A laser cutting robot for local replacement of steel bridges

Abstract

The application relates to the technical field of steel bridges, in particular to a laser cutting robot for local replacement of a steel bridge, which comprises a working frame, a sling, a hook, a turnover rod, a servo motor, a clamping mechanical arm, a mounting plate and an electric push rod one and the like; one hook is arranged on each side of the working frame; one sling is fixedly connected to each hook, and the sling is connected with external hoisting equipment; the working frame is rotationally connected with the turnover rod; the working frame is fixedly connected with the servo motor used for driving the turnover rod to rotate; a pair of clamping mechanical arms used for clamping profile steel is fixedly connected to each side of the turnover rod; the working frame is connected with the mounting plate; two electric push rods one are fixedly connected to the mounting plate; one U-shaped fixing plate is fixedly connected to the extension part of each electric push rod one. The position of the equipment is adjusted by manually controlling the external hoisting equipment, so that the equipment can be fixed at any part of the steel bridge, and local cutting replacement of the steel bridge is implemented.

Description

Technical Field

[0001] This invention relates to the field of steel bridge technology, and in particular to a laser cutting robot for partial replacement of steel bridges. Background Technology

[0002] Steel bridges are bridges constructed with steel structures, and they have significant advantages such as high strength, strong spanning capacity, fast construction speed, and ease of industrial manufacturing and assembly.

[0003] Steel bridges are prone to fatigue damage under long-term use and stress, manifesting as localized cracks and deformation. Furthermore, environmental factors such as sea breezes and rain can cause a decrease in the strength of welded sections, leading to fatigue damage. To prevent the damage from spreading, damaged steel sections need to be cut and replaced. While existing methods can automate the cutting and welding of damaged steel sections, key steps such as hoisting the old steel, installing the new steel, and alignment still rely on manual operation. This manual intervention affects work efficiency due to the skill level of the personnel, and the accuracy and safety of manual coordination are difficult to guarantee in complex environments such as high altitudes, wind loads, and temperature differences. Additionally, replacing a single section of steel requires multiple hoisting and switching operations, and automated operations are often interrupted during hoisting, preventing continuous operation, extending the construction period, and increasing equipment operating costs.

[0004] In summary, this application proposes a laser cutting robot for partial replacement of steel bridges, which improves the aforementioned technical problems. Summary of the Invention

[0005] To overcome the shortcomings of existing methods that still rely on manual lifting, installation, and alignment adjustments during the replacement of damaged steel sections, which affect work efficiency, and the fact that replacing a single section of steel requires multiple lifting and switching operations, making continuous operation impossible, this invention provides a laser cutting robot for partial replacement of steel bridges.

[0006] The technical solution of this invention is as follows: a laser cutting robot for partial replacement of steel bridges, comprising a work frame; further comprising slings, hooks, tilting rods, servo motors, clamping robotic arms, mounting plates, electric push rods, U-shaped fixing plates, and a cutting unit; a hook is provided on each side of the work frame; each hook is fixedly connected to a sling, and the sling is connected to an external lifting device; the work frame is rotatably connected to a tilting rod; a servo motor for driving the tilting rod to rotate is fixedly connected to the work frame; a pair of clamping robotic arms for clamping steel sections are fixedly connected to each side of the tilting rod; a mounting plate is connected to the work frame; two electric push rods are fixedly connected to the mounting plate; a U-shaped fixing plate is fixedly connected to the telescopic part of each electric push rod; a cutting unit for cutting steel sections is connected to the work frame.

[0007] Furthermore, the cutting unit includes a laser cutting robotic arm, a welding robotic arm, and a vision camera; the workbench is equipped with two laser cutting robotic arms; the workbench is equipped with two welding robotic arms; and the workbench is fixedly connected to a vision camera.

[0008] Furthermore, it also includes a rotary motor; the mounting plate is rotatably connected to the work frame; the rotary motor is fixedly connected to the work frame, and the output part of the rotary motor is fixedly connected to the mounting plate.

[0009] Furthermore, it also includes an electric push rod II and a positioning plate; an electric push rod II is fixedly connected to each side of the work frame; a positioning plate is fixedly connected to the telescopic part of each electric push rod II, and an electromagnet is installed inside the positioning plate.

[0010] Furthermore, it also includes rubber plates; the work frame is rotatably connected to two rubber plates via torsion springs, and the rubber plates are in contact with the slings.

[0011] Furthermore, it also includes a drive wheel one and a drive wheel two; the drive wheel one is installed on the inner side of the U-shaped fixing plate; and the drive wheel two is installed at the end of the U-shaped fixing plate.

[0012] Furthermore, the U-shaped fixing plate is provided with an extension, and an electromagnet is provided inside the extension.

[0013] Furthermore, the inner surface of the U-shaped fixing plate is made into a rough surface.

[0014] Furthermore, it also includes a placement frame and a collection frame; a placement frame for placing new steel is fixed to the upper side of the work frame; and a collection frame for placing old steel is fixed to the lower side of the work frame.

[0015] Furthermore, electromagnets are installed on the surfaces of both the placement frame and the collection frame.

[0016] Compared with existing technologies, the present invention has the following advantages: the position of the device can be adjusted by manually controlling the external hoisting equipment, so that the device can be fixed at any part of the steel bridge for partial cutting and replacement of the steel bridge; during the replacement, the transfer of the cut steel and the docking of the new steel can be quickly realized by rotating the flipping rod. Compared with the existing method that requires multiple hoisting and switching, it can be automated and continuous, improving the overall replacement efficiency and reducing costs; and by moving the two U-shaped fixing plates in opposite directions to tighten the steel bridge, additional support is provided to the parts that have lost steel, ensuring that the steel bridge remains stable during the replacement.

[0017] By adjusting the angle of the work stand using a rotary motor, it is possible to accommodate steel sections to be replaced at different angles, thereby improving the overall adaptability of laser cutting and welding. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the structure of the laser cutting robot for partial replacement of steel bridges disclosed in this invention; Figure 2 This is a schematic diagram of the structure of the combination of the flipping rod, servo motor and clamping robotic arm disclosed in this invention; Figure 3This is a schematic diagram of the structure of the work frame, slings, and rubber plate assembly disclosed in this invention; Figure 4 This is a schematic diagram of the structure of the mounting plate, electric push rod 1, U-shaped fixing plate and rotary motor assembly disclosed in this invention; Figure 5 This is a schematic diagram of the specific structure of the U-shaped fixing plate disclosed in this invention; Figure 6 This is a diagram showing the state of the work frame being fixed to the steel bridge structure as disclosed in this invention. Figure 7 This is a schematic diagram of the structure of the U-shaped fixing plate, the electric push rod II, and the positioning plate assembly disclosed in this invention.

[0019] Reference numerals: 1-Work frame, 2-Sling, 21-Hook, 3-Tilting rod, 4-Servo motor, 5-Clamping robotic arm, 6-Mounting plate, 7-Electric push rod one, 8-U-shaped fixing plate, 101-Laser cutting robotic arm, 102-Welding robotic arm, 103-Vision camera, 111-Rotary motor, 112-Electric push rod two, 113-Positioning plate, 121-Rubber plate, 201-Placement frame, 202-Collection frame, 81-Extension, 82-Drive wheel one, 83-Drive wheel two. Detailed Implementation

[0020] The preferred technical solution of the present invention will be described in detail below with reference to the accompanying drawings.

[0021] Example 1: A laser cutting robot for partial replacement of steel bridges, referring to... Figures 1-7 As shown, it includes a work rack 1; It also includes slings 2, hooks 21, tilting rods 3, servo motors 4, gripping robotic arms 5, mounting plates 6, electric push rods 7, U-shaped fixing plates 8, and a cutting unit; each of the left and right sides of the work frame 1 has a hook 21; each hook 21 is fixedly connected to a sling 2, and the sling 2 is connected to an external lifting device; the work frame 1 is rotatably connected to the tilting rod 3; the work frame 1 is fixedly connected to the servo motor 4, and the output part of the servo motor 4 is fixedly connected to the tilting rod 3; a pair of gripping robotic arms 5 are fixedly connected to the upper and front sides of the tilting rod 3; the work frame 1 is connected to the mounting plate 6; the mounting plate 6 is fixedly connected to two electric push rods 7; each electric push rod 7 has a U-shaped fixing plate 8 fixedly connected to its telescopic part; the work frame 1 is connected to the cutting unit.

[0022] The cutting unit includes a laser cutting robotic arm 101, a welding robotic arm 102, and a vision camera 103; the work frame 1 is equipped with two laser cutting robotic arms 101; the work frame 1 is equipped with two welding robotic arms 102; and the work frame 1 is fixedly connected to the vision camera 103.

[0023] It also includes a rotary motor 111; the mounting plate 6 is rotatably connected to the work frame 1; the rotary motor 111 is fixedly connected to the work frame 1, and the output part of the rotary motor 111 is fixedly connected to the mounting plate 6.

[0024] It also includes an electric push rod 112 and a positioning plate 113; an electric push rod 112 is fixedly connected to the left and right sides of the work frame 1; a positioning plate 113 is fixedly connected to the telescopic part of each electric push rod 112, and an electromagnet is provided inside the positioning plate 113.

[0025] It also includes a rubber plate 121; the work frame 1 is rotatably connected to two rubber plates 121 by a torsion spring, and the rubber plates 121 are in contact with the sling 2. The rubber plates 121 push the sling 2 away from the middle of the work frame 1 to prevent the lowered sling 2 from obstructing the replacement of the steel profile.

[0026] It also includes a drive wheel 82 and a drive wheel 83; the drive wheel 82 is installed on the inner side of the U-shaped fixing plate 8; and the drive wheel 83 is installed at the end of the U-shaped fixing plate 8.

[0027] The U-shaped fixing plate 8 is provided with an extension 81, and an electromagnet is provided in the extension 81. The extension 81 contacts and magnetically attracts a steel structure larger than the U-shaped fixing plate 8, thereby magnetically fixing the work frame 1 to the steel bridge.

[0028] The inner surface of the U-shaped fixing plate 8 is roughened to increase the friction with the steel bridge.

[0029] The working steps of the above embodiment are as follows: First, with Figure 1 Taking the perspective of [unclear context], the new steel profile is manually placed on the clamping robotic arm 5 on the upper side of the flipping rod 3 and clamped and fixed by the clamping robotic arm 5. Then, the external hoisting equipment is manually controlled to lift the work frame 1 by the sling 2 and move it to the vicinity of the steel profile to be replaced on the steel bridge. The electric push rod 7 is controlled to drive the two U-shaped fixing plates 8 to move in opposite directions. The work frame 1 is then placed on the steel structure near the steel profile to be replaced. The sling 2 is then released, and the hoisting of the work frame 1 is stopped. The sling 2 is pushed away from the middle of the work frame 1 by the rubber plate 121 to facilitate the subsequent replacement of the steel profile. At this time, the extension 81 of the U-shaped fixing plate 8 contacts the steel structure of the steel bridge and the electromagnet power supply on the extension 81 is turned on, so that the extension 81 is magnetically attracted to the steel bridge, completing the initial fixation of the work frame 1. Then, the electric push rod 7 is controlled to drive the two U-shaped fixing plates 8 to move towards each other and clamp the steel structure of the steel bridge. Figure 6As shown, the clamping robotic arm 5 on the front side of the flipping rod 3 is then extended to clamp the steel section to be replaced. The laser cutting robotic arm 101 is then activated to cut the steel section. After cutting, the servo motor 4 is controlled to drive the flipping rod 3 to rotate, rotating the clamping robotic arm 5 holding the cut steel section to the lower side and rotating the clamping robotic arm 5 holding the new steel section to the front side. Then, the clamping robotic arm 5 is controlled to connect the new steel section to the steel bridge, and the welding robotic arm 102 is controlled to weld it. This allows for automated replacement of the steel section without multiple hoisting and switching operations. Furthermore, when the steel section is cut, the steel bridge loses some of its support. At this time, the steel bridge is tightened by the movement of two U-shaped fixing plates 8 towards each other, providing additional support to the area where the steel section has been cut, ensuring stability during the replacement of the steel bridge.

[0030] When the steel structure near the steel section to be replaced is larger than the U-shaped fixing plate 8, the two U-shaped fixing plates 8 are controlled to move towards each other to clamp the steel structure, so that the ends of the U-shaped fixing plates 8 come into contact with the steel structure. Then, the electric push rod 112 is controlled to drive the positioning plate 113 to extend, and the U-shaped fixing plate 8 returns to its U-shape to clamp onto the steel bridge structure. The electromagnet inside the positioning plate 113 is then activated to magnetically fix it, providing additional support during cutting and welding. Furthermore, during laser cutting, replacement, butt jointing, and welding, the drive wheel 82 on the inner side of the U-shaped fixing plate 8 drives the work frame 1 to move, thereby fine-tuning the distance between the work frame 1 and the steel section to be replaced, in order to improve the accuracy of switching and welding. When the ends of the U-shaped fixing plates 8 come into contact with the steel structure, the drive wheel 83 at the ends of the U-shaped fixing plates 8 fine-tunes the position of the work frame 1.

[0031] Considering that when the hoisting equipment places the work frame 1 on the steel bridge, at high altitude and affected by wind, the work frame 1 cannot be placed in a perfectly parallel state with the steel section to be replaced, which will affect the accuracy of subsequent laser cutting and welding of the steel section to be replaced. Furthermore, the offset U-shaped fixing plate 8 has a small contact area with the steel bridge, resulting in poor clamping and fixing effect. Therefore, after the work frame 1 is placed and magnetically attached to the steel bridge by the U-shaped fixing plate 8, the posture of the work frame 1 is compared with the steel section to be replaced by the visual cameras 103 on both sides. Then, the rotary motor 111 is controlled to rotate. At this time, the U-shaped fixing plate 8 is fixed, and the rotary motor 111 drives the work frame 1 to rotate, thus fixing the work frame. The angle of frame 1 is adjusted to make it parallel to the steel section to be replaced; then, the electric push rod 112 is controlled to push out the positioning plate 113 to contact the steel bridge and magnetically attract it, so that the adjusted working frame 1 is fixed. Then, the rotary motor 111 is controlled to rotate to adjust the angle of the mounting plate 6, the electric push rod 7 and the U-shaped fixing plate 8, so that the U-shaped fixing plate 8 and the working frame 1 are parallel again, ensuring the subsequent clamping and fixing effect; and, after the U-shaped fixing plate 8 is fully fixed on the steel bridge structure, the angle of the working frame 1 can be adjusted by the rotary motor 111 to correspond to the steel section to be replaced at different angles, improving the overall adaptability of laser cutting and welding.

[0032] When replacing the steel sections on the vertical surface of the steel bridge, release one side of the sling 2 and pull the other side of the sling 2, causing the working frame 1 to flip into a vertical position. Then, hang the U-shaped fixing plate 8 on the steel bridge in a hook shape. Laser cut, replace, and re-weld the nearby steel sections to be replaced. The position of this equipment is adjusted by manually controlling the external hoisting equipment, so that the equipment can be fixed at any part of the steel bridge to carry out local cutting and replacement of the steel bridge. During the replacement, the transfer of the cut steel section and the docking of the new steel section are quickly realized by rotating the flipping rod 3. Compared with the existing method that requires multiple hoisting and switching, it can be automated and continuous, improving the overall replacement efficiency and reducing costs. After the steel bridge replacement is completed, control the hoisting equipment to lower the working frame 1 to the ground, and manually remove the cut steel section held by the robotic arm 5.

[0033] Example 2: Based on Example 1, referring to... Figure 1 As shown, it also includes a placement frame 201 and a collection frame 202; the placement frame 201 is fixedly connected to the upper side of the work frame 1; the collection frame 202 is fixedly connected to the lower side of the work frame 1.

[0034] Both the placement frame 201 and the collection frame 202 are equipped with electromagnets. With the help of the clamping robotic arm 5, they can magnetically attract the placed steel profiles, thereby improving the fixing effect of the steel profiles.

[0035] Based on the above embodiment 1, when multiple parts of the steel bridge need to be replaced, before the work frame 1 is lifted, multiple new steel profiles are manually placed in the placement frame 201 and magnetically fixed by electromagnets on the surface of the placement frame 201. Then, the work frame 1 is lifted and placed near the steel profiles to be replaced for replacement. The old steel profiles after replacement are placed in the collection frame 202 by rotating the flipping rod 3 and magnetically fixed by electromagnets on the surface of the collection frame 202. After one part of the steel bridge is replaced, the work frame 1 is directly lifted to the vicinity of another replacement part by the hoisting equipment for replacement operation. There is no need to lower the old steel profiles in the middle, realizing continuous operation of the whole and improving efficiency.

[0036] The above embodiments are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Therefore, all equivalent changes made to the content described in the claims of the present invention should be included within the scope of the claims of the present invention.

Claims

1. A laser cutting robot for partial replacement of steel bridges, comprising a work frame (1); characterized in that: It also includes a sling (2), a hook (21), a tilting rod (3), a servo motor (4), a clamping robotic arm (5), a mounting plate (6), an electric push rod (7), a U-shaped fixing plate (8), and a cutting unit; a hook (21) is provided on each side of the work frame (1); each hook (21) is fixedly connected to a sling (2), and the sling (2) is connected to an external hoisting device; the work frame (1) is rotatably connected to the tilting rod (3); the work frame (1) is fixedly connected to a servo motor (4) for driving the tilting rod (3) to rotate; a pair of clamping robotic arms (5) for clamping steel are fixedly connected on each side of the tilting rod (3); the work frame (1) is connected to a mounting plate (6); the mounting plate (6) is fixedly connected to two electric push rods (7); each electric push rod (7) has a U-shaped fixing plate (8) fixedly connected to its telescopic part; the work frame (1) is connected to a cutting unit for cutting steel.

2. The laser cutting robot for partial replacement of steel bridges according to claim 1, characterized in that: The cutting unit includes a laser cutting robotic arm (101), a welding robotic arm (102), and a vision camera (103); the work stand (1) is equipped with two laser cutting robotic arms (101); the work stand (1) is equipped with two welding robotic arms (102); and the work stand (1) is fixedly connected to a vision camera (103).

3. The laser cutting robot for partial replacement of steel bridges according to claim 1, characterized in that: It also includes a rotary motor (111); the mounting plate (6) is rotatably connected to the work frame (1); the rotary motor (111) is fixedly connected to the work frame (1), and the output part of the rotary motor (111) is fixedly connected to the mounting plate (6).

4. The laser cutting robot for partial replacement of steel bridges according to claim 1, characterized in that: It also includes an electric push rod 2 (112) and a positioning plate (113); an electric push rod 2 (112) is fixedly connected to each side of the work frame (1); a positioning plate (113) is fixedly connected to the telescopic part of each electric push rod 2 (112), and an electromagnet is provided in the positioning plate (113).

5. A laser cutting robot for partial replacement of steel bridges according to claim 1, characterized in that: It also includes a rubber plate (121); the work frame (1) is rotatably connected to two rubber plates (121) by a torsion spring, and the rubber plate (121) is in contact with the sling (2).

6. A laser cutting robot for partial replacement of steel bridges according to claim 1, characterized in that: It also includes a drive wheel one (82) and a drive wheel two (83); the drive wheel one (82) is installed on the inner side of the U-shaped fixing plate (8); the drive wheel two (83) is installed at the end of the U-shaped fixing plate (8).

7. A laser cutting robot for partial replacement of steel bridges according to claim 6, characterized in that: The U-shaped fixing plate (8) is provided with an extension (81), and an electromagnet is provided inside the extension (81).

8. A laser cutting robot for partial replacement of steel bridges according to any one of claims 6-7, characterized in that: The inner surface of the U-shaped fixing plate (8) is set as a rough surface.

9. A laser cutting robot for partial replacement of steel bridges according to claim 1, characterized in that: It also includes a placement frame (201) and a collection frame (202); the upper side of the work frame (1) is fixed with a placement frame (201) for placing new steel; the lower side of the work frame (1) is fixed with a collection frame (202) for placing old steel.

10. A laser cutting robot for partial replacement of steel bridges according to claim 9, characterized in that: Electromagnets are provided on the surfaces of both the placement frame (201) and the collection frame (202).

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