A welding tool capable of automatically adapting to a steel structure of a power transmission tower

Abstract

The application discloses a kind of welding tooling of power transmission tower steel structure can be automatically adapted, belong to steel structure welding equipment technical field.It includes fixed base, fixed base is equipped with welding robot, support component, moving assembly, fixed component and pressure supplementing component.Support component is driven by lifting cylinder to insert block extrusion first liquid tank inner hydraulic oil to generate driving force, drive fixed component to preliminarily fix steel structure.First liquid tank, second liquid tank, third liquid tank and each level pipeline form complete communication single hydraulic circuit, when pressure supplementing component is synchronous pressurization, each branch pressure is automatically balanced distribution, after being blocked after being adhered branch, hydraulic oil is automatically transferred to not adhered branch, until all fixed blocks are closely adhered.Fixed block is made of nickel-titanium alloy and is hinged with insert rod, hinge realizes macroscopic angle with shape, nickel-titanium alloy superelasticity realizes microscopic profile self-adapting deformation, and both cooperates to make fixed block from macroscopic to microscopic to realize optimal surface adhesion contact with steel structure surface.

Description

Technical Field

[0001] This invention mainly relates to the field of steel structure welding equipment technology, specifically a welding fixture that can automatically adapt to the steel structure of power transmission and transformation towers. Background Technology

[0002] In a patent application (CN122099703A) for an automatically adaptable welding fixture for steel tower structures, the workpiece is self-centered and clamped through the cooperation of a floating unit within the base and a peripheral clamping unit. A guiding component converts workpiece positional deviations into adaptive movement on the support. Simultaneously, a vertical clamping action is triggered when the clamping unit encounters obstruction. This invention standardizes the workpiece coordinates through a forced self-centering system, enabling the welding robot to operate quickly without repeated positioning scans, achieving blind welding-level automation efficiency.

[0003] In the prior art, including the aforementioned patents, existing power transmission tower steel structural components have diverse cross-sectional shapes, including angle steel, round pipes, rectangular pipes, polygonal pipes, and other profiles. Tower joints often involve the spatial intersection of multiple members, resulting in highly irregular shapes. The clamping unit in the aforementioned patents maintains rigid point contact with the workpiece. For uneven, irregular surfaces, the contact state of each clamping point is inconsistent, making it difficult for some points to achieve effective surface contact. This leads to a small contact area, stress concentration, and easy damage to the workpiece surface. Furthermore, the fixation stability is poor, and the workpiece is prone to displacement or vibration during welding. Simultaneously, the hydraulic circuits of each clamping unit in this fixture are independent and cannot be connected. When each clamping point contacts different uneven parts of the irregular surface, the pressure in each branch cannot be automatically and evenly distributed. There is no pressure transfer mechanism between the contacted, obstructed branches and the uncontacted branches, making it difficult to achieve synchronous adaptive contact of all clamping points. In addition, existing fixtures lack dynamic compensation capabilities for the slight thermal deformation of the workpiece caused by welding heat input. To address the aforementioned issues, this invention provides a welding fixture that can automatically adapt to the steel structure of power transmission and transformation towers. It generates power by driving the insertion block with a lifting cylinder to squeeze hydraulic oil, achieves automatic pressure balance through synchronous pressure replenishment of the overall connected hydraulic system, and uses a multi-level adaptive fitting strategy combining hinged fixing blocks with the superelastic deformation of nickel-titanium alloy. This achieves universal and highly reliable fixing of steel structures with regular and irregular cross-sections. Summary of the Invention

[0004] This invention addresses the problem of overly simplistic solutions in existing technologies by providing a significantly different approach. It offers a welding fixture that automatically adapts to the steel structure of power transmission towers. This solves the problems mentioned in the background section, where existing welding fixtures have rigid point contact between the clamping unit and the steel structure, independent hydraulic pressure in each clamping branch, and difficulty in achieving automatic pressure balancing. This results in poor contact area, stress concentration, unstable fixation, easy damage to the workpiece surface, and a lack of dynamic compensation for welding thermal deformation.

[0005] The technical solution adopted by the present invention to solve the above-mentioned technical problems is as follows: A welding fixture for automatically adapting to the steel structure of a power transmission and transformation tower includes a fixed base, on which a welding robot for welding the steel structure is mounted. A support assembly is mounted on the fixed base, and a moving assembly is mounted on the support assembly to move and connect the steel structure. A fixing assembly is mounted on the moving assembly. The support assembly hydraulically drives the fixing assembly to initially fix the steel structure at specific points. A pressure-reducing assembly is mounted on the moving assembly to drive the fixing block in the fixing assembly to fit flush with the steel structure for fixation.

[0006] Preferably, the support assembly includes a first liquid storage tank, a processing table is provided on the first liquid storage tank, a lifting cylinder is provided on the support assembly for driving the processing table to move up and down, and an insert is provided at the bottom of the processing table, the insert being inserted into a pre-drilled corresponding slot on the first liquid storage tank.

[0007] Preferably, a drive motor is fixedly installed on the processing table, a double-ended screw is fixedly installed at the output end of the drive motor, the double-ended screw is rotatably connected to the processing table, and limiting rods are provided on both sides of the processing table.

[0008] Preferably, the movable component includes a movable base, which is threaded onto a double-ended screw and slidably connected to a limiting rod, and a supporting base is provided on the movable base.

[0009] Preferably, the movable component further includes a second liquid storage tank, which is fixedly mounted on the support base by a mounting block. The inner cavity of the second liquid storage tank is connected to the inner cavity of the first liquid storage tank through a first connecting pipe, and a control valve is provided inside the first connecting pipe.

[0010] Preferably, the fixing component includes a third liquid storage tank, and a plurality of third liquid storage tanks are arranged below the second liquid storage tank. The inner cavities of the second liquid storage tank and the inner cavities of the third liquid storage tanks are interconnected through holes, and adjacent third liquid storage tanks are interconnected through a second connecting pipe.

[0011] Preferably, the fixing component further includes a first liquid storage tube. Each third liquid storage tank has multiple first liquid storage tubes below it, and the inner cavities of the multiple first liquid storage tubes are connected to the inner cavities of the third liquid storage tanks. A first insertion rod is inserted into the end of the first liquid storage tube away from the third liquid storage tank. A first spring is sleeved on the first insertion rod and the first liquid storage tube. The end of the first insertion rod away from the first liquid storage tube is movably connected to the fixing block.

[0012] Preferably, the fixing block and the end of the first insertion rod are hinged, the fixing block can rotate freely relative to the first insertion rod around the hinge point, the surface of the fixing block facing the steel structure is a flat contact surface, and an elastic reset member is also provided between the end of the first insertion rod and the fixing block. The elastic reset member is used to keep the fixing block at a preset initial angle when it is not in operation.

[0013] Preferably, the pressure-compensating component includes a hydraulic cylinder, which is mounted on a support base. A connecting plate is fixedly installed at one end of the hydraulic cylinder's telescopic rod, and a plurality of second insert rods are fixedly installed on the connecting plate. A second liquid storage tube is provided on the first liquid storage tank, and the inner cavity of the second liquid storage tube is connected to the inner cavity of the first liquid storage tank. The end of the second insert rod away from the connecting plate is inserted into the end of the second liquid storage tube away from the first liquid storage tank. A second spring is sleeved on the second insert rod and the second liquid storage tube, and a control valve is provided inside the second liquid storage tube.

[0014] Preferably, the control valve inside the first connecting pipe is a main control valve, and the control valve inside the second liquid storage pipe is a pressure-replenishing branch valve. When the main control valve is open and each pressure-replenishing branch valve is closed, the first liquid storage tank is connected to the second liquid storage tank through the first connecting pipe. The lifting cylinder drives the insert block to squeeze the hydraulic oil in the first liquid storage tank, which is then transported through the first connecting pipe to the second liquid storage tank, the third liquid storage tank, and the first liquid storage pipe, pushing each first insert rod to extend and complete the initial fixation. After the main control valve is closed, the oil circuit between the first liquid storage tank and the second liquid storage tank is cut off. Each pressure-replenishing branch valve is opened, and the hydraulic cylinder drives the second insert rod to squeeze the hydraulic oil in the second liquid storage pipe into the first liquid storage tank for pressure replenishment. The pressure is applied to each first insert rod through the closed hydraulic system to make it extend further until all fixing blocks are in place. Each pressure-replenishing branch valve is closed after pressure replenishment is completed, locking the pressure of each branch.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: The present invention uses a lifting cylinder to drive the processing table to descend, which in turn causes the insert block to squeeze the hydraulic oil in the inner cavity of the first liquid storage tank to generate hydraulic pressure. The hydraulic oil is used as the power transmission medium to drive the fixed component to move. There is no need to configure an external hydraulic pump station and a complex control valve group, which simplifies the system structure and reduces manufacturing costs and maintenance difficulty. Based on this, the present invention constructs a fully connected single hydraulic circuit consisting of a first reservoir, a second reservoir, a third reservoir, and connecting pipelines at each level. The main control valve is closed after initial fixing to cut off the main oil circuit. Subsequently, the valves of each pressure-replenishing branch are opened, and the pressure-replenishing components synchronously pressurize the entire hydraulic system. The hydraulic oil pressure of each fixed branch is automatically and evenly distributed. After a fixed branch that has been properly fitted stops extending due to obstruction, the hydraulic oil is automatically transferred to other branches that have not yet been properly fitted to continue driving the extension until all fixed blocks are tightly fitted to the surface of the steel structure. This achieves fully automatic synchronous adaptive fitting and fixing of steel structures with arbitrary irregular cross-sections. During the fitting process, there is no need to control each branch individually or lock each branch one by one. After the pressure is replenished, the valves of each pressure-replenishing branch are closed at once to lock the pressure of each branch. The operation is simple and the fixing is reliable. Furthermore, the present invention incorporates multiple independently extendable first inserts in the fixing assembly. Each insert extends to a different length according to the local unevenness of the steel structure surface, forming a multi-point conformal fit. Combined with the hinge structure between the fixing block and the end of the first insert, the fixing block can automatically rotate to an angle parallel to the local surface when in contact with the steel structure surface. This upgrades the traditional rigid point contact to conformal surface contact, significantly increasing the contact area between each fixing branch and the steel structure, improving the stability and reliability of the fixing, and effectively avoiding indentations or damage to the workpiece surface caused by stress concentration from point contact.

[0016] This invention further employs nickel-titanium alloy as the material for the fixing block. Utilizing the superelastic properties imparted by its stress-induced martensitic transformation, the fixing block, when pressed against the steel structure surface, undergoes adaptive deformation at the contact points according to the local surface contour. This ensures the contact surface tightly adheres to the unevenness and curvature variations of the steel structure surface. After bonding, the fixing block maintains stress, providing stable support. After welding, the load is removed, and it automatically returns to its original shape for future use. Nickel-titanium alloy possesses both high elastic modulus and good damping characteristics, effectively absorbing vibrations generated during welding while ensuring sufficient support stiffness, thus improving the stability of the welding quality. The hinged rotational deformation of the fixing block and the superelastic deformation of the nickel-titanium alloy work together. The hinged rotation enables the fixing block to follow the overall angle shape, while the superelastic deformation of the nickel-titanium alloy achieves a precise seal of the micro-contour of the mating surface. This ensures that the fixing block achieves optimal contact with the steel structure from macro to micro, greatly expanding the adaptability of the tooling to steel structures with different cross-sectional shapes. It can simultaneously adapt to the fixing needs of angle steel, round pipe, square pipe, polygonal pipe, and various irregular combination cross-sectional profiles, truly realizing the universality and intelligence of welding tooling for power transmission and transformation tower steel structures.

[0017] The present invention will be explained in detail below with reference to the accompanying drawings and specific embodiments. Attached Figure Description

[0018] Figure 1 This is a frontal perspective view of the present invention; Figure 2 This is a side perspective view of the present invention; Figure 3 This is a top-view three-dimensional structural diagram of the present invention; Figure 4 This is a cross-sectional view of the moving component of the present invention; Figure 5 This is a schematic diagram of a partial structure of the pressure compensation component; Figure 6 This is a schematic diagram of the front structure of the fixed component; Figure 7 for Figure 6 Enlarged structural diagram at point A in the middle; The diagram is marked as follows: 1. Fixed base; 11. Welding robot; 2. Support assembly; 21. First liquid storage tank; 22. Processing table; 23. Insert block; 24. Lifting cylinder; 25. Drive motor; 26. Double-ended screw; 27. Limiting rod; 3. Moving component; 31. Moving base; 32. Support base; 33. Mounting block; 34. Second liquid storage tank; 35. First connecting pipe; 4. Fixing component; 41. Third liquid storage tank; 42. Second connecting pipe; 43. First liquid storage pipe; 44. First insertion rod; 45. First spring; 46. Fixing block; 5. Pressure compensation assembly; 51. Hydraulic cylinder; 52. Connecting plate; 53. Second insertion rod; 54. Second liquid storage tube; 55. Second spring. Detailed Implementation

[0019] To facilitate understanding of the present invention, a more comprehensive description of the present invention will be given below with reference to the accompanying drawings, which illustrate several embodiments of the present invention. However, the present invention can be implemented in different forms and is not limited to the embodiments described in the text. Rather, these embodiments are provided to make the disclosure of the present invention more thorough and complete.

[0020] Please refer to the appendix carefully. Figures 1-7 A welding fixture for automatically adapting to the steel structure of a power transmission and transformation tower includes a fixed base 1, a welding robot 11 for welding the steel structure is mounted on the fixed base 1, a support component 2 is mounted on the fixed base 1, a moving component 3 for moving and docking the steel structure is mounted on the support component 2, a fixing component 4 is mounted on the moving component 3, the support component 2 drives the fixing component 4 to perform initial point fixing of the steel structure by hydraulic drive, and a pressure-repairing component 5 is mounted on the moving component 3 for driving the fixing block 46 in the fixing component 4 to fit and fix the entire surface of the fixing block 46 to the steel structure.

[0021] The fixed base 1 serves as the supporting foundation for the entire tooling, on which a welding robot 11 is mounted. The welding robot 11 is used to perform automated welding operations on the fixed steel structure. The support component 2 is set on the fixed base 1, and it has two functions: first, to provide an installation base for the moving component 3; and second, to serve as a source of hydraulic power, generating hydraulic pressure through its own mechanical movement to drive the fixed component 4. The moving component 3 is set above the support component 2, used to support the steel structure to be welded, and can move the steel structure in position under the drive of the support component 2 to achieve docking between different parts. The fixed component 4 is set on the moving component 3, and it contains multiple retractable fixing units. Each fixing unit has a fixing block 46 at its end, used to contact the surface of the steel structure and apply fixing force. The pressure-repairing component 5 is also set on the moving component 3. Its function is to drive the fixed component 4 again after the fixed component 4 has completed the initial fixing, so that each fixing block 46 is further in contact with the surface of the steel structure.

[0022] The core working principle of this invention is as follows: First, the steel structure is placed on the moving component 3. The support component 2 generates hydraulic driving force, which drives each fixing unit in the fixing component 4 to extend, so that each fixing block 46 initially adheres to the surface of the steel structure in a point-contact manner, completing the initial positioning. Subsequently, the pressure replenishing component 5 is activated to apply secondary pressure to the fixing component 4, causing each fixing block 46 to move further towards the surface of the steel structure on the existing basis, until all fixing blocks 46 are tightly adhered to the surface of the steel structure. For regular steel structures (such as rectangular tubes and round tubes), the fixing blocks 46 can achieve surface contact fixing by adhering to the entire front; for irregular steel structures, the pressure replenishing component 5 can drive each fixing block 46 to move independently, so that each fixing block 46 adheres to as much of the irregular surface of the steel structure as possible, achieving multi-point adaptive fixing.

[0023] Please refer to Figures 1-4 The support assembly 2 includes a first liquid storage tank 21, a processing table 22 is provided on the first liquid storage tank 21, a lifting cylinder 24 is provided on the support assembly 2 for driving the processing table 22 to move up and down, a plug 23 is provided at the bottom of the processing table 22, the plug 23 is inserted into a corresponding slot pre-opened on the first liquid storage tank 21, a drive motor 25 is fixedly installed on the processing table 22, a double-headed screw 26 is fixedly installed at the output end of the drive motor 25, the double-headed screw 26 is rotatably connected to the processing table 22, and limiting rods 27 are provided on both sides of the processing table 22.

[0024] The first reservoir 21 is fixedly mounted on the fixed base 1. It is filled with hydraulic oil and serves as the power source and reservoir for the entire hydraulic system. The processing table 22 is located above the first reservoir 21 and is used to support the moving component 3 and the steel structure to be welded. A lifting cylinder 24 is positioned between the first liquid storage tank 21 and the processing table 22. The cylinder body is fixedly connected to the first liquid storage tank 21, and the telescopic rod end is fixedly connected to the bottom of the processing table 22. The lifting cylinder 24 is used to drive the processing table 22 to move up and down relative to the first liquid storage tank 21. The insert block 23 is fixedly installed at the bottom of the processing table 22. Its position and number correspond to the slots pre-opened at the top of the first liquid storage tank 21. The insert block 23 is slidably inserted into the slots, and the end of the insert block 23 extends into the inner cavity of the first liquid storage tank 21. A piston is provided at the end of the insert block 23. The piston slides and seals with the inner wall of the first liquid storage tank 21. When the lifting cylinder 24 is activated and drives the processing table 22 to descend, the insert block 23 moves downward accordingly. The piston at the end of the insert block 23 squeezes the hydraulic oil in the inner cavity of the first liquid storage tank 21, causing the hydraulic oil to generate pressure and be transported to the fixed component 4 through the pipeline, driving the fixed component 4 to move.

[0025] Please refer to Figures 1-4The movable component 3 includes a movable base 31, which is threaded onto the double-ended screw 26 and slidably connected to the limiting rod 27. A support base 32 is provided on the movable base 31.

[0026] The drive motor 25 is fixedly mounted on the processing table 22, with its output end facing the length of the processing table 22. One end of the double-ended screw 26 is fixedly connected to the output end of the drive motor 25, and the other end is rotatably connected to the far end of the processing table 22 via a bearing. The two ends of the double-ended screw 26 are respectively provided with threaded sections with opposite directions of rotation. Two limiting rods 27 are provided, respectively arranged parallel to both sides of the double-ended screw 26 and fixedly mounted on the processing table 22, serving as guides and limiters. When the drive motor 25 starts, the double-ended screw 26 rotates accordingly. Since the moving base 31 of the moving component 3 is threaded onto the double-ended screw 26 and slidably connected to the limiting rods 27, the rotational motion of the double-ended screw 26 is converted into the linear motion of the moving base 31. The opposite thread design at both ends of the double-ended screw 26 allows the two moving bases 31 fitted at both ends to move synchronously towards each other (clamping) or synchronously away from each other (releasing), thereby achieving the clamping or release of the steel structure to be welded. The function of the limiting rod 27 is to prevent the movable base 31 from rotating with the double-ended screw 26, and to ensure that the movable base 31 only moves in a straight line along the axial direction of the double-ended screw 26; Two movable bases 31 are threaded onto the threaded sections of the double-ended screw 26 at opposite ends, and simultaneously slidably mounted on the limiting rod 27. This connection allows the movable bases 31 to reciprocate linearly along the axis of the limiting rod 27 under the drive of the drive motor 25. A support base 32 is fixedly mounted above the movable bases 31 to support the steel structure to be welded. The upper surface of the support base 32 is a flat support surface. When the two movable bases 31 move towards each other under the drive of the double-ended screw 26, the two support bases 32 move towards each other accordingly, centering the steel structure placed on them from both sides. This ensures that the steel structure is positioned in the center of the tooling before welding, facilitating precise welding by the welding robot 11.

[0027] Please refer to Figure 4 The mobile component 3 also includes a second liquid storage tank 34, which is fixedly mounted on the support base 32 by a mounting block 33. The inner cavity of the second liquid storage tank 34 is connected to the inner cavity of the first liquid storage tank 21 through a first connecting pipe 35, and a control valve is provided inside the first connecting pipe 35.

[0028] The second reservoir 34 is fixedly mounted on the support base 32 by the mounting block 33. The inner cavity of the second reservoir 34 is filled with hydraulic oil. One end of the first connecting pipe 35 is connected to the inner cavity of the second reservoir 34, and the other end is connected to the inner cavity of the first reservoir 21, thereby connecting the hydraulic oil circuits of the second reservoir 34 and the first reservoir 21. A control valve is installed inside the first connecting pipe 35 to control the opening and closing of the hydraulic oil circuit between the first reservoir 21 and the second reservoir 34. When the control valve is open, the oil circuits of the first reservoir 21 and the second reservoir 34 are connected. The hydraulic oil generated by the compression of the insert block 23 in 1 can be transported to the second reservoir 34 through the first connecting pipe 35, thereby driving the fixed component 4 to move. When the control valve is closed, the oil circuit between the first reservoir 21 and the second reservoir 34 is disconnected, the hydraulic oil in the second reservoir 34 is locked, and the fixed component 4 remains in the current state and cannot move, thereby achieving the maintenance of the fixed state. This structural design allows the hydraulic pressure generated by the support component 2 to be transmitted to the fixed component 4 on the moving component 3 through the first connecting pipe 35, and at the same time, the maintenance and release of the fixed state can be achieved by opening and closing the control valve.

[0029] Please refer to Figures 4-7 The fixing component 4 includes a third liquid storage tank 41. Multiple third liquid storage tanks 41 are arranged below the second liquid storage tank 34, and the inner cavities of the second liquid storage tank 34 and the third liquid storage tanks 41 are interconnected through holes. Adjacent third liquid storage tanks 41 are interconnected through a second connecting pipe 42. The fixing component 4 also includes a first liquid storage pipe 43. Multiple first liquid storage pipes 43 are arranged below each third liquid storage tank 41, and the inner cavities of the multiple first liquid storage pipes 43 are all connected to the inner cavities of the third liquid storage tank 41. A first liquid storage pipe is inserted into the end of the first liquid storage pipe 43 away from the third liquid storage tank 41. A first insertion rod 44 is provided, and a first spring 45 is sleeved on the first insertion rod 44 and the first liquid storage tube 43. The end of the first insertion rod 44 away from the first liquid storage tube 43 is movably connected to the fixing block 46. The fixing block 46 and the end of the first insertion rod 44 are hinged. The fixing block 46 can rotate freely relative to the first insertion rod 44 around the hinge point. The surface of the fixing block 46 facing the steel structure is a flat contact surface. An elastic reset member is also provided between the end of the first insertion rod 44 and the fixing block 46. The elastic reset member is used to keep the fixing block 46 at a preset initial angle when not in operation.

[0030] The fixing block 46 is made of nickel-titanium alloy (NiTi alloy), a shape memory alloy material with superelastic properties. The superelasticity of NiTi alloy comes from its stress-induced martensitic transformation characteristics: when stress is applied in the austenitic state, the material undergoes a martensitic transformation, producing a large inelastic strain; after unloading, the martensitic reverse transformation recovers to austenite, and the strain is completely recovered. Based on this principle, when the fixing block 46 is pressed against the surface of the steel structure under hydraulic drive, the contact part between the fixing block 46 and the steel structure undergoes adaptive deformation according to the local surface contour, so that the contact surface of the fixing block 46 is tightly attached to the uneven surface of the steel structure; after the attachment is completed, the fixing block 46 is in a stress-maintaining state, providing stable support force; after welding is completed and the load is removed, the fixing block 46 automatically returns to its original shape for the next use; the contact surface of the nickel-titanium alloy fixing block 46 can produce a maximum recoverable deformation of 8% under stress, which is sufficient to adapt to the surface unevenness and curvature changes of common profiles such as round tubes, square tubes, angle steel and polygonal tubes in the steel structure of power transmission and transformation towers. Meanwhile, nickel-titanium alloys possess both high elastic modulus (austenitic phase modulus of approximately 80-100 GPa) and good damping characteristics, effectively absorbing vibrations generated during welding while ensuring sufficient support stiffness, thus improving weld quality. Furthermore, nickel-titanium alloys exhibit excellent corrosion resistance and fatigue resistance, with a fatigue life exceeding 10^7 cycles, making them suitable for high-volume, high-frequency welding production. The phase transformation temperature of nickel-titanium alloys can be adjusted within the range of -100℃ to +100℃ by adjusting the nickel-titanium atomic ratio to adapt to different welding environment temperatures. (Note: The "preferred ranges" in the specification (such as maximum 8% deformation, 80-100 GPa modulus, 10^7 fatigue life, etc.) are parameters well-known in the art. Their inclusion in the specification is a standard technical description rather than restrictive numerical features and will not unduly limit the scope of protection. Furthermore, if it is desired to further strengthen the scope of protection, the dependent claims can be structured hierarchically from the following two dimensions:) Material composition range: composed of nickel and titanium, with a nickel content of 50.0-51.5 at% (the most typical engineering range for binary NiTi alloys). Phase transformation temperature range: The austenitic phase transformation end temperature Af of fixed block 46 is set between -10℃ and +40℃, so that it is in the austenitic state at room temperature, thus possessing superelastic response. Multiple third liquid storage tanks 41 are provided, all located below the second liquid storage tank 34. The bottom of the second liquid storage tank 34 has multiple holes, each corresponding to one third liquid storage tank 41. The inner cavity of the second liquid storage tank 34 communicates with the inner cavity of the third liquid storage tank 41 through these holes. Adjacent third liquid storage tanks 41 are interconnected through second connecting pipes 42, forming an interconnected hydraulic circuit. Each third liquid storage tank 41 has multiple first liquid storage pipes 43 located below it. One end of each first liquid storage pipe 43 is connected to the inner cavity of the third liquid storage tank 41, while the other end is closed. The first insertion rod 44 is provided with a through hole for the first insertion rod 44 to pass through. One end of the first insertion rod 44 is inserted into the cavity of the first liquid storage tube 43, and the other end extends out of the first liquid storage tube 43 and is movably connected to the fixing block 46. The first spring 45 is sleeved on the outside of the first insertion rod 44 and the first liquid storage tube 43. One end abuts against the outer wall of the first liquid storage tube 43, and the other end abuts against the end flange of the first insertion rod 44. It is used to reset the first insertion rod 44 to the retracted position when not in operation. When the inner cavity of the third liquid storage tank 41 is filled with hydraulic oil, the pressure of the hydraulic oil pushes the first insertion rod 44 out of the first liquid storage tube 43, driving the fixing block 46 to move towards the surface of the steel structure. When the fixing block 46 contacts the steel structure surface, if the steel structure surface is irregularly shaped, different first insertion rods 44 will extend to different lengths according to the unevenness of the contact surface, forming a "conformal" fit to the irregular surface. The first spring 45 allows the first insertion rods 44 to automatically retract to their original position after the hydraulic oil pressure is released, facilitating the reset of the tooling and its next use. The fixing block 46 and the extended ends of the first insertion rods 44 are connected by a hinge, meaning that the fixing block 46 can rotate freely relative to the first insertion rods 44 around the hinge axis. The surface of the fixing block 46 facing the steel structure is a flat contact surface for contact with the steel structure surface. An elastic reset element (such as a torsion spring or a small spring) is also provided between the end of the first insertion rod 44 and the fixing block 46 to keep the fixing block 46 at a preset initial angle when not in operation. The advantage of this hinge structure is that when the first insertion rod 44 pushes the fixing block 46 to contact the steel structure surface, the fixing block 46 can automatically rotate around the hinge axis according to the actual angle of the steel structure surface, so that the flat contact surface of the fixing block 46 adaptively fits the steel structure surface. For regular steel structures (such as rectangular tubes), the fixing block 46 can rotate to an angle parallel to the surface of the rectangular tube to achieve surface contact fixation of the entire contact surface; for irregular steel structure surfaces, each fixing block 46 can independently rotate to an angle to fit with a local surface, thereby achieving "multi-point conformal fitting", which greatly increases the contact area, improves the fixation stability and reliability, and avoids damage to the steel structure surface caused by stress concentration at point contact.

[0031] Please refer to Figure 5The pressure-replenishing component 5 includes a hydraulic cylinder 51, which is mounted on a support base 32. A connecting plate 52 is fixedly installed at one end of the telescopic rod of the hydraulic cylinder 51. Multiple second insert rods 53 are fixedly installed on the connecting plate 52. A second storage pipe 54 is provided on the first storage tank 21, and the inner cavity of the second storage pipe 54 is connected to the inner cavity of the first storage tank 21. The end of each second insert rod 53 away from the connecting plate 52 is inserted into the end of the second storage pipe 54 away from the first storage tank 21. A second spring 55 is sleeved on the second insert rod 53 and the second storage pipe 54. A control valve is provided inside the second storage pipe 54. The control valve inside the first connecting pipe 35 is a main control valve, and the control valve inside the second storage pipe 54 is a pressure-replenishing branch valve. When the main control valve is open and each pressure-replenishing branch valve is closed, the first... The liquid storage tank 21 is connected to the second liquid storage tank 34 through the first connecting pipe 35. The lifting cylinder 24 drives the insert block 23 to squeeze the hydraulic oil in the first liquid storage tank 21, which is then transported to the second liquid storage tank 34, the third liquid storage tank 41 and the first liquid storage pipe 43 through the first connecting pipe 35, pushing each first insert rod 44 to extend and complete the initial fixation. After the main control valve is closed, the oil circuit between the first liquid storage tank 21 and the second liquid storage tank 34 is cut off. Each pressure replenishing branch valve is opened, and the hydraulic cylinder 51 drives the second insert rod 53 to squeeze the hydraulic oil in the second liquid storage pipe 54 into the first liquid storage tank 21 for pressure replenishment. The pressure is applied to each first insert rod 44 through the closed hydraulic system to make it extend further until all fixing blocks 46 are in place. Each pressure replenishing branch valve is closed after pressure replenishment is completed, locking the pressure of each branch.

[0032] The specific operation process of this invention is as follows: S1. Place the steel structure to be welded on the upper surface of the two support bases 32; S2. Start the drive motor 25. The double-headed screw 26 rotates, causing the two movable bases 31 to move towards each other. The support base 32 positions the steel structure in the center. S3. Open the main control valve, ensure that all pressure-replenishing branch valves are closed, start the lifting cylinder 24, the lifting cylinder 24 drives the processing table 22 to descend, the insert block 23 squeezes the hydraulic oil in the inner cavity of the first liquid storage tank 21, the hydraulic oil enters the second liquid storage tank 34 through the first connecting pipe 35, and then flows to each third liquid storage tank 41 and each first liquid storage pipe 43, pushing each first insert rod 44 to extend, and each fixing block 46 initially contacts the steel structure surface, completing the initial fixing; S4. Close the main control valve to cut off the oil circuit between the first reservoir 21 and the second reservoir 34, and maintain the initial fixed state; S5. Open each pressure-replenishing branch valve, start the hydraulic cylinder 51, the hydraulic cylinder 51 extension rod extends, pushes the connecting plate 52 to drive all the second insert rods 53 to simultaneously squeeze the hydraulic oil in the second liquid storage pipe 54 into the first liquid storage tank 21, the pressure replenishment pressure is transmitted to each first insert rod 44 through the closed hydraulic system, pushing them to extend further, after the already attached branch is blocked, the pressure is automatically transferred to the unattached branch, until all the fixing blocks 46 are tightly attached to the steel structure surface, the hydraulic cylinder 51 can no longer advance; S6. Close all pressure-replenishing branch valves and lock the pressure of each branch. S7. Start welding robot 11 to perform welding operations on the fixed steel structure; S8. After welding is completed, open the main control valve and each pressure-replenishing branch valve. Each insert rod is reset under the action of the first spring 45 and the second spring 55. The lifting cylinder 24 drives the processing table 22 to rise and remove the welded steel structure.

[0033] The present invention has been described by way of example in conjunction with the accompanying drawings. Obviously, the specific implementation of the present invention is not limited to the above-described manner. Any non-substantial improvement made by adopting the inventive concept and technical solution of the present invention, or the direct application of the inventive concept and technical solution of the present invention to other occasions without modification, shall be within the protection scope of the present invention.

Claims

1. A welding fixture for automatically adapting to the steel structure of a power transmission and transformation tower, comprising a fixed base (1), wherein a welding robot (11) for welding the steel structure is mounted on the fixed base (1), characterized in that: The fixed base (1) is provided with a support component (2), the support component (2) is provided with a moving component (3) for moving and docking the steel structure, the moving component (3) is provided with a fixing component (4), the support component (2) drives the fixing component (4) to perform initial point fixing of the steel structure by hydraulic drive, and the moving component (3) is provided with a pressure-reducing component (5) for driving the fixing block (46) in the fixing component (4) to fit and fix the entire surface of the steel structure.

2. The welding fixture for automatically adapting to the steel structure of a power transmission and transformation tower as described in claim 1, characterized in that: The support assembly (2) includes a first liquid storage tank (21), a processing table (22) is provided on the first liquid storage tank (21), a lifting cylinder (24) is provided on the support assembly (2) for driving the processing table (22) to move up and down, and a plug (23) is provided at the bottom of the processing table (22), and the plug (23) is inserted into a pre-opened corresponding slot on the first liquid storage tank (21).

3. The welding fixture for automatically adapting to the steel structure of a power transmission and transformation tower according to claim 2, characterized in that: A drive motor (25) is fixedly installed on the processing table (22). A double-headed screw (26) is fixedly installed at the output end of the drive motor (25). The double-headed screw (26) is rotatably connected to the processing table (22). Limiting rods (27) are provided on both sides of the processing table (22).

4. The welding fixture for automatically adapting to the steel structure of a power transmission and transformation tower as described in claim 3, characterized in that: The movable component (3) includes a movable base (31), which is threaded onto a double-ended screw (26) and slidably connected to a limiting rod (27). A support base (32) is provided on the movable base (31).

5. The welding fixture for automatically adapting to the steel structure of a power transmission and transformation tower according to claim 4, characterized in that: The moving component (3) also includes a second liquid storage tank (34), which is fixedly mounted on the support base (32) by a mounting block (33). The inner cavity of the second liquid storage tank (34) is connected to the inner cavity of the first liquid storage tank (21) through a first connecting pipe (35), and a control valve is provided inside the first connecting pipe (35).

6. The welding fixture for automatically adapting to the steel structure of a power transmission and transformation tower according to claim 5, characterized in that: The fixing component (4) includes a third liquid storage tank (41). Multiple third liquid storage tanks (41) are provided below the second liquid storage tank (34). The inner cavities of the second liquid storage tank (34) and the third liquid storage tanks (41) are interconnected through holes. Adjacent third liquid storage tanks (41) are interconnected through a second connecting pipe (42).

7. The welding fixture for automatically adapting to the steel structure of a power transmission and transformation tower according to claim 6, characterized in that: The fixing component (4) also includes a first liquid storage tube (43). Each third liquid storage tank (41) is provided with multiple first liquid storage tubes (43) below it. The inner cavities of the multiple first liquid storage tubes (43) are connected to the inner cavities of the third liquid storage tank (41). A first insertion rod (44) is inserted into the end of the first liquid storage tube (43) away from the third liquid storage tank (41). A first spring (45) is sleeved on the first insertion rod (44) and the first liquid storage tube (43). The end of the first insertion rod (44) away from the first liquid storage tube (43) is movably connected to the fixing block (46).

8. The welding fixture for automatically adapting to the steel structure of a power transmission and transformation tower according to claim 7, characterized in that: The fixing block (46) and the end of the first insert rod (44) are hinged. The fixing block (46) can rotate freely relative to the first insert rod (44) around the hinge point. The surface of the fixing block (46) facing the steel structure is a flat contact surface. An elastic reset member is also provided between the end of the first insert rod (44) and the fixing block (46). The elastic reset member is used to keep the fixing block (46) at a preset initial angle when it is not in operation.

9. The welding fixture for automatically adapting to the steel structure of a power transmission and transformation tower according to claim 8, characterized in that: The pressure replenishment component (5) includes a hydraulic cylinder (51), which is mounted on a support base (32). A connecting plate (52) is fixedly installed on one end of the telescopic rod of the hydraulic cylinder (51). Multiple second insert rods (53) are fixedly installed on the connecting plate (52). A second liquid storage tube (54) is provided on the first liquid storage tank (21). The inner cavity of the second liquid storage tube (54) is connected to the inner cavity of the first liquid storage tank (21). The end of the second insert rod (53) away from the connecting plate (52) is inserted into the end of the second liquid storage tube (54) away from the first liquid storage tank (21). A second spring (55) is sleeved on the second insert rod (53) and the second liquid storage tube (54). A control valve is provided inside the second liquid storage tube (54).

10. The welding fixture for automatically adapting to the steel structure of a power transmission and transformation tower according to claim 9, characterized in that: The control valve inside the first connecting pipe (35) is a master control valve, and the control valve inside the second liquid storage pipe (54) is a pressure replenishing branch valve. When the master control valve is open and each pressure replenishing branch valve is closed, the first liquid storage tank (21) is connected to the second liquid storage tank (34) through the first connecting pipe (35). The lifting cylinder (24) drives the insert block (23) to squeeze the hydraulic oil in the first liquid storage tank (21), which is then transported through the first connecting pipe (35) to the second liquid storage tank (34), the third liquid storage tank (41), and the first liquid storage pipe (43), thereby pushing each of the first and second liquid storage tanks (34, 31, 44, 54, 54, 54, 54, 54, 54, 54, 54, 54, 54, 54, 54, 54, 54, 54, 54, 54, 54, 54, 54, 54, 55, 54, 55, 56, 57, 58, 59 ... One insertion rod (44) extends to complete the initial fixation; after the main control valve is closed, the oil circuit between the first liquid storage tank (21) and the second liquid storage tank (34) is cut off, each pressure replenishing branch valve is opened, and the hydraulic cylinder (51) drives the second insertion rod (53) to squeeze the hydraulic oil in the second liquid storage pipe (54) into the first liquid storage tank (21) for pressure replenishment. The pressure is applied to each first insertion rod (44) through the closed hydraulic system to make it extend further until all fixing blocks (46) are in place; each pressure replenishing branch valve is closed after pressure replenishment is completed, and the pressure of each branch is locked respectively.

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