A welding device and method for steel structure bridge joints

Abstract

This invention discloses a welding device for steel structure bridge joints, comprising a moving mechanism, a passive telescopic structure, a base, a pushing mechanism, a centering linkage mechanism, a centering telescopic rod, a welding torch, first and second elastic telescopic structures, and an equidistant synchronization mechanism. The moving mechanism moves along the extension direction of the weld joint between the U-shaped rib and the bridge deck. The passive telescopic structure connects the moving mechanism and the base. The pushing mechanism drives the centering linkage mechanism, whose members on both sides of the welding reference angle are respectively provided with elastic telescopic structures abutting against the inner wall of the U-shaped rib and the bridge deck. The centering telescopic rod is hinged diagonally to the linkage mechanism, and the welding torch is installed at its end. The equidistant synchronization mechanism drives the two elastic telescopic structures to extend and retract at equal intervals, ensuring that the welding torch is centered on the weld joint. This device can adapt to the geometric deviation of the U-shaped rib without requiring manual adjustment of the welding angle, reducing the probability of the welding torch deviating from the weld joint, thereby improving welding quality.

Description

Technical Field

[0001] This invention relates to the field of steel structure welding technology, and in particular to a welding equipment for steel structure bridge joints. Background Technology

[0002] In the manufacturing process of steel structure bridges, node welding is a key link to ensure the integrity and load-bearing capacity of the structure. The quality of the connection weld between the U-shaped rib plate and the bridge deck steel plate directly determines the fatigue resistance and service life of the bridge deck.

[0003] Currently, for welding U-shaped ribs to bridge deck steel plates, Chinese patent application CN120587780A proposes a welding device and method capable of adaptive angle adjustment inside the U-shaped rib. The device uses a pushing component to send a limiting box and welding torch into the U-shaped rib, and uses an electric telescopic rod, a double-sided toothed plate, and a telescopic plate driven by a linkage gear to adjust the position of the storage box. At the same time, through the linkage of the motor, gear set, and elastic telescopic rod, the output end of the welding torch is always automatically aligned with the center of the angle between the U-shaped rib and the bridge deck during the welding process, thereby achieving adaptive welding of U-shaped ribs of different specifications. Although the patent solves the problem of the need for repeated manual adjustment of the welding torch angle due to the difference in the specifications of the U-shaped ribs in traditional devices, in actual bridge manufacturing, there are unavoidable geometric non-ideals in the inner wall of the U-shaped rib, such as rolling waviness, local residual deformation and weld excess height in the front section. The device relies on the discrete contact feedback between the elastic telescopic rod and the inner wall of the U-shaped rib to maintain the centering of the welding torch. During the welding of long welds, the adjustment action is frequently triggered, causing the welding torch to deviate from the weld seam, which in turn affects the welding quality. Summary of the Invention

[0004] In order to overcome the shortcomings of the prior art, the present invention aims to provide a steel structure bridge joint welding equipment that can adapt to the geometric deviation of the U-shaped rib plate without the need for manual adjustment of the welding angle, reduce the probability of the welding torch deviating from the weld seam, and thus improve the welding quality.

[0005] The objective of this invention is achieved through the following technical solution:

[0006] A steel structure bridge joint welding equipment, comprising:

[0007] A moving mechanism capable of moving along the extension direction of the weld seam between the U-shaped rib and the bridge deck;

[0008] A passive telescopic structure, one end of which is located on the moving mechanism;

[0009] A base body, which is connected to the other end of the passive telescopic structure;

[0010] A pushing mechanism is mounted on the base, and the output end of the pushing mechanism extends and retracts along the extension direction of the seam to be welded.

[0011] The centering linkage mechanism is installed at the output end of the pushing mechanism; the diagonal of the centering linkage mechanism away from the base is defined as the welding reference angle;

[0012] A centering telescopic rod, the two ends of which are respectively hinged to two opposite corners of the centering linkage mechanism, and the centering telescopic rod extends and retracts as the centering linkage mechanism swings;

[0013] A welding torch is mounted on the end of the centering telescopic rod away from the base, and the nozzle of the welding torch extends along the axial direction of the centering telescopic rod.

[0014] The first elastic telescopic structure is provided on the rod corresponding to one of the two sides of the welding reference angle. The end of the first elastic telescopic structure is provided with a first abutment part, which is used to abut against the inner wall of the U-shaped rib.

[0015] The second elastic telescopic structure is provided on the rod corresponding to the other side of the two sides of the welding reference angle. The end of the second elastic telescopic structure is provided with a second abutment part, which is used to abut against the bridge deck.

[0016] An equidistant synchronization mechanism is provided on the centering telescopic rod and is driven and connected by the first elastic telescopic structure, thereby driving the second elastic telescopic structure so that the first elastic telescopic structure and the second elastic telescopic structure can extend and retract at equal intervals.

[0017] Furthermore, the centering linkage mechanism includes at least four links, which are hinged sequentially; one of the two links corresponding to the two sides of the welding reference angle is the first link and the other is the second link; the first elastic telescopic structure is disposed on the first link and the second elastic telescopic structure is disposed on the second link; the second link is connected to the output end of the pushing mechanism.

[0018] Furthermore, the first elastic telescopic structure is provided with a first elastic element, and the first abutting part is a pulley; one end of the first elastic element is connected to the pulley, and the other end is connected to the first connecting rod, so that when the pulley abuts against the inner wall of the U-shaped rib, the pulley has a tendency to move away from the first connecting rod; the second elastic telescopic structure is provided with a second elastic element, and the second abutting part is a caster wheel; one end of the second elastic element is connected to the caster wheel, and the other end is connected to the second connecting rod, so that when the pulley abuts against the bridge deck, the caster wheel has a tendency to move away from the second connecting rod.

[0019] Furthermore, the extension and retraction direction of the first elastic telescopic structure is perpendicular to the first connecting rod; the extension and retraction direction of the second elastic telescopic structure is perpendicular to the second connecting rod, and the second connecting rod is parallel to the bridge deck.

[0020] Furthermore, the end of the first elastic telescopic structure is provided with a first insert rod, which is guided and engaged with the first connecting rod and is perpendicular to the first connecting rod; the end of the second elastic telescopic structure is provided with a second insert rod, which is guided and engaged with the second connecting rod and is perpendicular to the second connecting rod.

[0021] Furthermore, the equidistant synchronization mechanism includes a centering guide rail, a linkage slider, a first linkage rod, and a second linkage rod. The guide rail is located at one end of the centering telescopic rod near the welding torch and extends along the axial direction of the centering telescopic rod. The linkage slider is slidably engaged with the centering guide rail. One end of the first linkage rod is hinged to the first insert rod, and the other end is hinged to the linkage slider. One end of the second linkage rod is hinged to the second insert rod, and the other end is hinged to the linkage slider, so that when the first elastic telescopic structure extends or retracts, the first insert rod inserts into the first connecting rod, thereby linking the first linkage rod to drive the linkage slider to slide on the centering guide rail, and then linking the second linkage rod to drive the second insert rod to insert into the second connecting rod, and driving the second elastic telescopic structure to perform synchronous extension and retraction.

[0022] Furthermore, a guide block is pivotally connected to the diagonal hinge shaft of the welding reference angle, and the guide block slides in conjunction with the centering guide rail.

[0023] Furthermore, the steel structure bridge node welding equipment also includes a torsion spring, one end of which is connected to a first connecting rod and the other end of which is connected to a second connecting rod, so that when the welding reference angle formed by the first connecting rod and the second connecting rod becomes smaller, the welding reference angle tends to increase.

[0024] Furthermore, the pushing mechanism, the centering telescopic rod, the second connecting rod, and the welding torch are each provided in twos; the steel structure bridge node welding equipment is also provided with a vertical guide rail, a vertical slider, and two third telescopic rods; the pushing mechanism is located on opposite sides of the base, and the centering telescopic rods are distributed on opposite sides of the base; on the side of the base away from the centering connecting rod mechanism, the output end of the pushing mechanism is connected to one end of the second connecting rod, and the other end of the second connecting rod is hinged to the middle of the centering telescopic rod; the welding torch is installed on the centering telescopic rod, and the two second connecting rods and the two welding torches are symmetrically distributed relative to the base; the vertical guide rail is located at the center of the base; the vertical slider slides in cooperation with the vertical guide rail; the two third telescopic rods are correspondingly connected to the two centering telescopic rods and are jointly connected to the vertical slider.

[0025] A method for welding joints in a steel bridge structure includes the following steps:

[0026] The control moving mechanism moves along the extension direction of the seam to be welded, and moves the pushing mechanism, the centering linkage mechanism, the first abutting part and the second abutting part to the starting position of the seam to be welded between the U-shaped rib and the bridge deck.

[0027] The control and pushing mechanism pushes the centering linkage mechanism toward the direction of the weld seam, so that the welding reference angle corresponds to the angle area between the U-shaped rib and the bridge deck, and the first abutting part abuts against the inner wall of the U-shaped rib and the second abutting part abuts against the bridge deck.

[0028] Start the welding torch and control the moving mechanism to move along the extension direction of the seam to be welded.

[0029] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0030] 1. The moving mechanism can move along the extension direction of the weld seam between the U-shaped rib and the bridge deck; one end of the passive telescopic structure is located on the moving mechanism; the seat is connected to the other end of the passive telescopic structure; the output end of the pushing mechanism moves along the extension direction of the weld seam, and the moving mechanism can move along the weld seam direction and stop at the starting end; the pushing mechanism extends and retracts along the weld seam direction, and will actively push the centering linkage mechanism to the working position before welding; one end of the passive telescopic structure is located on the moving mechanism, and the seat is connected to its other end. This structure can passively extend and retract to adapt to the vertical displacement generated when the second elastic telescopic structure abuts against the bridge deck, while always maintaining the connection relationship between the seat and the moving mechanism, thereby ensuring the integrity and following of the overall structure and laying a good mechanical foundation for subsequent welding.

[0031] 2. The centering linkage mechanism is installed at the output end of the pushing mechanism; the two ends of the centering telescopic rod are respectively hinged to two diagonal points of the centering linkage mechanism, and the centering telescopic rod moves in extension and retraction with the swing of the centering linkage mechanism; the welding torch is installed at the end of the centering telescopic rod away from the base, and the nozzle direction of the welding torch extends along the axis of the centering telescopic rod. Since the welding reference angle is the theoretical corner point where the inner wall of the U-shaped rib plate intersects with the bridge deck, and the first elastic telescopic structure and the second elastic telescopic structure abut against these two orthogonal surfaces and achieve equidistant extension and retraction, the centering linkage mechanism can automatically position the welding reference angle on the actual intersection line. Since the axis of the centering telescopic rod points to this welding reference angle, the nozzle direction of the welding torch is exactly aligned with the root of the weld seam. Without the need for manual adjustment of the welding angle, the welding torch always points to the center of the weld seam, reducing the probability of the welding torch deviating from the weld seam due to angular deviation.

[0032] 3. A first elastic telescopic structure is installed on the rod corresponding to one of the two sides of the welding reference angle. The end of the first elastic telescopic structure has a first abutment portion for abutting against the inner wall of the U-shaped rib. A second elastic telescopic structure is installed on the rod corresponding to the other side of the welding reference angle. The end of the second elastic telescopic structure has a second abutment portion for abutting against the bridge deck. An equidistant synchronization mechanism is installed on the centering telescopic rod and is driven and connected by the first elastic telescopic structure, thereby driving the second elastic telescopic structure to achieve equidistant telescopic expansion and contraction of the first and second elastic telescopic structures. A first elastic telescopic structure abuts against the inner wall of the U-shaped rib, and a second elastic telescopic structure abuts against the bridge deck. The equidistant synchronous mechanism is driven by the first elastic telescopic structure and links with the second elastic telescopic structure to perform equidistant telescopic movements. This allows the welding reference angle to automatically adapt to the deviation of the actual geometric dimensions between the U-shaped rib and the bridge deck. This ensures that no matter what geometric deviation exists in the inner wall of the U-shaped rib or the bridge deck, the centering linkage mechanism can position the welding reference angle on the actual weld line in real time. Without manual intervention, it can dynamically compensate for the geometric deviation of the U-shaped rib, reduce the probability of the welding torch deviating from the weld seam, and thus improve the stability and consistency of the welding quality. Attached Figure Description

[0033] Figure 1 This is a structural schematic diagram of a steel structure bridge joint welding device according to the present invention;

[0034] Figure 2 for Figure 1 A magnified view of a section at point A in the middle;

[0035] Figure 3 for Figure 1 A schematic diagram showing the placement of a steel structure bridge node welding device on the U-shaped rib and bridge deck.

[0036] In the diagram: 1. Moving mechanism; 2. Passive telescopic structure; 3. Seat; 4. Pushing mechanism; 5. Centering linkage mechanism; 501. First link; 502. Second link; 6. Centering telescopic rod; 7. Welding torch; 8. First elastic telescopic structure; 801. First elastic element; 802. Pulley; 803. First insert rod; 9. Second elastic telescopic structure; 901. Second elastic element; 902. Caster wheel; 903. Second insert rod; 10. Equidistant synchronization mechanism; 1001. Centering guide rail; 1002. Linkage slider; 1003. First linkage rod; 1004. Second linkage rod; 11. Guide block; 12. Vertical guide rail; 13. Vertical slider; 14. Third telescopic rod; 15. U-shaped rib; 16. Bridge deck. Detailed Implementation

[0037] The present invention will now be further described in conjunction with the accompanying drawings and specific embodiments. It should be noted that, without conflict, the various embodiments or technical features described below can be arbitrarily combined to form new embodiments.

[0038] It should be noted that when an element is described as being "fixed to" another element, it can be directly attached to the other element or there may be an intervening element. When an element is described as being "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementations.

[0039] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0040] See Figures 1-3 The implementation methods of all embodiments of the present invention are as follows:

[0041] A steel structure bridge node welding equipment includes a moving mechanism 1, a passive telescopic structure 2, a base 3, a pushing mechanism 4, a centering linkage mechanism 5, a centering telescopic rod 6, a welding torch 7, a first elastic telescopic structure 8, a second elastic telescopic structure 9, and an equidistant synchronous mechanism 10.

[0042] The moving mechanism 1 can move along the extension direction of the weld seam between the U-shaped rib 15 and the bridge deck 16. Specifically, the moving mechanism 1 can be a rail-type trolley that moves along a guide rail laid on the bridge deck 16.

[0043] One end of the passive telescopic structure 2 is located at the moving mechanism 1. Specifically, the passive telescopic structure 2 can be a sleeve-type telescopic rod, with the inner rod and outer rod connected by a linear bearing, passively extending and retracting by gravity or external force.

[0044] The base 3 is connected to the other end of the passive telescopic structure 2.

[0045] The pushing mechanism 4 is mounted on the base 3, and the output end of the pushing mechanism 4 extends and retracts along the extension direction of the seam to be welded. Specifically, the pushing mechanism 4 can be an electric push rod or a rodless cylinder.

[0046] The centering linkage mechanism 5 is installed at the output end of the pushing mechanism 4; the diagonal of the centering linkage mechanism 5 away from the base 3 is defined as the welding reference angle. Specifically, the centering linkage mechanism 5 can adopt a double rocker mechanism, consisting of a parallelogram frame composed of four hinged rods, with the welding reference angle being one of the hinge points; or it can adopt a scissor-type linkage mechanism, consisting of two sets of cross-hinged links, which keeps the angle bisector direction of the welding reference angle stable during extension and retraction.

[0047] The two ends of the centering telescopic rod 6 are respectively hinged to the two diagonal points of the centering linkage mechanism 5. The centering telescopic rod 6 extends and retracts as the centering linkage mechanism 5 swings.

[0048] The welding torch 7 is mounted at the end of the centering telescopic rod 6 away from the base 3, and the nozzle direction of the welding torch 7 extends along the axial direction of the centering telescopic rod 6. Specifically, the welding torch 7 can be a CO2 gas shielded welding torch 7 or a laser welding head.

[0049] The first elastic telescopic structure 8 is provided on the rod corresponding to one of the two sides of the welding reference angle. The end of the first elastic telescopic structure 8 is provided with a first abutment part, which is used to abut against the inner wall of the U-shaped rib plate 15. Specifically, the first elastic telescopic structure 8 can be a compression spring sleeved on the guide rod. One end of the guide rod is connected to the abutment part, and the other end is provided with a limiting nut. The spring pushes the abutment part to keep it in contact with the abutted surface. The first abutment part can be a rolling wheel or a slider.

[0050] The second elastic telescopic structure 9 is provided on the rod corresponding to the other side of the two sides of the welding reference angle. The end of the second elastic telescopic structure 9 is provided with a second abutment part, which is used to abut against the bridge deck 16.

[0051] The equidistant synchronization mechanism 10 is located on the central telescopic rod 6 and is driven by the first elastic telescopic structure 8, thereby driving the second elastic telescopic structure 9 so that the first elastic telescopic structure 8 and the second elastic telescopic structure 9 extend and retract at equal intervals. Specifically, the equidistant synchronization mechanism 10 can be a transmission mechanism composed of a steel wire rope and a fixed pulley 802. The two ends of the steel wire rope are respectively connected to the first elastic telescopic structure 8 and the second elastic telescopic structure 9, and guided by the fixed pulley 802, so that the extension and retraction of the first elastic telescopic structure 8 is proportionally transmitted to the second elastic telescopic structure 9; or, the equidistant synchronization mechanism 10 can also be a rack and pinion linkage mechanism, with two racks respectively fixedly connected to the first elastic telescopic structure 8 and the second elastic telescopic structure 9, and meshing with the same gear to achieve synchronous movement with equal displacement between the two.

[0052] The working principle of the steel structure bridge joint welding equipment of the present invention is as follows:

[0053] Before welding, the U-shaped rib 15 and the bridge deck 16 need to be initially fixed using a fixing device. First, the moving mechanism 1 moves to the starting end of the weld joint between the U-shaped rib 15 and the bridge deck 16 and stops; the pushing mechanism 4 is installed on the base 3, and its output end extends along the extension direction of the weld joint, pushing the centering linkage mechanism 5 forward. The first elastic telescopic structure 8 is located on the rod corresponding to one side of the welding reference angle, with its first abutment abutting part abutting against the inner wall of the U-shaped rib 15; the second elastic telescopic structure 9 is located on the rod corresponding to the other side of the welding reference angle, with its second abutting part abutting against the bridge deck 16. During the pushing process of the centering linkage mechanism 5, the base 3 is connected to the other end of the passive telescopic structure 2 and passively drives the passive telescopic structure 2 to extend and retract vertically. Meanwhile, the equidistant synchronization mechanism 10, located on the centering telescopic rod 6, is driven by the first elastic telescopic structure 8, which in turn drives the second elastic telescopic structure 9, causing the two to extend and retract at equal intervals. The two ends of the centering telescopic rod 6 are respectively hinged to the two diagonal points of the centering linkage mechanism 5, and extend and retract with the swing of the centering linkage mechanism 5. The welding torch 7 is installed at the end of the centering telescopic rod 6 away from the base 3, and its nozzle direction extends along the axial direction of the centering telescopic rod 6, thereby realizing the centering and positioning of the welding torch 7 relative to the welding reference angle, and thus being able to align with the seam to be welded. After centering is completed, the moving mechanism 1 restarts and moves along the extension direction of the seam to be welded, and the welding torch 7 continues to perform tracking welding.

[0054] Obviously, the moving mechanism 1 can move along the extension direction of the weld seam between the U-shaped rib 15 and the bridge deck 16; one end of the passive telescopic structure 2 is located on the moving mechanism 1; the seat 3 is connected to the other end of the passive telescopic structure 2; the output end of the pushing mechanism 4 performs telescopic movement along the extension direction of the weld seam, and the moving mechanism 1 can move along the direction of the weld seam and stop at the starting end; the pushing mechanism 4 telescopically moves along the weld seam direction and will actively push the centering linkage mechanism 5 to the working position before welding; one end of the passive telescopic structure 2 is located on the moving mechanism 1, and the seat 3 is connected to its other end. This structure can passively telescopically expand and contract to adapt to the vertical displacement generated when the second elastic telescopic structure 9 abuts against the bridge deck 16, while always maintaining the connection relationship between the seat 3 and the moving mechanism 1, thereby ensuring the integrity and following of the overall structure and laying a good mechanical foundation for subsequent welding.

[0055] The centering linkage mechanism 5 is installed at the output end of the pushing mechanism 4; the two ends of the centering telescopic rod 6 are respectively hinged to two diagonal points of the centering linkage mechanism 5, and the centering telescopic rod 6 moves in extension and retraction with the swing of the centering linkage mechanism 5; the welding torch 7 is installed at the end of the centering telescopic rod 6 away from the base 3, and the nozzle direction of the welding torch 7 extends along the axis of the centering telescopic rod 6. Since the welding reference angle is the theoretical corner point where the inner wall of the U-shaped rib plate 15 intersects with the bridge deck 16, and the first elastic telescopic structure 8 and the second elastic telescopic structure 9 respectively abut against these two orthogonal surfaces and achieve equidistant extension and retraction, the centering linkage mechanism 5 can automatically position the welding reference angle on the actual intersection line. Since the axis of the centering telescopic rod 6 points to the welding reference angle, the nozzle direction of the welding torch 7 is exactly aligned with the root of the weld seam. Without the need for manual adjustment of the welding angle, the welding torch 7 always points to the center of the weld seam, reducing the probability of the welding torch 7 deviating from the weld seam due to angle deviation.

[0056] The first elastic telescopic structure 8 is located on the rod corresponding to one of the two sides of the welding reference angle. The end of the first elastic telescopic structure 8 has a first abutment portion for abutting against the inner wall of the U-shaped rib plate 15. The second elastic telescopic structure 9 is located on the rod corresponding to the other side of the welding reference angle. The end of the second elastic telescopic structure 9 has a second abutment portion for abutting against the bridge deck 16. The equidistant synchronization mechanism 10 is located on the centering telescopic rod 6 and is driven by the first elastic telescopic structure 8, thereby driving the second elastic telescopic structure 9 to achieve equidistant telescopic expansion and contraction of the first and second elastic telescopic structures 8 and 9. Structure 8 abuts against the inner wall of U-shaped rib 15, and the second elastic telescopic structure 9 abuts against the bridge deck 16. The equidistant synchronization mechanism 10 is driven by the first elastic telescopic structure 8 and links with the second elastic telescopic structure 9 to perform equidistant telescopic movement. This allows the welding reference angle to automatically adapt to the deviation of the actual geometric dimensions between U-shaped rib 15 and bridge deck 16. This ensures that no matter what geometric deviation exists in the inner wall of U-shaped rib 15 or bridge deck 16, the centering linkage mechanism 5 can position the welding reference angle on the actual weld line in real time. Without manual intervention, it can dynamically compensate for the geometric deviation of U-shaped rib 15, reduce the probability of welding torch 7 deviating from the weld seam, and thus improve the stability and consistency of welding quality.

[0057] Preferably, the centering linkage mechanism 5 includes at least four links, which are hinged sequentially. One of the two links corresponding to the two sides defining the welding reference angle is a first link 501, and the other is a second link 502. A first elastic telescopic structure 8 is disposed on the first link 501, and a second elastic telescopic structure 9 is disposed on the second link 502. The second link 502 is connected to the output end of the pushing mechanism 4. Specifically, the pushing mechanism 4 directly drives the centering linkage mechanism 5 connected to the second link 502, so that the welding reference angle stably points to the intersection line of the U-shaped rib plate 15 and the bridge deck 16. The elastic telescopic structures on the first link 501 and the second link 502 respectively abut against the inner wall of the rib plate and the bridge deck 16. When there is a geometric deviation in the rib plate, the four-bar linkage (preferably a rhomboid four-bar linkage) swings passively. Through the centering telescopic rod 6 and the equidistant synchronization mechanism 10, the two elastic telescopic structures maintain equidistant changes. Without the need for manual adjustment of the welding angle, it can dynamically adapt to the shape and position deviation of the rib plate, reduce the probability of the welding torch 7 deviating from the weld, and improve the welding quality.

[0058] Preferably, the first elastic telescopic structure 8 is provided with a first elastic element 801 (which may be a spring), and the first abutment part is a pulley 802; one end of the first elastic element 801 is connected to the pulley 802, and the other end is connected to the first connecting rod 501, so that when the pulley 802 abuts against the inner wall of the U-shaped rib 15, the pulley 802 has a tendency to move away from the first connecting rod 501; the second elastic telescopic structure 9 is provided with a second elastic element 901, and the second abutment part is a caster 902; one end of the second elastic element 901 is connected to the caster 902, and the other end is connected to the second connecting rod 502, so that when the pulley 802 abuts against the bridge panel 16, the caster 902 has a tendency to move away from the second connecting rod 502. Specifically, the caster 902 can simultaneously adapt to the telescopic direction of the pushing mechanism 4 and the walking direction of the moving mechanism 1, ensuring flexible following in two orthogonal motion directions. When there is a geometric deviation in the U-shaped rib plate 15, the pulley 802 and the universal wheel 902 roll along the inner wall of the rib plate and the bridge plate 16 respectively. Through the compression and rebound of the elastic element, the four-bar linkage automatically swings. Through the linkage of the centering telescopic rod 6 and the equidistant synchronization mechanism 10, the two elastic compression structures maintain equidistant changes. Without the need for manual adjustment of the welding angle, it can dynamically adapt to the rib plate shape and position deviation, reduce the probability of the welding torch 7 deviating from the weld, and improve the welding quality.

[0059] Preferably, the extension direction of the first elastic telescopic structure 8 is perpendicular to the first connecting rod 501; the extension direction of the second elastic telescopic structure 9 is perpendicular to the second connecting rod 502, and the second connecting rod 502 is parallel to the bridge deck 16. Specifically, this vertical arrangement ensures that the compression of the elastic element directly reflects the change in the vertical distance between the welding reference angle and the inner wall of the U-shaped rib 15 and the bridge deck 16. When there is a geometric deviation in the U-shaped rib 15, the vertical force transmission path can more accurately transmit the displacement to the equidistant synchronous mechanism 10, reducing the measurement error caused by the oblique component force. At the same time, the parallelity of the second connecting rod 502 to the bridge deck 16 ensures that the caster wheel 902 always maintains surface contact with the bridge deck 16 during the movement of the moving mechanism 1. The extension and retraction action of the pushing mechanism 4 will not generate additional torque, and the welding angle can be dynamically adapted to the rib shape and position deviation without manual adjustment, further reducing the probability of the welding torch 7 deviating from the weld seam and improving the welding quality.

[0060] Preferably, the end of the first elastic telescopic structure 8 is further provided with a first insert rod 803, which guides and cooperates with the first connecting rod 501, and the guide is perpendicular to the first connecting rod 501; the end of the second elastic telescopic structure 9 is provided with a second insert rod 903, which guides and cooperates with the second connecting rod 502, and the guide is perpendicular to the second connecting rod 502. Specifically, the perpendicular insertion structure of the insert rod and the connecting rod can effectively limit the direction of elastic telescopic movement, prevent the abutment from lateral swaying or twisting during the abutment process, and ensure that the force direction of the pulley 802 and the universal wheel 902 is always perpendicular to the corresponding connecting rod. When there is a geometric deviation in the U-shaped rib 15, the guiding effect of the insert rod makes the compression and rebound of the elastic element more stable and linear, and the transmission accuracy of the equidistant synchronous mechanism 10 is guaranteed. Therefore, there is no need to manually adjust the welding angle, which can stably adapt to the rib shape and position deviation, reduce the probability of the welding torch 7 deviating from the weld, and improve the welding quality.

[0061] Preferably, the equidistant synchronization mechanism 10 includes a centering guide rail 1001, a linkage slider 1002, a first linkage rod 1003, and a second linkage rod 1004. The centering guide rail 1001 is located at one end of the centering telescopic rod 6 near the welding torch 7 and extends along the axial direction of the centering telescopic rod 6. The linkage slider 1002 is slidably engaged with the centering guide rail 1001. One end of the first linkage rod 1003 is hinged to the first through rod 803, and the other end is hinged to the linkage slider 1002. The second linkage rod 1004... One end of rod 1004 is hinged to the second through rod 903, and the other end is hinged to the linkage slider 1002, so that when the first elastic telescopic structure 8 extends or retracts, the first through rod 803 passes through the first connecting rod 501, thereby linking the first linkage rod 1003 to drive the linkage slider 1002 to slide on the centering guide rail 1001, and then linking the second linkage rod 1004 to drive the second through rod 903 to pass through the second connecting rod 502, and driving the second elastic telescopic structure 9 to perform synchronous extension and retraction. Specifically, when the first elastic telescopic structure 8 extends or retracts due to abutting against the inner wall of the U-shaped rib plate 15, the first through rod 803 drives the first linkage rod 1003, driving the linkage slider 1002 to slide along the centering guide rail 1001, and then through the second linkage rod 1004 to drive the second through rod 903, so that the second elastic telescopic structure 9 extends or retracts synchronously, realizing the equidistant transmission of displacement between the two elastic telescopic structures.

[0062] Preferably, a guide block 11 is pivotally connected to the diagonal hinge shaft of the welding reference angle, and the guide block 11 slides in cooperation with the guide rail. Specifically, when the centering linkage mechanism 5 swings, the diagonal hinge shaft can slide smoothly along the centering guide rail 1001 through the guide block 11, thereby converting the swing of the linkage mechanism into linear guiding motion in the axial direction of the centering telescopic rod 6. The cooperation between the guide block 11 and the centering guide rail 1001 not only improves the smoothness of the mechanism's movement and the guiding accuracy, but also effectively constrains the extension and retraction trajectory of the centering telescopic rod 6, preventing it from deviating.

[0063] Preferably, a steel structure bridge joint welding device further includes a torsion spring (not shown in the figure), one end of which is connected to a first connecting rod 501 and the other end to a second connecting rod 502, so that when the welding reference angle formed by the first connecting rod 501 and the second connecting rod 502 decreases, the welding reference angle tends to increase. Specifically, when the welding reference angle passively decreases due to abutting against the U-shaped rib 15 and the bridge deck 16, the torque provided by the torsion spring causes the welding reference angle to automatically increase, forming an elastic preload, thereby ensuring that the pulley 802 and the caster wheel 902 always adhere to the inner wall of the U-shaped rib 15 and the bridge deck 16 with appropriate pressure, avoiding instantaneous disengagement of the abutment part due to geometric deviation or vibration, and thus maintaining the continuous and stable alignment of the centering linkage mechanism 5.

[0064] Preferably, there are two of each of the pushing mechanism 4, the centering telescopic rod 6, the second connecting rod 502, and the welding torch 7; a steel structure bridge node welding device also includes a vertical guide rail 12, a vertical slider 13, and two third telescopic rods 14; the pushing mechanism 4 is located on opposite sides of the base 3, and the centering telescopic rods 6 are distributed on opposite sides of the base 3; on the side of the base 3 away from the centering connecting rod mechanism 5, the output end of the pushing mechanism 4 is connected to one end of the second connecting rod 502, and the other end of the second connecting rod 502 is hinged to the middle of the centering telescopic rod 6, and the welding torch 7 is installed on the centering telescopic rod 6, and the two second connecting rods 502 and the two welding torches 7 are symmetrically distributed relative to the base 3; the vertical guide rail 12 is located at the center of the base 3; the vertical slider 13 is slidably engaged with the vertical guide rail 12; the two third telescopic rods 14 are correspondingly connected to the two centering telescopic rods 6, and are jointly connected to the vertical slider 13. Specifically, by symmetrically arranging two sets of pushing mechanisms 4, centering telescopic rods 6, second connecting rods 502 and welding guns 7, and adding vertical guide rails 12, vertical sliders 13 and two third telescopic rods 14, the synchronous welding of the weld seams on both sides of the U-shaped rib plate 15 is achieved. The two third telescopic rods 14 are respectively connected to the centering telescopic rods 6 on both sides and are connected to the vertical sliders 13, ensuring the linkage and synchronization of the welding guns 7 on both sides in the vertical direction.

[0065] A method for welding joints in a steel bridge structure includes the following steps:

[0066] The control moving mechanism 1 moves along the extension direction of the weld seam, moving the pushing mechanism 4, the centering linkage mechanism 5, the first abutment part, and the second abutment part to the starting position of the weld seam between the U-shaped rib plate 15 and the bridge deck 16. Specifically, through the active movement of the moving mechanism 1, the entire equipment is positioned from the standby position to the starting end of the weld seam, ensuring that the subsequent centering mechanism can accurately enter the working area, avoiding positional deviations caused by manual alignment, and laying a positional foundation for high-quality welding.

[0067] The control pushing mechanism 4 pushes the centering linkage mechanism 5 towards the weld seam, aligning the welding reference angle with the included angle region between the U-shaped rib 15 and the bridge deck 16, and causing the first abutment part to abut against the inner wall of the U-shaped rib 15 and the second abutment part to abut against the bridge deck 16. Specifically, by utilizing the active extension and retraction of the pushing mechanism 4, the centering linkage mechanism 5 is pushed into the included angle region, causing the two abutment parts to respectively abut against the inner wall of the U-shaped rib 15 and the bridge deck 16. During this process, the welding reference angle is automatically positioned at the weld root, and the centering telescopic rod 6 and the equidistant synchronization mechanism 10 passively respond to achieve equidistant centering, dynamically adapting to the geometric deviation of the U-shaped rib 15 without the need for manual adjustment of the welding angle.

[0068] The welding torch 7 is activated, and the moving mechanism 1 is controlled to move along the extension direction of the seam to be welded. Specifically, since the alignment state has been established in the previous stage, the elastic telescopic structures continue to fit the surface to be welded during the movement, effectively reducing the probability of the welding torch 7 deviating from the seam to be welded, thereby improving the consistency and reliability of the welding quality.

[0069] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of those different embodiments or examples.

[0070] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "a plurality of" means two or more, unless otherwise explicitly specified.

[0071] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various variations or substitutions within the technical scope disclosed in this application, and these should all be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A steel structure bridge joint welding apparatus characterized by, include: A moving mechanism capable of moving along the extension direction of the weld seam between the U-shaped rib and the bridge deck; A passive telescopic structure, one end of which is located on the moving mechanism; A base body, which is connected to the other end of the passive telescopic structure; A pushing mechanism is mounted on the base, and the output end of the pushing mechanism extends and retracts along the extension direction of the seam to be welded. The centering linkage mechanism is installed at the output end of the pushing mechanism; the diagonal of the centering linkage mechanism away from the base is defined as the welding reference angle; A centering telescopic rod, the two ends of which are respectively hinged to two opposite corners of the centering linkage mechanism, and the centering telescopic rod extends and retracts as the centering linkage mechanism swings; A welding torch is mounted on the end of the centering telescopic rod away from the base, and the nozzle of the welding torch extends along the axial direction of the centering telescopic rod. The first elastic telescopic structure is provided on the rod corresponding to one of the two sides of the welding reference angle. The end of the first elastic telescopic structure is provided with a first abutment part, which is used to abut against the inner wall of the U-shaped rib. The second elastic telescopic structure is provided on the rod corresponding to the other side of the two sides of the welding reference angle. The end of the second elastic telescopic structure is provided with a second abutment part, which is used to abut against the bridge deck. An equidistant synchronization mechanism is provided on the centering telescopic rod and is driven and connected by the first elastic telescopic structure, thereby driving the second elastic telescopic structure so that the first elastic telescopic structure and the second elastic telescopic structure can extend and retract at equal intervals.

2. The steel structure bridge joint welding apparatus according to claim 1, characterized in that, The centering linkage mechanism includes at least four links, which are hinged sequentially. One of the two links corresponding to the two sides of the welding reference angle is designated as the first link and the other as the second link. The first elastic telescopic structure is disposed on the first link, and the second elastic telescopic structure is disposed on the second link. The second link is connected to the output end of the pushing mechanism.

3. The steel structure bridge joint welding apparatus according to claim 2, characterized in that, The first elastic telescopic structure is provided with a first elastic element, and the first abutting part is a pulley; one end of the first elastic element is connected to the pulley, and the other end is connected to the first connecting rod, so that when the pulley abuts against the inner wall of the U-shaped rib, the pulley has a tendency to move away from the first connecting rod; The second elastic telescopic structure is provided with a second elastic element, and the second abutment part is a caster wheel; one end of the second elastic element is connected to the caster wheel, and the other end is connected to the second connecting rod, so that when the pulley abuts the bridge panel, the caster wheel has a tendency to move away from the second connecting rod.

4. The steel bridge joint welding apparatus according to claim 3, wherein The extension and retraction direction of the first elastic telescopic structure is perpendicular to the first connecting rod; the extension and retraction direction of the second elastic telescopic structure is perpendicular to the second connecting rod, and the second connecting rod is parallel to the bridge deck.

5. The steel bridge joint welding apparatus according to claim 4, wherein The end of the first elastic telescopic structure is further provided with a first insert rod, which is guided and engaged with the first connecting rod and is guided perpendicular to the first connecting rod; the end of the second elastic telescopic structure is provided with a second insert rod, which is guided and engaged with the second connecting rod and is guided perpendicular to the second connecting rod.

6. The steel structure bridge joint welding equipment according to claim 5, characterized in that, The equidistant synchronization mechanism includes a centering guide rail, a linkage slider, a first linkage rod, and a second linkage rod. The centering guide rail is located at one end of the centering telescopic rod near the welding torch and extends along the axial direction of the centering telescopic rod. The linkage slider is slidably engaged with the centering guide rail. One end of the first linkage rod is hinged to the first insert rod, and the other end is hinged to the linkage slider. One end of the second linkage rod is hinged to the second insert rod, and the other end is hinged to the linkage slider, so that when the first elastic telescopic structure extends or retracts, the first insert rod passes through the first connecting rod, thereby linking the first linkage rod to drive the linkage slider to slide on the centering guide rail, and then linking the second linkage rod to drive the second insert rod to pass through the second connecting rod, and driving the second elastic telescopic structure to perform synchronous extension and retraction.

7. The steel structure bridge joint welding equipment according to claim 6, characterized in that, A guide block is pivotally connected to the diagonal hinge shaft of the welding reference angle, and the guide block slides in conjunction with the centering guide rail.

8. The steel structure bridge joint welding equipment according to claim 3, characterized in that, The steel structure bridge node welding equipment also includes a torsion spring, one end of which is connected to a first connecting rod and the other end of which is connected to a second connecting rod, so that when the welding reference angle formed by the first connecting rod and the second connecting rod becomes smaller, the welding reference angle tends to increase.

9. The steel structure bridge joint welding equipment according to claim 8, characterized in that, The pushing mechanism, the centering telescopic rod, the second connecting rod, and the welding torch are each provided in twos; the steel structure bridge node welding equipment is also provided with a vertical guide rail, a vertical slider, and two third telescopic rods; the pushing mechanism is located on opposite sides of the base, and the centering telescopic rods are distributed on opposite sides of the base; on the side of the base away from the centering connecting rod mechanism, the output end of the pushing mechanism is connected to one end of the second connecting rod, and the other end of the second connecting rod is hinged to the middle of the centering telescopic rod; the welding torch is installed on the centering telescopic rod, and the two second connecting rods and the two welding torches are symmetrically distributed relative to the base; the vertical guide rail is located at the center of the base; the vertical slider slides in cooperation with the vertical guide rail; the two third telescopic rods are correspondingly connected to the two centering telescopic rods and are jointly connected to the vertical slider.

10. A method for welding steel structure bridge joints, comprising the steel structure bridge joint welding equipment as described in any one of claims 1-9, characterized in that, Includes the following steps: The control moving mechanism moves along the extension direction of the seam to be welded, and moves the pushing mechanism, the centering linkage mechanism, the first abutting part and the second abutting part to the starting position of the seam to be welded between the U-shaped rib and the bridge deck. The control and pushing mechanism pushes the centering linkage mechanism toward the direction of the weld seam, so that the welding reference angle corresponds to the angle area between the U-shaped rib and the bridge deck, and the first abutting part abuts against the inner wall of the U-shaped rib and the second abutting part abuts against the bridge deck. Start the welding torch and control the moving mechanism to move along the extension direction of the seam to be welded.

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