 and a seventh power component 18 that drives the ground wire contacts 17 to slide and press against the H-beam 5. Welding machines, wire feeders and gas cylinders and other equipment can be fixed on the work platform and connected to the welding torch 12 through electrical conduits to reduce the overall weight of the mounting frame 1.
[0038] To adjust and position the mounting bracket 1, a positioning component 3 is provided on the mounting bracket 1, as shown in the reference. Figure 1 and Figure 2 The positioning component 3 includes a positioning plate 31 that is slidably and rotatably connected to the mounting frame 1. The sliding direction of the positioning plate 31 is horizontal and perpendicular to the rotation axis of the rotating frame 21. The rotation axis of the positioning plate 31 is parallel to the rotation axis of the rotating frame 21. There are two sets of positioning plates 31, and the two sets of positioning plates 31 correspond one-to-one with the two H-beams 5. Each set of positioning plates 31 has two plates. The side walls of the two positioning plates 31 that are close to each other are movably pressed against the side wall of the flange 51 that is parallel to the web 52. In order to reduce the friction between the positioning plate 31 and the flange 51, multiple balls are rotatably connected to the side walls of the positioning plates 31 that are close to each other around the outer circumference of the positioning wheel 32.
[0039] Two positioning wheels 32 are rotatably connected to the positioning plate 31, and the rotation axis of the positioning plate 31 is located between the two positioning wheels 32. The rotation axis of the positioning wheels 32 is parallel to the rotation axis of the positioning plate 31. The two positioning wheels 32 are respectively movably pressed against the side walls of the two flanges 51 that are close to each other. The mounting frame 1 is provided with a first power component 33 that drives the positioning wheels 32 to rotate. To drive the positioning plate 31 to rotate and facilitate the movement of the positioning wheel 32 between the upper and lower flanges 51, the mounting bracket 1 is equipped with an adjusting component 34, as shown in the reference. Figure 1 and Figure 2 The adjustment component 34 is provided in four sets, and the four sets of adjustment components 34 correspond one-to-one with the four positioning plates 31. The adjustment component 34 includes a push plate 341 slidably connected to the mounting frame 1. The push plate 341 is rotatably connected to the positioning plate 31. A video sensor 13 is fixed on the execution end of the welding robot 11. The mounting frame 1 is provided with a second power component 342 for driving the push plate 341 to slide, a third power component 343 for driving the positioning plate 31 to deflect, and a controller 14.
[0040] The video sensor 13, the first power component 33, the second power component 342, and the third power component 343 are all electrically connected to the controller 14. In order to improve the stability of the push plate 341, each set of adjustment components 34 includes two second power components 342. In this application, the first power component 33 and the third power component 343 are both drive motors, and the second power component 342 and the seventh power component 18 are both electric push rods.
[0041] When welding is required, the technicians use the hoisting equipment to fix the hoisting ring 16 and hoist the mounting frame 1 to the welding position of the H-beam 5. The upper flange 51 of the H-beam 5 passes through the gap of the rotating frame 21. At this time, the two sets of positioning plates 31 correspond to the two H-beams 5 respectively, and the positioning wheel 32 is in a position away from the side wall of the flange 51. This is the initial position of the positioning plate 31.
[0042] The technician uses pneumatic equipment and controller 14 to make the second power component 342 work, and drive the push plate 341 and the positioning plate 31 to slide. The two positioning plates 31 in the same group slide closer to each other until the side walls of the positioning plates 31 that are close to each other are pressed against the side walls of the flange 51 that are parallel to the web 52, thereby achieving the positioning of the H-beam 5 along the width direction of the flange 51.
[0043] Then the controller 14 activates the third power component 343 and drives the positioning plate 31 to rotate at a preset angle, so that the two positioning wheels 32 respectively abut against the side walls that are close to each other on the two flanges 51, and the positioning and fixing of the H-beam 5 along the height direction is achieved through the two sets of positioning plates 31 and positioning wheels 32.
[0044] At this time, the axis of the rotating frame 21 is consistent with the geometric center axis of the H-beam 5, realizing the automatic positioning and correction of the misalignment deviation of the connection part of the two H-beams 5, improving the uniformity of the weld pool on both sides of the weld during subsequent welding, reducing deformation or cracks caused by uneven distribution of longitudinal and transverse residual stress in the heat-affected zone. At the same time, due to the fixing of the H-beam 5 by the positioning plate 31 and the positioning wheel 32, the torsional deformation caused by weld shrinkage after welding is effectively limited, thus improving the welding quality.
[0045] After the misalignment correction is completed, the controller 14 activates the first power component 33, which drives the positioning wheel 32 to rotate, so that the mounting frame 1 moves along the length of the H-beam 5 until the video sensor 13 detects that the welding torch 12 corresponds to the bevel of the flange 51, thereby realizing the automated positioning of the welding robot 11 and the welding torch 12, improving the consistency of weld quality and welding efficiency, and reducing the intensity of manual labor.
[0046] Furthermore, the hoisting equipment continues to exert an upward force on the mounting frame 1, reducing the risk of excessive weight of the mounting frame 1 causing crush damage to the H-beam 5.
[0047] After the welding robot 11 is positioned, the controller 14 activates the seventh power component 18, which drives the ground contact 17 to slide and press against the H-beam 5, forming a stable welding current circuit and improving the automation rate. Then, the welding robot 11 drives the welding torch 12 to weld the connection between the two H-beams 5.
[0048] Furthermore, in order to detect the misalignment between the two H-beams 5, refer to Figure 2 A torque sensor 35 is fixed on the mounting bracket 1. The output end of the torque sensor 35 slides through the positioning plate 31. The input end of the torque sensor 35 is connected to the third power component 343. The torque sensor 35 is electrically connected to the controller 14.
[0049] The positioning plate 31 is provided with a limiting structure 36 that makes the output end of the torque sensor 35 rotate synchronously with the positioning plate 31. The limiting structure 36 includes an inner spline 361 fixed on the positioning plate 31 and an outer spline 362 fixed on the output end of the torque sensor 35. The outer spline 362 and the inner spline 361 form a spline connection.
[0050] When the H-beam 5 is positioned and corrected, the torque sensor 35 measures the torque of the H-beam 5 acting on the positioning plate 31 and transmits the electrical signal to the controller 14. Then the controller 14 analyzes the values of the four torque sensors 35.
[0051] If the maximum difference of the four torque sensors 35 is within the design range, it means that the misalignment of the two H-beams 5 is within the allowable range, and the next process can be carried out.
[0052] If the minimum difference of the four torque sensors 35 exceeds the design range, it means that the misalignment of the two H-beams 5 exceeds the design range, which can easily lead to uncontrollable deformation after welding. In this case, technicians need to trim and cut the ends of the H-beams 5 to detect the misalignment of the H-beams 5 beam, reduce the risk and cost of rework, and improve the welding yield.
[0053] Furthermore, in order to drive the welding robot 11 to move and increase the degree of freedom of the welding robot 11, a drive assembly 2 is provided on the mounting frame 1, as shown in the figure. Figure 2 The drive assembly 2 includes a rotating frame 21 rotatably connected to the mounting frame 1. The rotating frame 21 is a cylindrical shape with a notch, and the notch size of the rotating frame 21 is larger than the width size of the flange 51 of the H-beam 5. The rotation axis of the rotating frame 21 is consistent with the length direction of the H-beam 5. The welding robot 11 is fixed on the rotating frame 21.
[0054] To drive the rotating frame 21 to rotate, a switching element 22 is provided on the mounting frame 1, as shown in the figure. Figure 2 and Figure 3The switching component 22 includes an internal gear ring 221 coaxially fixed to the inner peripheral wall of the rotating frame 21. The internal gear ring 221 is adapted to the rotating frame 21. A drive gear 222 is rotatably connected to the mounting frame 1. The drive gear 222 meshes with the internal gear ring 221. The rotation axis of the drive gear 222 is parallel to the rotation axis of the rotating frame 21. A sixth power component 223 for driving the drive gear 222 to rotate is provided on the mounting frame 1. The sixth power component 223 is electrically connected to the controller 14. In order to improve the stability of the rotating frame 21, the internal gear ring 221, the drive gear 222 and the sixth power component 223 are provided in two sets and arranged symmetrically in the center. In this application, the sixth power component 223 is a drive motor.
[0055] During welding, the welding robot 11 operates, driving the welding torch 12 to weld the flange 51. Simultaneously, the controller 14 activates the sixth power component 223, driving the drive gear 222 to rotate, which in turn drives the internal gear ring 221 to rotate, thus rotating the rotating frame 21. This, in turn, drives the welding robot 11 to move, increasing the degree of freedom of the welding robot 11, optimizing equipment size, facilitating the adjustment of the welding torch 12's posture to maintain the optimal welding angle and arc length, and improving welding quality. At the same time, the welding robot 11 periodically corresponds to one of the upper and lower flanges 51, facilitating automated multi-layer segmented alternating welding, thereby improving welding stability and efficiency, enhancing the uniformity of heat input, controlling interpass temperature, reducing the risk of cracks at the junction of the flange 51 and the web 52 due to local stress concentration, and improving welding quality.
[0056] After the flange 51 is welded, the switching component 22 drives the rotating frame 21 to rotate, which makes it easier to adjust the welding torch 12 to the position of welding the web 52. At the same time, the welding robot 11 makes the welding torch 12 weld the connection of the web 52, thus realizing the automated welding of the H-beam 5.
[0057] Furthermore, when performing multi-layer alternating welding on flange 51, it facilitates technicians to clean the slag from the previous weld, observe and judge the condition of the weld and molten pool in real time, and make corresponding adjustments to improve the weld formation quality.
[0058] Furthermore, to facilitate the arc initiation and termination of the welding torch 12 and improve welding quality, the mounting bracket 1 is equipped with an lead-out assembly 4, as shown in the reference. Figure 3 and Figure 4 Two sets of lead-out components 4 are provided, which are arranged opposite each other and located on both sides of the web plate 52. The lead-out components 4 include a material box 41 fixed on the rotating frame 21. The material box 41 contains stacked arc-inducing plates 42. The end of the material box 41 away from the notch of the rotating frame 21 is open. A cover plate 44 is detachably fixed on the material box 41 to seal the open end, so as to facilitate the replenishment of arc-inducing plates 42. The material box 41 has a discharge port 43 for a single arc-inducing plate 42 to pass through, and the discharge port 43 corresponds to the connection of the two H-beams 5.
[0059] To facilitate the welding of the arc-starting plate 42, the rotating frame 21 is equipped with a feeding component 45, which allows the arc-starting plate 42 to pass through the discharge port 43 and abut against the flange 51. Figure 3 and Figure 4 The feeding component 45 includes a feeding rod 451 that is slidably connected to the material box 41. When the discharge port 43 corresponds to the connection of the two H-beams 5, the sliding direction of the feeding rod 451 is consistent with the sliding direction of the positioning plate 31. The end of the feeding rod 451 is provided with a support plate 452 and a partition plate 453 arranged opposite to each other. The arc-inducing plate 42 at the discharge port 43 is movably located between the support plate 452 and the partition plate 453. The side walls of the support plate 452 and the partition plate 453 that are close to each other are movably pressed against the opposite side walls of the arc-inducing plate 42. The side wall of the partition plate 453 away from the feeding rod 451 is inclined. The side of the arc-inducing plate 42 that is close to the feeding rod 451 is provided with a push groove 421. The side wall of the push groove 421 is movably fitted with the inclined side of the partition plate 453. The side walls of the arc-inducing plate 42 and the feeding rod 451 that are close to each other are movably fitted.
[0060] The material box 41 is elastically slidably connected with a locking post 454. The sliding direction of the locking post 454 is perpendicular to the sliding direction of the feeding rod 451. In order to improve stability, there are two locking posts 454. The two locking posts 454 are arranged opposite each other. One end of the locking post 454 is movably protruding from the inner side wall of the discharge port 43. The protruding end of the locking post 454 is hemispherical and is movably pressed against the arc-inducing plate 42. The rotating frame 21 is equipped with a fourth power component 455 for driving the feeding rod 451 to slide.
[0061] To clamp and fix the arc-initiating plate 42, a clamping member 46 is provided on the rotating frame 21, as shown in the figure. Figure 3 and Figure 4 The clamping member 46 includes a sliding block 461 slidably connected to the feeding rod 451 and a connecting rod 462 rotatably connected to the feeding rod 451. A clamping block 463 is rotatably connected to the sliding block 461. The sliding direction of the sliding block 461 is consistent with the sliding direction of the feeding rod 451. The rotation axes of the connecting rod 462 and the clamping block 463 are parallel to the rotation axis of the rotating frame 21. The clamping block 463 and the partition plate 453 are arranged opposite to each other. 3. The side walls that are close to each other are movably abutted against the opposite side walls of the arc-inducing plate 42. The connecting rod 462 is rotatably connected to the middle of the clamping block 463. The sliding block 461 is rotatably connected to the end of the clamping block 463 away from the clamping part. The material box 41 is also provided with a fifth power component 464 that drives the sliding block 461 to slide. The fourth power component 455 and the fifth power component 464 are both electrically connected to the controller 14. In this application, the fourth power component 455 and the fifth power component 464 are both electric push rods.
[0062] To align the arc-initiating plate 42 with the discharge port 43, an extrusion member 47 is provided on the rotating frame 21, as shown in the reference. Figure 4 The extrusion component 47 includes an extrusion plate 471 that is elastically slidably connected to the material box 41. The extrusion plate 471 abuts against the arc-inducing plate 42 on the side away from the discharge port 43. The sliding direction of the extrusion plate 471 is perpendicular to the sliding direction of the feeding rod 451 and perpendicular to the rotation axis direction of the clamping block 463.
[0063] After the H-beam 5 is positioned and corrected, the discharge port 43 corresponds to the connection point of the two H-beams 5. The extrusion plate 471, which is elastically slidably set, presses against the arc-starting plate 42, so that the arc-starting plate 42 on the side away from the extrusion plate 471 is always located at the discharge port 43, and the arc-starting plate 42 at the discharge port 43 presses against the support plate 452.
[0064] Then the controller 14 activates the fourth power component 455, causing the feeding rod 451, support plate 452, and partition plate 453 to slide, so that the inclined side of the partition plate 453 presses against the side wall of the push groove 421, causing the arc-inducing plate 42 at the discharge port 43 to separate from the adjacent arc-inducing plate 42, and the hemispherical end of the locking column 454 makes it difficult for the arc-inducing plate 42 to move relative to each other, until the feeding rod 451 and the side wall of the arc-inducing plate 42 are close to each other and fit together.
[0065] Then, the controller 14 activates the fifth power component 464, causing the sliding block 461 to slide. Simultaneously, through the connecting rod 462, the clamping block 463 rotates, causing the sidewalls of the clamping block 463 and the partition plate 453 to abut against the opposite sidewalls of the arc-inducing plate 42, thus clamping and fixing the arc-inducing plate 42. Then the feeding rod 451 continues to slide. Since the protruding end of the locking post 454 is hemispherical, the arc-inducing plate 42 presses against the locking post 454 and makes the locking post 454 slide against the elastic force, so that the locking post 454 does not easily obstruct the sliding of the arc-inducing plate 42 until the arc-inducing plate 42 presses against the flange 51.
[0066] Then the welding robot 11 works to weld the arc-starting plate 42 to both ends of the upper flange 51 of the H-beam 5. Then the fifth power component 464 works to separate the clamping block 463 from the welded arc-starting plate 42. The fourth power component 455 drives the feeding rod 451 to slide in the opposite direction until the partition plate 453 can no longer obstruct the pushing of the extrusion component 47 and move the next arc-starting plate 42 to the discharge port 43. At this time, the next arc-starting plate 42 and the side wall of the support plate 452 are close to each other and abut together, which facilitates the next feeding of the arc-starting plate 42.
[0067] Then the sixth power component 223 works, driving the rotating frame 21 to rotate 180°, so that the welding robot 11 corresponds to the lower flange 51. Repeat the above steps to weld the arc-starting plate 42 to both ends of the lower flange 51 of the H-beam 5, thereby realizing the automated feeding and welding of the arc-starting plate 42 and improving work efficiency.
[0068] When welding two H-beams 5, the unstable arc zone and defect zone of arc initiation and termination are moved outward by the arc-starting plate 42, so that the weld at the bevel is formed under stable arc conditions, so that the molten pool is fully melted and there is no arc crater, thereby reducing stress concentration, improving the mechanical properties of the welded joint and the welding yield. After welding, the arc-starting plate 42 can be cut off and removed.
[0069] The implementation principle of a positioning and welding system for a building steel beam structure according to an embodiment of this application is as follows: When welding construction is required, technicians use hoisting equipment to hoist the mounting frame 1 to the welding position of the H-beam 5, and make the upper flange 51 of the H-beam 5 pass through the notch of the rotating frame 21, and the two sets of positioning plates 31 correspond to the two H-beams 5 respectively.
[0070] Then the technicians start the equipment. The controller 14 makes the second power component 342 work and drives the push plate 341 and the positioning plate 31 to slide. The two positioning plates 31 in the same group slide closer to each other and press against the two side walls of the flange 51. Then the controller 14 makes the third power component 343 work and drives the positioning plate 31 to rotate at a preset angle, so that the two positioning wheels 32 press against the side walls of the two flanges 51 respectively, realizing the automatic positioning and correction of the misalignment deviation of the connection part of the two H-beams 5.
[0071] Meanwhile, the torque sensor 35 transmits electrical signals to the controller 14, and the controller 14 analyzes the values of the four torque sensors 35. If the maximum difference of the four torque sensors 35 is within the design range, it means that the misalignment of the two H-beams 5 is within the allowable range, and the next process can be carried out. If the minimum difference of the four torque sensors 35 exceeds the design range, it means that the misalignment of the two H-beams 5 exceeds the design range, and technicians need to trim and cut the ends of the H-beams 5 before proceeding to the next process.
[0072] Then the controller 14 activates the first power component 33, which drives the positioning wheel 32 to rotate, so that the mounting frame 1 moves along the length of the H-beam 5 until the video sensor 13 detects that the welding torch 12 corresponds to the bevel of the flange 51, thus achieving the positioning of the welding robot 11 and the welding torch 12.
[0073] Then, controller 14 activates the fourth power component 455, causing the feeding rod 451 to slide until the arc-inducing plate 42 at the discharge port 43 is positioned between the support plate 452 and the partition plate 453. Then, controller 14 activates the fifth power component 464, causing the sliding block 461 to slide and the connecting rod 462 and clamping block 463 to rotate, causing the clamping block 463 to press against the arc-inducing plate 42, thus clamping and fixing the arc-inducing plate 42 with the partition plate 453. Then, the feeding rod 451 continues to slide, causing the arc-inducing plate 42 to... The arc plate 42 abuts against the flange 51, and then the welding robot 11 works to weld the arc-initiating plate 42 to both ends of the upper flange 51 of the H-beam 5. Then the fifth power component 464 works to separate the clamping block 463 from the welded arc-initiating plate 42. The fourth power component 455 drives the feeding rod 451 to slide in the opposite direction until the partition plate 453 can no longer obstruct the pushing of the extrusion component 47 and move the next arc-initiating plate 42 to the discharge port 43. At this time, the next arc-initiating plate 42 and the side wall of the support plate 452 are close to each other and abut against each other.
[0074] Then the sixth power component 223 works, driving the rotating frame 21 to rotate 180°, so that the welding robot 11 corresponds to the lower flange 51. Repeat the above steps to weld the arc-starting plate 42 to both ends of the lower flange 51 of the H-beam 5.
[0075] Then the welding robot 11 works with the sixth power component 223 to make the rotating frame 21 rotate, increasing the degree of freedom of the welding robot 11, and making the welding robot 11 periodically correspond to the upper and lower flanges 51 respectively, which facilitates automated multi-layer segmented alternating welding.
[0076] After the flange 51 is welded, the sixth power component 223 drives the rotating frame 21 to rotate, and adjusts the welding torch 12 to the position for welding the web plate 52. At the same time, the welding robot 11 uses the welding torch 12 to weld the connection of the web plate 52. After the welding is completed, the technicians can cut and remove the arc-starting plate 42.
[0077] The above are all optional embodiments of this application and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.
Claims
1. A positioning and welding system for building steel beam structures, characterized in that: The assembly includes a mounting frame (1) and a welding robot (11) movably mounted on the mounting frame (1). The mounting frame (1) is movably mounted on the H-beam (5) to be welded. The welding robot (11) has a welding torch (12) fixed at its execution end. The mounting frame (1) is provided with a positioning component (3) for adjusting and positioning the mounting frame (1) and a driving component (2) for driving the welding robot (11) to move. The drive assembly (2) includes a rotating frame (21) rotatably mounted on the mounting frame (1). The rotating frame (21) is a cylindrical shape with a notch, and the size of the notch of the rotating frame (21) is larger than the size of the opposite side walls of the flange (51) of the H-beam (5) parallel to the web (52). The welding robot (11) is mounted on the rotating frame (21), and the mounting frame (1) is provided with a switching component (22) for driving the rotating frame (21) to rotate. The positioning component (3) includes a positioning plate (31) that is slidably and rotatably mounted on the mounting frame (1). There are two sets of positioning plates (31), each set corresponding to one of the two H-beams (5). Each set of positioning plates (31) has two plates, which are located on both sides of the web (52). The sidewalls of the two positioning plates (31) that are close to each other are movably abutted against the sidewalls of the flanges (51) that are parallel to the web (52). Two positioning wheels (32) are rotatably mounted on the positioning plate (31), and the rotation axis of the positioning plate (31) is located between the two positioning wheels (32). The two positioning wheels (32) are movably abutted against the sidewalls of the two flanges (51) that are close to each other. The mounting frame (1) is provided with an adjusting component (34) for driving the positioning plate (31) to slide and rotate, and a first power component (33) for driving the positioning wheels (32) to rotate.
2. The positioning and welding system for building steel beams according to claim 1, characterized in that: The adjustment component (34) is provided in four sets, and the four sets of adjustment components (34) correspond one-to-one with the four positioning plates (31). The adjustment component (34) includes a push plate (341) that is slidably disposed on the mounting frame (1). The push plate (341) is rotatably connected to the positioning plate (31). The execution end of the welding robot (11) is provided with a video sensor (13). The mounting frame (1) is provided with a second power component (342) that drives the push plate (341) to slide, a third power component (343) that drives the positioning plate (31) to deflect, and a controller (14). The video sensor (13), the first power component (33), the second power component (342), and the third power component (343) are all electrically connected to the controller (14).
3. The positioning and welding system for building steel beams according to claim 2, characterized in that: A torque sensor (35) is provided on the mounting bracket (1). The output end of the torque sensor (35) slides through the positioning plate (31). The positioning plate (31) is provided with a limiting structure (36) that makes the output end of the torque sensor (35) rotate synchronously with the positioning plate (31). The input end of the torque sensor (35) is connected to the third power component (343). The torque sensor (35) is electrically connected to the controller (14).
4. The positioning and welding system for building steel beams according to claim 3, characterized in that: The mounting frame (1) is provided with an arc-drawing assembly (4) to facilitate the arc-drawing and arc-drawing of the welding torch (12). The arc-drawing assembly (4) is provided in two sets, and the two sets of arc-drawing assemblies (4) are arranged opposite to each other. The arc-drawing assembly (4) includes a material box (41) on the rotating frame (21). The material box (41) contains stacked arc-drawing plates (42). The material box (41) has an outlet (43) for a single arc-drawing plate (42) to pass through. The outlet (43) corresponds to the connection of two H-beams (5). The rotating frame (21) is provided with a feeding component (45) to push the arc-drawing plate (42) through the outlet (43) and press against the flange (51) and an extrusion component (47) to push the arc-drawing plate (42) and make it correspond to the outlet (43).
5. The structural positioning and welding system for building steel beams according to claim 4, characterized in that: The feeding component (45) includes a feeding rod (451) that is slidably disposed on the material box (41). The end of the feeding rod (451) is provided with a support plate (452) and a partition plate (453) arranged opposite to each other. The arc-inducing plate (42) at the discharge port (43) is movably located between the support plate (452) and the partition plate (453). The side walls of the support plate (452) and the partition plate (453) that are close to each other are respectively movably abutted against the opposite side walls of the arc-inducing plate (42). The side wall of the partition plate (453) away from the feeding rod (451) is inclined. The side of the arc-inducing plate (42) near the feeding rod (451) is provided with a push groove (421). The side wall of 21) is in close contact with the inclined side of the partition plate (453), the side wall of the arc-inducing plate (42) is in close contact with the side wall of the feeding rod (451), the material box (41) is elastically slidably provided with a snap-fit post (454), one end of the snap-fit post (454) is movably protruding from the inner side wall of the discharge port (43), and the protruding end of the snap-fit post (454) is hemispherical and is movably pressed against the arc-inducing plate (42). The rotating frame (21) is provided with a fourth power component (455) for driving the feeding rod (451) to slide and a clamping component (46) for clamping and fixing the arc-inducing plate (42). The fourth power component (455) is electrically connected to the controller (14).
6. A positioning and welding system for building steel beams according to claim 5, characterized in that: The clamping member (46) includes a sliding block (461) slidably disposed on the feeding rod (451) and a connecting rod (462) rotatably disposed on the feeding rod (451). A clamping block (463) is rotatably disposed on the sliding block (461). The clamping block (463) and the partition plate (453) are arranged opposite to each other, and the side walls of the clamping block (463) and the partition plate (453) that are close to each other are respectively movably abutted against the opposite side walls of the arc-inducing plate (42). The connecting rod (462) is rotatably connected to the middle part of the clamping block (463). The end of the sliding block (461) and the clamping block (463) away from the clamping part are rotatably connected. The material box (41) is also provided with a fifth power member (464) for driving the sliding block (461) to slide. The fifth power member (464) is electrically connected to the controller (14).
7. A positioning and welding system for building steel beams according to claim 6, characterized in that: The extrusion member (47) includes an extrusion plate (471) that is elastically slidably disposed in the material box (41), and the extrusion plate (471) abuts against an arc-drawing plate (42) on the side away from the discharge port (43).
8. The positioning and welding system for building steel beams according to claim 1, characterized in that: The switching component (22) includes an internal gear ring (221) coaxially disposed on the inner peripheral wall of the rotating frame (21). The internal gear ring (221) is adapted to the rotating frame (21). A drive gear (222) is rotatably disposed on the mounting frame (1). The drive gear (222) meshes with the internal gear ring (221). A sixth power component (223) for driving the drive gear (222) to rotate is disposed on the mounting frame (1). The sixth power component (223) is electrically connected to the controller (14).