A railless mobile steel bridge welding repair robot

Abstract

The present application relates to the field of welding equipment, especially to a trackless mobile steel bridge welding maintenance robot. The trackless mobile steel bridge welding maintenance robot, the construction personnel control the external hoisting equipment to control the first hoisting rope and the second hoisting rope to hoist the hanger to the arbitrary area of the steel bridge, the hanger can be clamped on the steel structure beside the steel bridge welding area through the clamping plate on the vice frame, and can also be adsorbed and fixed on the steel structure beside the steel bridge welding area through the electromagnet on the vice frame, and then the welding gun is controlled through the electric control sliding block and the multi-axis mechanical arm to automatically weld the steel bridge welding area, and the boom can be switched from the horizontal state to the vertical state, realizing the corresponding welding work in two different states. The problem that the existing automatic welding robot is mostly based on a fixed workbench or a track system and is difficult to replace manual work for automatic welding in high area such as bridge main span or main tower is solved.

Description

Technical Field

[0001] This invention relates to the field of welding equipment, and more particularly to a trackless mobile steel bridge welding and maintenance robot. Background Technology

[0002] During long-term service, steel bridges are highly susceptible to corrosion, fatigue cracks, and stress concentration at joints due to multiple factors such as traffic loads, environmental corrosion, and material aging. With increasing traffic volume and vehicle loads, the strength of existing components often fails to meet design requirements. Without timely reinforcement welding, structural stiffness can easily decrease or even fail. Welding reinforcement can directly restore or improve the cross-sectional strength of damaged components, improve local stress distribution, and has a relatively short construction period, making it a key technology for extending the service life of bridges. However, most existing automated welding robots are based on fixed workbenches or track systems, limiting their operating radius and making them difficult to operate. Reaching high-altitude areas such as the main span or main tower of a bridge, high-altitude operations usually require the erection of scaffolding or specialized aerial work vehicles. This not only increases construction costs but is also limited by environmental factors such as wind and temperature. The power supply and signal transmission of robots on suspended platforms also have stability issues. In addition, the complex shape and narrow space of bridge components mean that traditional robots lack flexible three-dimensional movement capabilities and adaptive weld recognition technology, making it difficult to achieve accurate trajectory planning and real-time correction. This leads to frequent problems of "inaccurate movement and poor welding." Therefore, although intelligent welding technology has made breakthroughs, it still faces the dual bottlenecks of operational accessibility and environmental adaptability in high-altitude bridge construction. Summary of the Invention

[0003] To overcome the shortcomings of existing automated welding robots, which are mostly based on fixed workbenches or track systems and are difficult to replace manual welding in high areas such as the main span or main tower of bridges, this invention provides a trackless mobile steel bridge welding and maintenance robot.

[0004] The technical implementation of the present invention is as follows: a trackless mobile steel bridge welding and maintenance robot, comprising a hanger, a sub-frame, a clamping plate, an electrically controlled slider, a multi-axis robotic arm, and a welding gun; the rear side of the hanger is connected to the sub-frame; the sub-frame is fixedly connected to the clamping plate for clamping and fixing; the electrically controlled slider is slidably connected to the hanger; the multi-axis robotic arm is mounted on the electrically controlled slider; and the welding gun is mounted on the multi-axis robotic arm.

[0005] As an improvement to the above scheme, a boom is rotatably connected to the left side of the hanger; a locking rod is inserted between the boom and the hanger; a first lifting rope is fixed to the right end of the boom; a second lifting rope is fixed to the right side of the hanger; a steering pulley is rotatably connected to the left side of the hanger; and the second lifting rope passes around the steering pulley.

[0006] As an improvement to the above solution, the subframe is slidably connected to the hanger; an electric telescopic arm is installed on the hanger to drive the subframe to move back and forth.

[0007] As an improvement to the above solution, the clamp is equipped with an anti-slip stripe structure.

[0008] As an improvement to the above scheme, a fixing rod is connected inside the sub-frame; a side plate is fixed to each of the left and right ends of the fixing rod; an electromagnet is installed on each of the two side plates.

[0009] As an improvement to the above scheme, the fixed rod is rotatably connected to the sub-frame; an angle adjustment motor is installed on the sub-frame; an adjustment gear is fixedly connected to the output shaft of the angle adjustment motor; a driven gear is fixedly connected to the fixed rod; the driven gear meshes with the adjustment gear.

[0010] As an improvement to the above solution, several U-shaped locking blocks are connected to the rear side of the hanger.

[0011] As an improvement to the above solution, the U-shaped block is fixed with a rubber retaining strip.

[0012] As an improvement to the above solution, a movable wheel is rotatably connected inside the U-shaped block.

[0013] As an improvement to the above solution, an electric telescopic rod is installed on the U-shaped block; the U-shaped block is slidably connected to the hanger; and the telescopic end of the electric telescopic rod is fixedly connected to the hanger.

[0014] The beneficial effects of this invention are as follows: This invention provides a trackless mobile steel bridge welding and maintenance robot. Construction personnel operate external lifting equipment to control the first and second lifting ropes to lift the frame to any area of ​​the steel bridge. The frame can be clamped to the steel structure next to the area to be welded on the steel bridge by clamps on the sub-frame, or it can be attracted and fixed to the steel structure next to the area to be welded on the steel bridge by electromagnets on the sub-frame. Then, the welding gun is controlled by an electrically controlled slider in conjunction with a multi-axis robotic arm to perform automated welding work on the area to be welded on the steel bridge. The hoist controls the coordinated movement of the first and second lifting ropes to realize the conversion of the boom from horizontal to vertical state, realizing the corresponding welding work in two different states. It can also be fixed to the reinforcement anchor rod of the bridge pier by a U-shaped locking block in conjunction with rubber locking strips and movable wheels to participate in the welding construction of the reinforcement steel bars of the bridge pier. This solves the problem that most existing automated welding robots are based on fixed workbenches or track systems, which are difficult to replace manual welding in high areas such as the main span or main tower of the bridge. Attached Figure Description

[0015] Figure 1 This is a three-dimensional structural diagram of the present invention in its horizontal and vertical states; Figure 2 This is a three-dimensional structural diagram of the first and second lifting ropes of the present invention; Figure 3 This is a top view of the hanger structure of the present invention; Figure 4 This is a three-dimensional structural diagram of the subframe of the present invention; Figure 5 This is a three-dimensional structural diagram of the U-shaped card block of the present invention; Figure 6 This is a three-dimensional structural diagram of the present invention in its upright state.

[0016] The labels in the diagram are as follows: 1-Hanger, 11-Hanging arm, 12-Locking rod, 13-First lifting rope, 14-Second lifting rope, 15-Steering pulley, 21-Subframe, 22-Electric telescopic arm, 23-Clamping plate, 24-Fixed rod, 25-Side plate, 26-Electromagnet, 27-Angle adjustment motor, 28-Adjusting gear, 29-Driven gear, 31-Electrically controlled slider, 32-Multi-axis robotic arm, 33-Welding gun, 41-U-shaped clamp, 411-Rubber clamp, 412-Moving wheel, 42-Electric telescopic rod. Detailed Implementation

[0017] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. 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.

[0018] Example 1: A trackless mobile steel bridge welding and maintenance robot, such as Figures 1-6 As shown, the system includes a gantry 1, a boom 11, a locking rod 12, a first lifting rope 13, a second lifting rope 14, a steering pulley 15, a subframe 21, a clamping plate 23, an electrically controlled slider 31, a multi-axis robotic arm 32, and a welding gun 33. The boom 11 is rotatably connected to the left side of the gantry 1. A locking rod 12 is inserted between the boom 11 and the gantry 1, and the boom 11 is fixed to the gantry 1 via the locking rod 12. The first lifting rope 13 is fixed to the right end of the boom 11, and is externally connected to a winch of the lifting equipment. The second lifting rope 14 is fixed to the right side of the gantry 1, and is externally connected to another winch of the lifting equipment. The left side of the frame is rotatably connected to a steering pulley 15; the second suspension rope 14 passes around the bottom of the steering pulley 15; the rear side of the frame 1 is connected to a sub-frame 21; the sub-frame 21 is slidably connected to the frame 1; two electric telescopic arms 22 are installed on the frame 1; the telescopic ends of the two electric telescopic arms 22 are fixedly connected to the sub-frame 21; the bottom of the sub-frame 21 is fixedly connected to two left and right clamps 23; both clamps 23 are provided with anti-slip stripe structures; the front side of the frame 1 is slidably connected to an electric control slider 31; a multi-axis robotic arm 32 is installed on the electric control slider 31; a welding gun 33 is installed on the multi-axis robotic arm 32, and the welding gun 33 is connected to the welding host through a connection line.

[0019] like Figures 2-4As shown, a fixed rod 24 is rotatably connected inside the sub-frame 21; a side plate 25 is fixedly connected to each of the left and right ends of the fixed rod 24; an electromagnet 26 is installed on each of the two side plates 25; an angle adjustment motor 27 is installed on the sub-frame 21; an adjustment gear 28 is fixedly connected to the output shaft of the angle adjustment motor 27; a driven gear 29 is fixedly connected to the fixed rod 24; the driven gear 29 meshes with the adjustment gear 28.

[0020] The welding operation steps of a trackless mobile steel bridge welding and maintenance robot are as follows.

[0021] First, the construction personnel operate the external lifting equipment to control two winches to pull the first lifting rope 13 and the second lifting rope 14, which lifts the gantry 1 upward. The gantry 1 maintains its initial horizontal state, which moves the sub-frame 21, the multi-axis robotic arm 32 on the electrically controlled slider 31, and the welding gun 33 upward together. The sub-frame 21 is then placed on the steel structure next to the area of ​​the steel bridge to be welded, with the rear side of the gantry 1 close to the front side of the steel structure of the steel bridge. Then, the electric telescopic arm 22 pulls the sub-frame 21, causing the clamping plate 23 to clamp and adhere to the rear side of the steel structure, thus securing the gantry 1 to the steel structure of the steel bridge with the clamping plate 23. Next, the electrically controlled slider 31 drives the multi-axis robotic arm 32 and the welding gun 33 to move laterally along the gantry 1. At the same time, the multi-axis robotic arm 32 controls the welding gun 33 to perform automated welding work on the area of ​​the steel bridge to be welded, thus replacing manual reinforcement welding of the high-altitude area of ​​the steel bridge.

[0022] If the steel structure has a large diameter (such as a thick steel arm), it cannot be clamped and fixed by the clamp plate 23. In this case, the construction personnel operate the external lifting equipment to control two winches to pull the first lifting rope 13 and the second lifting rope 14 to lift the hanger 1 up to the front side of the steel structure next to the area to be welded on the steel bridge. The side plate 25 on the sub-frame 21 is then pressed against the steel structure of the steel bridge. The electromagnet 26 on the side plate 25 generates an electromagnetic attraction with the steel bridge, so that the hanger 1 is fixed to the steel structure of the steel bridge by the electromagnetic attraction of the electromagnet 26. Then, following the above steps, the welding gun 33 is controlled by the electric control slider 31 in conjunction with the multi-axis robotic arm 32 to perform automated welding work on the area to be welded on the steel bridge.

[0023] When the area of ​​the steel bridge to be welded is a vertical structure, the construction workers pull the locking rod 12 out from between the hanger 1 and the boom 11, so that the boom 11 is no longer fixed to the hanger 1 by the locking rod 12. The construction workers then operate the external lifting equipment to control one winch to pull the first lifting rope 13 upward, while simultaneously controlling another winch to release the second lifting rope 14 downward, allowing the hanger 1 to rotate 90 degrees clockwise around the axis connecting to the boom 11 from the front view angle. This allows the hanger 1 to be lifted from the front view angle. Figure 1 The horizontal state shown is switched to as follows Figure 6As shown in the vertical position, the hanger 1 is then fixed to the steel structure next to the area to be welded on the steel bridge by clamping or electromagnetic attraction, following the steps described above. Then, the electric control slider 31 drives the multi-axis robotic arm 32 and the welding gun 33 to move vertically along the hanger 1. At the same time, the multi-axis robotic arm 32 controls the welding gun 33 to perform automated welding on the area to be welded on the steel bridge.

[0024] Example 2, as Figures 1-6 As shown, based on the above embodiment 1, the rear side of the hanger 1 in this embodiment is connected with several U-shaped clips 41; each of the U-shaped clips 41 is fixed with several rubber clips 411.

[0025] When it is necessary to reinforce the piers of a steel bridge, the conventional construction method is to drive several reinforcing anchors into the piers, then weld several reinforcing steel rods vertically between the anchors. In the same way, multiple reinforcing steel rods are welded onto the anchors on the piers, surrounding the piers. Cement is then poured to fill the gaps and encase the reinforcing steel rods. In this embodiment, after driving several anchors into the piers, the workers pre-weld the upper and lower ends and partial middle sections of several reinforcing steel rods to the corresponding anchors. Then, they use external lifting equipment to lift the gantry 1 vertically, aligning it with any one of the reinforcing steel rods, and simultaneously move it... Hanger 1 is fixed to the reinforcing steel rod by U-shaped locking block 41 and rubber locking strip 411. At this time, the welding gun 33 is aligned with the adjacent reinforcing steel rod, and the reinforcing steel rod is completely welded to the corresponding reinforcing anchor rod by using the electric control slider 31 in conjunction with the multi-axis robotic arm 32. Even if the pier of the steel bridge is a large-diameter columnar cement structure, making it impossible for hanger 1 to be fixed to the pier of the steel bridge by magnetic attraction or clamping as described in the above embodiment, hanger 1 can still be fixed by using U-shaped locking block 41 in conjunction with rubber locking strip 411, thereby enabling automated welding of the reinforcing steel rod of the pier of the steel bridge.

[0026] Example 3, as Figures 1-6 As shown, based on the above embodiment 2, each of the U-shaped blocks 41 in this embodiment is rotatably connected to several movable wheels 412; an electric telescopic rod 42 is installed on the U-shaped blocks 41; all U-shaped blocks 41 are slidably connected to the hanger 1; the telescopic end of the electric telescopic rod 42 is fixedly connected to the hanger 1.

[0027] When the total height of the bridge piers requiring reinforcement exceeds 30 meters, the piers need to be reinforced with a reinforcing steel frame of the same length. This reinforcing steel frame is constructed by adding several circumferential stiffening hoops to the enclosed reinforcing steel rods described in Example 2. Furthermore, the total length of the reinforcing steel rods in this embodiment is much longer than the enclosed reinforcing steel rods described in Example 2. Therefore, in this embodiment, after the construction personnel operate the external lifting equipment to clamp the erected gantry 1 onto the reinforcing steel rod using the U-shaped clamp 41, the U-shaped clamp... With the movable wheel 412 on block 41 pressed against the reinforcing steel rod, the construction workers operate the two winches of the external lifting equipment to lower the first lifting rope 13 and the second lifting rope 14. The lifting frame 1, relying on gravity, drives the movable wheel 412 in the U-shaped clamp block 41 to move downwards along the reinforcing steel rod, realizing the welding work between each area of ​​the extra-long reinforcing steel rod and the corresponding reinforcing anchor rod from top to bottom. After all the reinforcing steel rods are welded to the corresponding reinforcing anchor rods of the bridge piers of the steel bridge, the construction workers control the electric telescopic rod 42. The hanger 1 is pushed outward along the U-shaped locking block 41. At this time, the U-shaped locking block 41 is locked and fixed to the reinforcing anchor rod. The electric telescopic rod 42 pushes the hanger 1 to move away from the reinforcing anchor rod. During the subsequent construction process of the circumferential stiffening hoops surrounding all the reinforcing steel rods, the hanger 1 is ensured not to interfere with the surrounding work of the circumferential stiffening hoops. After the construction workers have surrounded all the reinforcing steel rods with multiple circumferential stiffening hoops, the hanger 1 remains in a vertical position fixed to the reinforcing steel rod by the U-shaped locking block 41. In the upright position, the electric control slider 31, in conjunction with the multi-axis robotic arm 32, can control the welding gun 33 to weld each circumferential stiffening hoop onto the corresponding reinforcing steel rod in sequence along the up-down direction. The hanger 1 is continuously moved and fixed onto the remaining reinforcing steel rods through the U-shaped clamp 41. Following the same steps, each circumferential stiffening hoop is welded onto the corresponding reinforcing steel rod in sequence along the up-down direction. The welding work between the circumferential stiffening hoop and all the reinforcing steel rods is completed in sequence, so that the ultra-long reinforcing steel bars of the bridge piers can also be automatically welded.

[0028] The present application has been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only for the purpose of helping to understand the method and core ideas of the present application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of the present application. Therefore, the content of this specification should not be construed as a limitation of the present application.

Claims

1. A trackless mobile steel bridge welding and maintenance robot, comprising a hanger (1); characterized in that: It also includes a subframe (21), a clamping plate (23), an electrically controlled slider (31), a multi-axis robotic arm (32), and a welding gun (33); the subframe (21) is connected to the rear side of the hanger (1); the clamping plate (23) for clamping and fixing is fixed to the subframe (21); the electrically controlled slider (31) is slidably connected to the hanger (1); the multi-axis robotic arm (32) is installed on the electrically controlled slider (31); the welding gun (33) is installed on the multi-axis robotic arm (32).

2. The trackless mobile steel bridge welding and maintenance robot according to claim 1, characterized in that: A boom (11) is rotatably connected to the left side of the hanger (1); a locking rod (12) is inserted between the boom (11) and the hanger (1); a first lifting rope (13) is fixed to the right end of the boom (11); a second lifting rope (14) is fixed to the right side of the hanger (1); a steering pulley (15) is rotatably connected to the left side of the hanger (1); the second lifting rope (14) passes over the steering pulley (15).

3. The trackless mobile steel bridge welding and maintenance robot according to claim 1, characterized in that: The subframe (21) is slidably connected to the hanger (1); an electric telescopic arm (22) is installed on the hanger (1) to drive the subframe (21) to move back and forth.

4. The trackless mobile steel bridge welding and maintenance robot according to claim 3, characterized in that: The clamp (23) is provided with anti-slip stripe structure.

5. A trackless mobile steel bridge welding and maintenance robot according to claim 3, characterized in that: The subframe (21) is connected to a fixing rod (24); a side plate (25) is fixed to each of the left and right ends of the fixing rod (24); an electromagnet (26) is installed on each of the two side plates (25).

6. A trackless mobile steel bridge welding and maintenance robot according to claim 5, characterized in that: The fixed rod (24) is rotatably connected to the sub-frame (21); an angle adjustment motor (27) is installed on the sub-frame (21); an adjustment gear (28) is fixedly connected to the output shaft of the angle adjustment motor (27); a driven gear (29) is fixedly connected to the fixed rod (24); the driven gear (29) meshes with the adjustment gear (28).

7. A trackless mobile steel bridge welding and maintenance robot according to any one of claims 1-6, characterized in that: Several U-shaped clips (41) are connected to the rear side of the hanger (1).

8. A trackless mobile steel bridge welding and maintenance robot according to claim 7, characterized in that: A rubber strip (411) is fixed to the U-shaped block (41).

9. A trackless mobile steel bridge welding and maintenance robot according to claim 7, characterized in that: The U-shaped locking block (41) is rotatably connected to a movable wheel (412).

10. A trackless mobile steel bridge welding and maintenance robot according to claim 9, characterized in that: An electric telescopic rod (42) is installed on the U-shaped block (41); the U-shaped block (41) is slidably connected to the hanger (1); the telescopic end of the electric telescopic rod (42) is fixedly connected to the hanger (1).

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