A device for assisting steel box girder welding turning over

Abstract

The present application relates to steel structure welding auxiliary equipment technical field, specifically relates to a kind of for steel box girder welding turning-over auxiliary device, including base, frame type turnover platform and turnover driving part are equipped on base, turnover platform includes placement plate and bearing frame, and mobile clamping table is equipped on placement plate;Bearing frame is equipped with several fixed chain claw clamps, and mobile chain claw clamp is equipped on mobile clamping table, and mobile chain claw clamp and fixed chain claw clamp all include claw frame and fit chain, fit chain is wound on claw frame, and opening degree adjusting assembly is equipped on claw frame, and fit chain is equipped with tension adjusting assembly;The present application integrates chain type clamping turnover, in the process that workpiece overturns and fit chain tightness is constant, the change of turnover platform pressure distribution caused by the gravity center deviation of non-standard steel box girder workpiece, to make fit chain each link adaptive deformation with gravity center deviation, realize the dynamic redistribution of clamping pressure, complete the passive self-adapting clamping in the dynamic overturning process of non-standard steel box girder workpiece.

Description

Technical Field

[0001] This invention relates to the field of steel structure welding auxiliary equipment technology, specifically to an auxiliary device for turning over steel box girder during welding. Background Technology

[0002] The fabrication of steel box girders typically involves welding multiple precast steel plates into precast modules of standard length. These modules are then assembled on-site to complete the overall erection of the steel box girder. Due to the load-bearing requirements of steel box girders, each precast module is quite heavy. As a typical non-standardized component, the welding and fabrication of precast modules requires multi-directional flipping operations. Manual operation cannot meet this requirement. Therefore, current welding processes require placing the workpiece on a dedicated flipping device to create a continuous process flow that combines mechanical assistance with welding operations.

[0003] Currently, some devices for assisting in the welding and turning of steel box girders have been proposed on the market. For example, Chinese patent document CN118893419A provides a turning jig for welding steel box girders, which mainly consists of a rotary drive mechanism and a bidirectional adaptive locking mechanism. Through a soft connection transmission method of hydraulic transmission and the angle control of the locking claw by the elastic rope, the locking claw automatically locks the angle of the deflection platform, avoiding the problem of the deflection platform rotating and resetting under its own weight after the rotary drive mechanism stops driving.

[0004] Based on the aforementioned work jigs that can freely adjust and lock the flipping angle of the workpiece to be welded, and considering that steel box girders are typical non-standardized components, their cross-sectional shape, length, and mass distribution vary with load-bearing requirements, existing structures for flipping, clamping, and locking are mostly rigid contact methods, which are difficult to adapt to the different requirements of clamping force distribution and contact surface fit for workpieces with different geometric shapes during the flipping process. This can easily lead to local stress concentration or contact failure due to insufficient clamping adaptability, thereby affecting the load-bearing performance of the prefabricated module. Therefore, it is necessary to propose an auxiliary device for flipping steel box girder welding to solve the above-mentioned technical defects. Summary of the Invention

[0005] To address the aforementioned issues, this invention provides an auxiliary device for turning over steel box girders during welding. This device integrates chain-type clamping and turning. During the workpiece turning process while maintaining a constant tension in the clamping chain, the change in pressure distribution on the turning table caused by the shift in the center of gravity of the non-standard steel box girder workpiece causes each link of the clamping chain to undergo adaptive deformation with the shift in the center of gravity. This achieves a dynamic redistribution of clamping pressure, completing dynamic passive adaptive clamping during the turning of the non-standard steel box girder workpiece.

[0006] To achieve the above objectives, the technical solution of the present invention is as follows: A steel box girder welding and turning auxiliary device includes a base, two frame-type turning tables are provided on the base, two turning drive components are provided in the base to drive the corresponding turning tables to rotate, and a controller is also integrated in the side wall of the base. Each turning table includes a placement plate and a support frame that are fixedly connected to each other. A movable clamping platform parallel to the support frame is slidably connected on the placement plate. A telescopic drive component is provided in the placement plate to drive the movable clamping platform to move on the placement plate. The telescopic drive component is signal connected to the controller.

[0007] The support frame is equipped with several fixed chain claws on the side near the movable clamping table, and the movable clamping table is equipped with several movable chain claws corresponding to the fixed chain claws on the side near the support frame. Both the movable chain claws and the fixed chain claws include a claw frame and a bonding chain. The bonding chain is wound around the claw frame. The claw frame is equipped with an opening adjustment component for adjusting the opening of the claw frame. The bonding chain is equipped with a tension adjustment component for adjusting the tension of the bonding chain. Both the opening adjustment component and the tension adjustment component are connected to the controller signal. During the flipping of the non-standard steel box girder workpiece, under the condition of fixed clamping tension, the pressure distribution change caused by the shift of the center of gravity of the non-standard steel box girder workpiece causes each link of the bonding chain to undergo adaptive deformation.

[0008] The gripper is also equipped with a pressure acquisition component for detecting the force on the gripper; the bonding chain is equipped with a tension acquisition component for acquiring the tension of the bonding chain. Both the pressure acquisition component and the tension acquisition component are connected to the controller signal.

[0009] The technical principle of the above solution is as follows: This device sets two frame-type flipping tables on the base, and drives them to rotate by flipping drive components. At the same time, a movable clamping table controlled by a telescopic drive component is integrated in the flipping table, forming an adjustable-spacing clamping structure with the support frame. Several sets of corresponding fixed chain claws and movable chain claws are respectively set on the support frame and the movable clamping table. Each set of chain claws adopts a structure combining claw frame and attached chain. The opening of the claw frame is adjusted by the opening adjustment component to adapt to the height difference of the workpiece, and the tension adjustment component adjusts the tension of the attached chain to control its normal clamping force on the side wall of the workpiece. During the flipping process, the pressure acquisition component and the tension acquisition component respectively acquire the force data of the claw frame and the chain tension data in real time, and feed them back to the controller, so that the clamping system can dynamically adjust the chain tension according to the change of the center of gravity of the workpiece, realizing the adaptive distribution of clamping force.

[0010] The above approach has the following beneficial effects:

[0011] 1. This solution transforms the point contact of traditional rigid clamping into strip-shaped friction contact between the chain and the workpiece sidewall by combining the fit chain and the claw frame. With real-time feedback adjustment of pressure and tension, the tension of each chain can be adaptively adjusted according to the dynamic shift of the workpiece's center of gravity during the flipping process, reducing the risk of local stress concentration and instantaneous slippage caused by the shift of the center of gravity.

[0012] 2. Compared with the rigid clamping method in the prior art where the locking force is only related to the deflection angle and acts continuously on the workpiece, this solution achieves active dynamic adjustment of the clamping force through an adjustable tension chain, reducing local wear and indentation damage on the workpiece surface caused by constant locking force during the flipping process, and ensuring the load-bearing performance of the prefabricated module.

[0013] 3. This solution adjusts the distance between the moving clamping platform and the support frame by using a telescopic drive component, and combines it with the claw frame opening adjustment function, so that the chain clamping system can adapt to steel box girder workpieces with different cross-sectional shapes, lengths and mass distributions, thus solving the problem of insufficient adaptability of existing flipping devices to clamping non-standard workpieces.

[0014] Furthermore, the claw frame includes a base arm, on which a connecting telescopic rod is fixedly connected. A top arm is fixedly connected to the end of the connecting telescopic rod away from the base arm. The base arm and the top arm together form an "I"-shaped height-adjustable frame. The opening adjustment component is located inside the connecting telescopic rod.

[0015] Beneficial effects: The bottom arm, connecting telescopic rod and top arm form an "I"-shaped height-adjustable frame, and the opening adjustment component is integrated into the connecting telescopic rod to realize the electronic control adjustment of the overall height of the claw frame, so that it can be adapted according to the actual height difference of the steel box girder workpiece placed behind the placement plate.

[0016] Furthermore, the length of the top arm is greater than the length of the bottom arm; the distance between the moving clamping table and the support frame is adjusted by the telescopic drive component, so that the end of each bottom arm is in contact with the side wall of the workpiece to be flipped, and the end of each top arm is in contact with the top arm of the adjacent side wall of the workpiece to be flipped.

[0017] Beneficial effects: By limiting the length of the top arm to be greater than that of the bottom arm, and by adjusting the distance between the moving clamping table and the support frame in conjunction with the telescopic drive, the ends of each bottom arm contact the side wall of the workpiece while the ends of each top arm abut against the top surface of the adjacent side wall of the workpiece, thus constraining the workpiece's flipping direction and achieving a wrap-around clamping method to address the risk of tipping over during the flipping process.

[0018] Furthermore, the opening adjustment assembly includes an electrically controlled telescopic rod fixedly connected to the bottom arm, and the output shaft of the electrically controlled telescopic rod is fixedly connected to the top arm; the height of the top arm and the bottom arm is adjusted by the electrically controlled telescopic rod so that the claw frame can adapt to the height differences of different steel box girder workpieces after they are placed on the surface of the placement plate.

[0019] Beneficial effects: The electronically controlled adjustment of the height between the top arm and the bottom arm enables the claw frame to quickly adapt to the height parameters of different steel box girder workpieces, solving the problem of inadequate clamping or overpressure caused by differences in workpiece height.

[0020] Furthermore, the tension adjustment assembly includes a top sprocket, a bottom sprocket, and a servo drive, with the top sprocket and bottom sprocket rotatably connected to the ends of the top arm and bottom arm, respectively;

[0021] The servo drive unit includes a drive sprocket and two servo motors. The drive sprocket is rotatably connected to the bottom arm. The two ends of the bonding chain are fixed to the top sprocket and the drive sprocket, respectively. The output shafts of the two servo motors are coaxially fixedly connected to the top sprocket and the drive sprocket, respectively. By driving the two servo motors, the tension of the bonding chain is adjusted so that the bonding chain adapts to the shape of the side of the workpiece to be flipped.

[0022] Beneficial effects: The top sprocket, bottom sprocket and drive sprocket form the chain transmission path, and two servo motors drive the top sprocket and drive sprocket respectively to achieve bidirectional adjustment of the tension of the fitting chain. This allows the chain to actively fit according to the side contour of the workpiece, transforming the point contact at the end of the claw into the strip friction contact of the chain, and improving the uniformity of the clamping force distribution.

[0023] Furthermore, the pressure acquisition component includes a pressure sensor fixedly connected to the bottom arm near the end of the bottom sprocket.

[0024] Beneficial effects: The pressure sensor enables real-time acquisition of the contact pressure between the end of the gripper and the side wall of the workpiece, providing feedback for the clamping stroke control of the telescopic drive component and ensuring that the clamping force is always within the preset safety threshold range.

[0025] Furthermore, the tension acquisition component includes a tension sensor sleeved on the mating chain, the tension sensor being fixedly connected inside the bottom arm, and the tension sensor being located between the drive sprocket and the bottom sprocket.

[0026] Beneficial effects: The tension sensor enables real-time monitoring of chain tension, providing a basis for adjusting the tension of the servo drive components and ensuring that the fit between the chain and the workpiece sidewall remains dynamically stable during the flipping process.

[0027] Furthermore, several bonding blocks are rotatably hinged on the bonding chain. The bonding blocks are arc-shaped components, and a rubber pad layer is fixedly connected to the side of the bonding block away from the bonding chain.

[0028] Beneficial effects: Rotating the hinged arc-shaped bonding block on the bonding chain and fixing the rubber pad layer on the outside of the bonding block transforms the line contact of the chain into multi-point surface contact. At the same time, the arc structure adapts to the curved or uneven contour of the workpiece sidewall, and the rubber pad layer increases the coefficient of friction and buffers local pressure, reducing the risk of workpiece surface damage and improving clamping reliability.

[0029] Furthermore, a translation drive component is fixedly connected inside the base, which is used to drive the corresponding placement plate and support frame to move.

[0030] Beneficial effects: By installing a translation drive component inside the base and fixing its output shaft to the tilting shaft, the horizontal position of the tilting table can be independently adjusted, allowing the tilting tables on both sides to adjust the relative spacing according to the actual length of the steel box girder workpiece, thus solving the problem of mismatched support points caused by length differences in non-standard workpieces.

[0031] Furthermore, the controller has a built-in data processing system, which includes a human-computer interaction module and an anti-slip module;

[0032] The human-computer interaction module is used to allow users to input the target flipping angle of the workpiece to be flipped, and then generate the drive signal of the flipping drive component based on the target flipping angle;

[0033] The anti-slip module includes a center of gravity conversion unit and an adaptive adjustment unit;

[0034] The center of gravity conversion unit is used to acquire real-time pressure data collected by each pressure sensor. Based on the real-time pressure data at the same time, it calculates and generates the projection coordinates of the center of gravity of the workpiece to be flipped on the line connecting each bottom arm. When the projection coordinates exceed the range of the base, it transmits an interference signal to the adaptive adjustment unit.

[0035] The adaptive adjustment unit is used to receive interference signals and obtain projection coordinates. Based on the relationship between the projection coordinates and the base, it generates a corresponding servo motor drive signal to adjust the tension of the corresponding bonding chain to change the placement posture of the workpiece to be flipped, thereby changing the center of gravity position of the workpiece to be flipped.

[0036] Beneficial effects: The integrated center of gravity conversion unit and adaptive adjustment unit use real-time pressure data collected by each pressure sensor to calculate the projected coordinates of the workpiece's center of gravity on the connecting lines of each bottom arm. When the projected coordinates exceed the base range, the adaptive adjustment unit generates a corresponding drive signal for the servo motor. By adjusting the tension of a specific chain, the workpiece's placement posture is changed, thereby achieving active correction of the center of gravity position and reducing the risk of overturning caused by the center of gravity shifting from the base range during the flipping process.

[0037] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0038] Figure 1 This is an isometric view of the entire device in an embodiment of the auxiliary device for welding and turning over steel box girders according to the present invention;

[0039] Figure 2This is an axonometric sectional view of the base in an embodiment of the auxiliary device for welding and turning steel box girders according to the present invention;

[0040] Figure 3 This is an isometric view of the fixed chain claw clamp in an embodiment of the auxiliary device for turning over steel box girder welding according to the present invention;

[0041] Figure 4 This is an isometric sectional view of the fixed chain claw clamp in an embodiment of the auxiliary device for welding and turning steel box girders according to the present invention;

[0042] Figure 5 This is a schematic diagram of an adhesive chain with an adhesive block installed in an embodiment of the auxiliary device for welding and turning steel box girders according to the present invention;

[0043] Figure 6 This is an isometric view of the bonding block in an embodiment of the auxiliary device for welding and turning steel box girders according to the present invention.

[0044] The reference numerals in the accompanying drawings include: 1. Base; 101. Equipment cavity; 102. Limiting slide groove; 103. Tilting shaft; 104. Translation drive component; 2. Tilting table; 201. Placement plate; 202. Support frame; 3. Moving clamping table; 4. Telescopic drive component; 5. Fixed chain claw clamp; 501. Claw frame; 5011. Bottom arm; 5012. Top arm; 5013. Connecting telescopic rod; 5014. Electrically controlled telescopic rod; 502. Fitting chain; 5021. Top sprocket; 5022. Bottom sprocket; 5023. Drive sprocket; 6. Moving chain claw clamp; 7. Pressure sensor; 8. Tension sensor; 9. Fitting block; 10. Rubber pad layer. Detailed Implementation

[0045] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0046] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0047] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0048] The following detailed description illustrates the specific implementation method:

[0049] Example 1:

[0050] This embodiment provides an auxiliary device for turning over steel box girder during welding, specifically as follows: Figure 1 and Figure 2 As shown, the device includes a base 1, which has two equipment cavities 101. Each equipment cavity 101 is equipped with a frame-type tilting table 2. The two tilting tables 2 are arranged opposite to each other. Each equipment cavity 101 is equipped with a tilting drive (preferably a hydraulic telescopic cylinder, not shown in the figure). The output shaft of each tilting drive is hinged to the corresponding tilting table 2, so that the corresponding tilting table 2 can be tilted 90° by the drive of each tilting drive.

[0051] The bottom of each tilting table 2 is hinged with a tilting shaft 103 (which serves as the rotation axis during the tilting process). Both sides of the base 1 have limit grooves 102, and the tilting shafts 103 are in a limited sliding fit with the base 1 through the corresponding limit grooves 102. Correspondingly, a translation drive 104 is also fixedly connected to the equipment cavity 101 by bolts. The output shaft of the translation drive 104 is fixedly connected to the corresponding tilting shaft 103. Based on the 90° tilt achieved by the combination of each tilting drive and the tilting table 2, under the dynamic drive of the translation drive 104, the two 90° tilts are combined to achieve a 180° tilt. At the same time, the translation drive 104 can adjust the relative horizontal distance between the two tilting tables 2 to adapt to the characteristics of the non-standard workpiece of the steel box girder (i.e., when the workpiece is large, the interval between the two 90° tilts is increased by adjusting the translation drive 104 on both sides).

[0052] Regarding the clamping of the steel box girder workpiece to be flipped; taking one of the flipping tables 2 as an example, the flipping table 2 includes a placement plate 201 and a support frame 202 that are welded and fixed to each other. A movable clamping table 3 is slidably connected to the placement plate 201 through a slider and slide groove mechanism. The movable clamping table 3 is parallel to the support frame 202. A telescopic drive component 4 is embedded in the placement plate 201. The telescopic drive component 4 is preferably an electro-hydraulic rod. The output shaft of the electro-hydraulic rod is fixedly connected to the movable clamping table 3.

[0053] The special feature of this embodiment is that it combines... Figure 2 and Figure 3 As shown, the support frame 202 has several fixed chain claws 5 on the side near the movable clamping table 3, and the movable clamping table 3 has several movable chain claws 6 on the side near the support frame 202, each corresponding to the position and number of the fixed chain claws 5. The fixed chain claws 5 and the movable chain claws 6 have the same structure, both including a claw frame 501 and a contact chain 502. The claw frame 501 includes a bottom arm 5011, a top arm 5012, and a connecting telescopic rod 5013. The bottom arm 5011 is connected to the top arm 5012 via the connecting telescopic rod 5013. 12. A height-adjustable frame with a fixed connection forming an "I"-shaped structure is provided. The connecting telescopic rod 5013 is equipped with an opening adjustment component. The opening adjustment component includes an electrically controlled telescopic rod 5014 that is fixedly connected to the bottom arm 5011 by bolts. The output shaft of the electrically controlled telescopic rod 5014 is fixedly connected to the top arm 5012 by bolts. The height between the top arm 5012 and the bottom arm 5011 is adjusted based on the electrically controlled telescopic rod 5014 to adapt to the height difference of different steel box girder workpieces after they are placed on the surface of the placement plate 201.

[0054] In addition, the length of the top arm 5012 is greater than the length of the bottom arm 5011. The electrically controlled telescopic rod 5014 adjusts the height between the top arm 5012 and the bottom arm 5011. Combined with the electrically controlled hydraulic rod, the lateral distance between the movable clamping table 3 and the support frame 202 can be adjusted to achieve clamping that assists in flipping the workpiece. Specifically, the ends of the bottom arms 5011 on both sides of the workpiece are in contact with the side wall of the workpiece, and the ends of the top arms 5012 on both sides of the workpiece are in contact with the top surface of the adjacent side wall of the workpiece. This achieves a wrap-around clamping to prevent the risk of tipping over when the workpiece is flipped.

[0055] The 502 bonding chain is equipped with a tension adjustment component, combined with Figure 3 and Figure 4As shown, the tension adjustment assembly includes a top sprocket 5021, a bottom sprocket 5022, and a servo drive. The top sprocket 5021 and bottom sprocket 5022 are rotatably connected to the ends of the top arm 5012 and bottom arm 5011 respectively via bearings. The servo drive includes a drive sprocket 5023 and two servo motors. The drive sprocket 5023 is rotatably connected to the bottom arm 5011 via bearings. The two ends of the contact chain 502 are fixed to the top sprocket 5021 and drive sprocket 5023 respectively via pins. The output shafts of the two servo motors are connected to the top sprocket 5021 and drive sprocket 5022 respectively. 023 is coaxially fixedly connected via a coupling; under the joint drive of two servo motors, the tension of the bonding chain 502 can be adjusted, that is, the length of the bonding chain 502 between the end of the top arm 5012 and the end of the bottom arm 5011 and the normal clamping force between this section of the bonding chain 502 and the side wall of the workpiece to be flipped can be adjusted; the point-type clamping on both sides of the workpiece to be flipped (point contact between the end of the top arm 5012 and the end of the bottom arm 5011 and the side wall of the workpiece to be flipped) is converted into strip-shaped friction clamping (the bonding chain 502 applies anti-overturning friction force to the workpiece to be tested).

[0056] The end of the bottom arm 5011 is equipped with a pressure acquisition component, which includes a pressure sensor 7. The pressure sensor 7 collects the contact pressure data between the end of the bottom arm 5011 and the workpiece, and uses this as the basis for the drive adjustment of the telescopic drive component 4. That is, the magnitude of the pressure data determines whether the end of the bottom arm 5011 in contact with the side wall of the workpiece has made contact with and clamped the side wall of the workpiece. The bonding chain 502 is equipped with a tension acquisition component, which includes a tension sensor 8 sleeved on the bonding chain 502. The tension sensor 8 is embedded in the bottom arm 5011 and is located between the drive sprocket 5023 and the bottom sprocket 5022. The tension sensor 8 collects the tension force of the corresponding bonding chain 502 after it is in contact with the side wall of the workpiece. The tension force is used as the basis for the drive adjustment of the servo drive component. That is, the magnitude of the tension force is used as the degree of contact between the chain body of the bonding chain 502 and the side wall of the workpiece.

[0057] First, during the flipping process, based on the collected tension force, the normal clamping force between the bonding chain 502 and the workpiece sidewall can be dynamically adjusted. Compared to the clamping system in conventional flipping machines, the adaptive clamping of the bonding chain 502 can adapt in real time to the changes in lateral pressure distribution caused by the displacement of the workpiece's center of gravity, reducing the risk of local stress concentration or instantaneous slippage caused by the shift of the center of gravity. Second, compared to the existing technology that uses rigid pressure blocks or fixed clamping mechanisms that can only provide a constant locking force, the adjustable tension bonding chain 502 transforms the flipping clamping from a passive constraint to an active adaptation unit, adapting to the self-stabilization of the posture of asymmetrical workpieces under displacement conditions, and also reducing the risk of wear and indentation on the workpiece surface during the flipping process. Furthermore, based on the tension adjustment of the bonding chain 502 driven by the servo motor, the torsional vibration during workpiece flipping can be suppressed without additional auxiliary support. At the same time, the tension of different bonding chains 502 can be actively adjusted differently during the flipping process to maintain the stability of the workpiece's center of gravity, thereby reducing the risk of the workpiece falling off the base due to vertical shift of the center of gravity caused by changes in the workpiece's posture during the flipping process.

[0058] Example 2:

[0059] As attached Figure 3 , Figure 5 and Figure 6 As shown, the difference from Embodiment 1 is that a number of bonding blocks 9 are rotatably hinged on the bonding chain 502. The bonding blocks 9 are arc-shaped components. By adapting to the curved surface or uneven contour of the workpiece sidewall, the bonding blocks 9 transform the chain line contact into a stable bonding of multi-point surface contact. Each bonding block 9 is fixedly connected to a rubber pad layer 10 on the side away from the bonding chain 502. The bonding blocks 9, together with the rubber pad layer 10, increase the friction coefficient of the contact surface and buffer local pressure, thereby improving the clamping reliability and reducing the risk of workpiece surface damage during the flipping process.

[0060] Example 3:

[0061] The difference from Embodiment 2 is that the controller has a built-in data processing system, which includes a human-computer interaction module and an anti-slip module.

[0062] The human-computer interaction module allows users to input the target flipping angle of the workpiece to be flipped, and then generates the drive signal of the flipping drive component based on the target flipping angle.

[0063] The anti-slip module includes a center of gravity conversion unit and an adaptive adjustment unit. The center of gravity conversion unit is used to acquire real-time pressure data collected by each pressure sensor 7, and calculates the projection coordinates of the center of gravity of the workpiece to be flipped on the line connecting each bottom arm 5011 based on the real-time pressure data at the same time. When the projection coordinates exceed the range of the base 1, the interference signal is transmitted to the adaptive adjustment unit.

[0064] An adaptive adjustment unit is used to receive interference signals and obtain projection coordinates. Based on the relationship between the projection coordinates and the base 1, it generates a corresponding servo motor drive signal to adjust the tension of the corresponding bonding chain 502 to change the placement posture of the workpiece to be flipped, thereby changing the center of gravity position of the workpiece to be flipped.

[0065] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. An auxiliary device for turning over steel box girder welding, comprising a base (1), two frame-type turning tables (2) provided on the base (1), two turning drive components that drive the corresponding turning tables (2) to rotate respectively provided inside the base (1), and a controller integrated on the side wall of the base (1), characterized in that, Each of the flipping tables (2) includes a placement plate (201) and a support frame (202) that are fixedly connected to each other. A movable clamping table (3) parallel to the support frame (202) is slidably connected on the placement plate (201). The placement plate (201) is provided with a telescopic drive (4) for driving the movable clamping table (3) to move on the placement plate (201). The telescopic drive (4) is connected to the controller signal. The support frame (202) is provided with several fixed chain claws (5) on the side near the movable clamping table (3), and the movable clamping table (3) is provided with several movable chain claws (6) corresponding to the fixed chain claws (5) on the side near the support frame (202). Both the movable chain claws (6) and the fixed chain claws (5) include a claw frame (501) and a bonding chain (502). The bonding chain (502) is wound around the claw frame (501). The claw frame (501) is provided with an opening adjustment component for adjusting the opening of the claw frame (501). The bonding chain (502) is provided with a tension adjustment component for adjusting the tension of the bonding chain (502). Both the opening adjustment component and the tension adjustment component are connected to the controller signal. During the flipping of the non-standard steel box girder workpiece, under the condition of fixed clamping tension, the pressure distribution change caused by the shift of the center of gravity of the non-standard steel box girder workpiece causes each link of the bonding chain (502) to undergo adaptive deformation. The claw (501) is also equipped with a pressure acquisition component for detecting the force on the claw (501); the bonding chain (502) is equipped with a tension acquisition component for acquiring the tension of the bonding chain (502). Both the pressure acquisition component and the tension acquisition component are connected to the controller signal.

2. The auxiliary device for turning over steel box girder welding according to claim 1, characterized in that, The claw frame (501) includes a bottom arm (5011), a connecting telescopic rod (5013) is fixedly connected to the bottom arm (5011), and a top arm (5012) is fixedly connected to the end of the connecting telescopic rod (5013) away from the bottom arm (5011). The bottom arm (5011) and the top arm (5012) form an "I"-shaped height-adjustable frame through the connecting telescopic rod (5013) and the top arm (5012); the opening adjustment component is located inside the connecting telescopic rod (5013).

3. The auxiliary device for turning over steel box girder welding according to claim 2, characterized in that, The length of the top arm (5012) is greater than the length of the bottom arm (5011); the distance between the movable clamping table (3) and the support frame (202) is adjusted by the telescopic drive component (4) so ​​that the end of each bottom arm (5011) is in contact with the side wall of the workpiece to be flipped, and the end of each top arm (5012) is in contact with the top arm (5012) of the adjacent side wall of the workpiece to be flipped.

4. The auxiliary device for turning over steel box girder welding according to claim 3, characterized in that, The opening adjustment assembly includes an electrically controlled telescopic rod (5014) fixedly connected to the bottom arm (5011), and the output shaft of the electrically controlled telescopic rod (5014) is fixedly connected to the top arm (5012). The height of the top arm (5012) and the bottom arm (5011) are adjusted by the electrically controlled telescopic rod (5014) so ​​that the claw frame (501) can adapt to the height difference of different steel box girder workpieces after they are placed on the surface of the placement plate (201).

5. The auxiliary device for turning over steel box girder welding according to claim 4, characterized in that, The tension adjustment assembly includes a top sprocket (5021), a bottom sprocket (5022), and a servo drive. The top sprocket (5021) and the bottom sprocket (5022) are rotatably connected to the ends of the top arm (5012) and the bottom arm (5011), respectively. The servo drive includes a drive sprocket (5023) and two servo motors. The drive sprocket (5023) is rotatably connected to the bottom arm (5011). The two ends of the bonding chain (502) are fixed to the top sprocket (5021) and the drive sprocket (5023). The output shafts of the two servo motors are coaxially fixedly connected to the top sprocket (5021) and the drive sprocket (5023), respectively. The tension of the bonding chain (502) is adjusted by driving the two servo motors so that the bonding chain (502) adapts to the shape of the side of the workpiece to be flipped.

6. The auxiliary device for turning over steel box girder welding according to claim 5, characterized in that, The pressure acquisition assembly includes a pressure sensor (7) fixedly connected to the bottom arm (5011) on the end near the bottom sprocket (5022).

7. The auxiliary device for turning over steel box girder welding according to claim 6, characterized in that, The tension acquisition component includes a tension sensor (8) sleeved on the bonding chain (502), the tension sensor (8) is fixedly connected inside the bottom arm (5011), and the tension sensor (8) is located between the drive sprocket (5023) and the bottom sprocket (5022).

8. The auxiliary device for turning over steel box girder welding according to claim 1, characterized in that, Several bonding blocks (9) are rotatably hinged on the bonding chain (502). The bonding blocks (9) are arc-shaped components. A rubber pad layer (10) is fixedly connected to the side of the bonding block (9) away from the bonding chain (502).

9. The auxiliary device for turning over steel box girder welding according to claim 1, characterized in that, The base (1) is also fixedly connected to a translation drive (104), which is used to drive the corresponding placement plate (201) and support frame (202) to move.

10. The auxiliary device for turning over steel box girder welding according to claim 6, characterized in that, The controller has a built-in data processing system, which includes a human-computer interaction module and an anti-slip module. The human-computer interaction module is used to allow users to input the target flipping angle of the workpiece to be flipped, and then generate the drive signal of the flipping drive component based on the target flipping angle; The anti-slip module includes a center of gravity conversion unit and an adaptive adjustment unit; The center of gravity conversion unit is used to acquire the real-time pressure data collected by each pressure sensor (7), and calculates the projection coordinates of the center of gravity of the workpiece to be flipped on the line connecting each bottom arm (5011) based on the real-time pressure data at the same time. When the projection coordinates exceed the range of the base (1), the interference signal is transmitted to the adaptive adjustment unit. An adaptive adjustment unit is used to receive interference signals and obtain projection coordinates. Based on the relationship between the projection coordinates and the base (1), a corresponding servo motor drive signal is generated to adjust the tension of the corresponding bonding chain (502) to change the placement posture of the workpiece to be flipped, so as to change the center of gravity position of the workpiece to be flipped.

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