Efficient highway bridge steel structure welding device

Abstract

The present application relates to a kind of high-efficient highway bridge steel structure welding device, it is related to steel structure welding technology field, including welding assembly, welding assembly is used to carry out around type continuous welding to steel structure one, steel structure two junction, welding assembly includes arc ring, arc ring has an opening along the circumference, the circumferential opening of the two ends of arc ring corresponding central angle is less than one hundred and eighty degrees, the opening of arc ring is used to make arc ring be fitted with the outside of steel structure one along radial;Through the design of welding assembly, open ring groove sleeve joint is matched with elastic clamping positioning structure, can be directly relied on the structure of steel structure itself to complete fast sleeve joint, positioning and fixing, without relying on external installation platform, adapt to bridge high altitude, narrow, no regular surface special operating environment, effectively solve the problem that welding equipment cannot be effectively positioned and installed unstably under high-altitude working condition, guarantee the safety and stability of high-altitude welding operation.

Description

Technical Field

[0001] This invention relates to the field of steel structure welding technology, specifically to a high-efficiency steel structure welding device for highway bridges. Background Technology

[0002] The steel structure circumferential welding device for highway bridges is a specialized process equipment used on bridge construction sites for continuous circumferential welding of connection nodes of large steel structural components such as steel columns and steel beams. This device performs continuous circumferential welding around the joint of the steel structure in one go, and is a key piece of equipment to ensure the connection strength, fatigue resistance and overall structural durability of road and bridge nodes.

[0003] However, existing steel structure welding devices for highway bridges have revealed many limitations in engineering applications. Firstly, existing devices generally use a circular track erected at the steel structure joint to drive the welding torch to run around the joint along the track. However, this method is usually only suitable for coaxial steel structure joints. Once encountering non-horizontal joint conditions such as inclined support steel columns or vertical intersections common in bridges, the track cannot be erected stably, making its applicability extremely limited.

[0004] Secondly, cleaning the joint area before welding usually relies on manual hand tools for grinding or blowing, which is not only inefficient, but also extremely difficult to operate in high-altitude or narrow working environments.

[0005] Third, existing equipment requires a flat installation reference surface to be found on the construction site to fix the entire welding mechanism. However, the welding operation of bridge steel structure often takes place at a height of several meters or even tens of meters above the ground. It is difficult to provide a regular installation platform on the beam surface and column surface, which makes it impossible to effectively position the equipment. Summary of the Invention

[0006] The purpose of this invention is to provide a high-efficiency perimeter welding device that can be quickly and self-centeringly clamped onto a steel structure without the need for an external installation platform, and can integrate air-jet scraping pretreatment and perimeter welding on the same motion trajectory for switching operations, thereby adapting to various complex docking conditions. To achieve the above objective, this invention adopts the following technical solution: A high-efficiency perimeter welding device for highway bridge steel structures includes a perimeter welding assembly, which is used to perform continuous perimeter welding at the connection between steel structure one and steel structure two. The circumferential welding assembly includes an arc ring with a circumferential opening. The central angles corresponding to the circumferential openings at both ends of the arc ring are less than 180 degrees. The opening of the arc ring is used to allow the arc ring to be radially fitted and assembled onto an outer side of the steel structure. Two push plates are horizontally symmetrically arranged on the side of the arc ring away from the steel structure 2 with the center of the arc ring as the center of symmetry. Two push plates are vertically symmetrically connected to each of the two push plates 1 with the center of the arc ring as the center of symmetry. Push plates 1 and push plates 2 are used to assemble the arc ring coaxially onto the steel structure 1. A welding torch and a nozzle are installed on the side of the arc ring closest to the second steel structure. The welding torch and the nozzle rotate alternately. The nozzle is a cavity structure with a reduced inner diameter on the side away from the welding torch. The end of the nozzle away from the welding torch is an opening. The open side of the nozzle is used to spray air at the connection between the first and second steel structures. A stop bar is fitted at the opening of the nozzle. The stop bar is used to scrape and vibrate the connection between the first and second steel structures.

[0007] Furthermore, the welding assembly also includes a welding equipment box and a bracket. The bracket is fixedly connected to the bottom of the welding equipment box. An open-ring groove is provided on the bracket. Two guide rods are fixedly connected to the bracket. Two push plates are slidably connected to the two guide rods. Two tension springs are symmetrically sleeved on each of the two guide rods. The two ends of the tension springs are fixedly connected to the ends of the guide rods and the push plates, respectively. A guide rod is fixedly connected to each of the two push plates on opposite sides. Two push plates are slidably connected to the corresponding guide rods. Two tension springs are symmetrically sleeved on each of the two guide rods. The two ends of the tension springs are fixedly connected to the ends of the guide rods and the push plates, respectively.

[0008] Furthermore, the arc ring is rotatably connected to the side of the bracket away from the first guide rod. Multiple guide wheels are rotatably connected in a ring on the bracket. The guide wheels are slidably connected to the arc ring. Two rod gears are symmetrically rotatably connected on the bracket. The ends of the two rod gears near the first guide rod are connected by a synchronous belt drive. A servo motor is fixedly connected to the side of the bracket near the first guide rod. The output shaft end of the servo motor is fixedly connected to one of the rod gears.

[0009] Furthermore, a robotic arm is installed on the side of the arc ring away from the guide rod. A rotating plate is fixedly connected to the execution end of the robotic arm. The welding torch and the nozzle are fixedly connected to both ends of the rotating plate. A central shaft is rotatably connected inside the nozzle. Multiple fan blades are fixedly connected in a ring array on the side of the central shaft near the welding torch. A rotating groove is opened on the side of the central shaft away from the fan blades. A connecting rod is slidably connected to the inner wall of the nozzle. The end of the connecting rod away from the central shaft is fixedly connected to the abutment rod. A sliding rod is slidably connected inside the rotating groove. The sliding rod is fixedly connected to the connecting rod. A connecting pipe is installed between the nozzle and the welding torch. The end of the connecting pipe away from the rotating plate is fixedly installed to the welding equipment box.

[0010] Furthermore, a vision inspection device is installed on the execution end of the robotic arm to inspect the joint between steel structure one and steel structure two.

[0011] Furthermore, the open-ring groove is designed with a bottom opening, and the bottom opening of the open-ring groove is adapted to the opening size of the arc ring. Two guide wheels located at the bottom are respectively located on both sides of the opening of the open-ring groove. The outer surface of the arc ring is uniformly provided with teeth, and the rod gear meshes with the teeth of the arc ring. The distance between the two rod gears is greater than the distance between the two ends of the arc ring opening.

[0012] Furthermore, the slot is designed as a continuous wave shape surrounding the circumference of the central shaft.

[0013] Furthermore, the connecting rod slides within the nozzle along the nozzle axial direction, and the abutment rod is coaxial with the central shaft.

[0014] Compared with the prior art, the beneficial effects of the present invention are: By designing the welding assembly, an open-type arc ring is set up with an elastic limit correction structure, which can adaptively clamp steel structures with different cross-sectional dimensions and automatically correct the coaxiality between the arc ring and the steel structure. Combined with the trajectory adaptive adjustment function of the multi-degree-of-freedom robotic arm, it can adapt to various bridge steel structure welding conditions such as coaxial docking, vertical docking, and inclined docking, solving the working condition limitations of traditional track-type structures and broadening the application range of the equipment in complex bridge node welding operations.

[0015] By designing the welding assembly, an open-loop groove joint combined with an elastic clamping and positioning structure is adopted. It can be directly connected, positioned and fixed by relying on the steel structure itself without relying on an external installation platform. It is suitable for the special working environment of bridges that are high, narrow and irregular base surfaces. It effectively solves the problem of ineffective positioning and unstable installation of welding equipment under high-altitude conditions, and ensures the safety and stability of high-altitude welding operations.

[0016] By designing the perimeter welding assembly, the rotating plate enables rapid switching between the nozzle and the welding gun. The pretreatment and welding operations share the same arc ring rotation trajectory. The pretreatment trajectory can serve as a precise reference benchmark for the welding operation. Combined with the vision inspection device mounted on the robotic arm, it can correct deviations in real time, effectively improving the accuracy of the perimeter welding trajectory and ensuring the consistency and regularity of the welding of steel structure nodes.

[0017] By designing the welding assembly, the welding gun and nozzle are integrated at both ends of the rotating plate and can be switched between them. A stop bar is set at the end of the nozzle. When moving around the seam, it simultaneously completes the triple action of high-pressure blowing, contact scraping and high-frequency vibration loosening, which replaces manual grinding and blowing, and improves the pretreatment efficiency and cleanliness in high-altitude and narrow working areas. Attached Figure Description

[0018] Figure 1 This is a schematic diagram showing the positions of the welding equipment box and support of the present invention; Figure 2 This is a schematic diagram showing the positions of steel structure one and steel structure two of the present invention; Figure 3 This is a schematic diagram showing the positions of the steel structure 1 and the push plate 1 of the present invention; Figure 4 This is a schematic diagram showing the positions of the guide wheel and the arc ring of the present invention; Figure 5This is a schematic diagram showing the positions of the rod gear and servo motor in this invention; Figure 6 This is a schematic diagram showing the positions of the bracket and push plate of the present invention; Figure 7 For the present invention Figure 6 Enlarged view of point A in the middle; Figure 8 This is a schematic diagram showing the positions of the welding torch and nozzle of the present invention; Figure 9 This is a schematic diagram showing the positions of the robotic arm and welding torch of the present invention; Figure 10 For the present invention Figure 9 Enlarged diagram of point B in the middle.

[0019] In the picture: 11. Steel Structure 1; 12. Steel Structure 2; 21. Welding Equipment Box; 22. Support; 23. Open Ring Groove; 24. Guide Rod 1; 25. Push Plate 1; 26. Tension Spring 1; 27. Guide Rod 2; 28. Push Plate 2; 29. ​​Tension Spring 2; 210. Arc Ring; 211. Guide Wheel; 212. Gear with Rod; 213. Servo Motor; 214. Robotic Arm; 215. Rotating Plate; 216. Welding Torch; 217. Nozzle; 218. Central Shaft; 219. Fan Blade; 220. Rotary Groove; 221. Connecting Rod; 222. Slide Rod; 223. Support Rod; 224. Connecting Pipe. Detailed Implementation

[0020] To further illustrate the technical means and effects of the present invention in achieving its intended purpose, the following detailed description of the specific implementation methods, structure, features and effects of the present invention, in conjunction with the accompanying drawings and preferred embodiments, is provided below.

[0021] Reference Figures 1 to 10 As shown, an efficient steel structure welding device for highway bridges includes a welding assembly, which is used to perform continuous circumferential welding at the connection between steel structure 11 and steel structure 22. The welding assembly includes an arc ring 210, which has a circumferential opening. The central angles corresponding to the circumferential openings at both ends of the arc ring 210 are less than 180 degrees. The opening of the arc ring 210 is used to allow the arc ring 210 to be radially fitted and assembled on the outside of the steel structure 11. Two push plates 25 are horizontally symmetrically arranged on the side of the arc ring 210 away from the steel structure 12 with the center of the arc ring 210 as the center of symmetry. Two push plates 28 are vertically symmetrically connected on each of the two push plates 25 with the center of the arc ring 210 as the center of symmetry. The push plates 25 and the push plates 28 are used to assemble the arc ring 210 coaxially onto the steel structure 11. A welding torch 216 and a nozzle 217 are provided on the side of the arc ring 210 near the steel structure 2 12. The welding torch 216 and the nozzle 217 rotate alternately. The nozzle 217 is a cavity structure with a reduced inner diameter on the side away from the welding torch 216. The end of the nozzle 217 away from the welding torch 216 is set as an opening. The open side of the nozzle 217 is used to spray air at the connection between the steel structure 1 11 and the steel structure 2 12. A stop rod 223 is fitted at the opening of the nozzle 217 with clearance. The stop rod 223 is used to scrape and vibrate the connection position between the steel structure 1 11 and the steel structure 2 12.

[0022] The welding assembly also includes a welding equipment box 21 and a bracket 22. The bracket 22 is fixedly connected to the bottom of the welding equipment box 21. An open-ring groove 23 is provided on the bracket 22. Two guide rods 24 are fixedly connected to the bracket 22. Two push plates 25 are slidably connected to the two guide rods 24. Two tension springs 26 are symmetrically sleeved on each of the two guide rods 24. The two ends of the tension springs 26 are fixedly connected to the ends of the guide rods 24 and the push plates 25, respectively. A guide rod 27 is fixedly connected to the side of the two push plates 25 that is far apart from each other. Two push plates 28 on the same push plate 25 are slidably connected to the corresponding guide rod 27. Two tension springs 29 are symmetrically sleeved on each of the two guide rods 27. The two ends of the tension springs 29 are fixedly connected to the ends of the guide rods 27 and the push plates 28, respectively.

[0023] The arc ring 210 is rotatably connected to the side of the bracket 22 away from the guide rod 24. Multiple guide wheels 211 are rotatably connected in a ring on the bracket 22. The guide wheels 211 are slidably connected to the arc ring 210. Two rod gears 212 are symmetrically rotatably connected to the bracket 22. The ends of the two rod gears 212 near the guide rod 24 are connected by a synchronous belt drive. A servo motor 213 is fixedly connected to the side of the bracket 22 near the guide rod 24. The output shaft end of the servo motor 213 is fixedly connected to one of the rod gears 212.

[0024] A robotic arm 214 is installed on the side of the arc ring 210 away from the guide rod 24. A rotating plate 215 is fixedly connected to the execution end of the robotic arm 214. The welding torch 216 and the nozzle 217 are respectively fixedly connected to the two ends of the rotating plate 215. A central shaft 218 is rotatably connected inside the nozzle 217. Multiple fan blades 219 are fixedly connected in a ring array on the side of the central shaft 218 near the welding torch 216. A rotating groove 220 is opened on the side of the central shaft 218 away from the fan blades 219. A connecting rod 221 is slidably connected to the inner wall of the nozzle 217. The end of the connecting rod 221 away from the central shaft 218 is fixedly connected to the abutment rod 223. A sliding rod 222 is slidably connected inside the rotating groove 220. The sliding rod 222 is fixedly connected to the connecting rod 221. A connecting pipe 224 is installed between the nozzle 217 and the welding torch 216. The end of the connecting pipe 224 away from the rotating plate 215 is fixedly installed to the welding equipment box 21.

[0025] The welding equipment box 21 provides welding support to the welding torch 216 through the connecting pipe 224, the welding equipment box 21 sprays air into the nozzle 217 through the connecting pipe 224, and the welding equipment box 21 is equipped with a control panel.

[0026] It should be noted that the connecting pipe 224 has sufficient length allowance to prevent it from being pulled and damaged.

[0027] Among them, the robotic arm 214 has multiple degrees of freedom of movement, which allows the actuator of the robotic arm 214 to drive the rotating plate 215 to move and rotate to the required position. The robotic arm 214 is a known technology and will not be described in detail here.

[0028] It should be noted that the robotic arm 214 is equipped with a vision inspection device on its execution end, which is used to inspect the joint between steel structure 11 and steel structure 22.

[0029] Wherein: the open ring groove 23 is set to have a bottom opening, and the bottom opening of the open ring groove 23 is adapted to the opening size of the arc ring 210.

[0030] Among them, the sides of the two push plates 25 that are close to each other and the sides of the two push plates 28 on the same push plate 25 that are close to each other are provided with a rubber anti-slip layer.

[0031] Wherein: the outer surface of the arc ring 210 is uniformly provided with teeth, and the teeth of the rod gear 212 mesh with each other.

[0032] Specifically, the two guide wheels 211 located at the bottom are situated on either side of the opening of the open-ring groove 23. Their function is to ensure that no matter what angle the arc ring 210 rotates to, the guide wheels 211 always engage with the arc ring 210, preventing the arc ring 210 from detaching from the bracket 22.

[0033] Specifically, the distance between the two rod gears 212 is greater than the distance between the two ends of the opening of the arc ring 210. This ensures that, regardless of the angle to which the arc ring 210 rotates, at least one rod gear 212 can engage the teeth of the arc ring 210, thus always providing driving force to the arc ring 210.

[0034] Among them, the rotating groove 220 is set to a continuous wave shape around the circumference of the central shaft 218.

[0035] Among them, the connecting rod 221 slides within the nozzle 217 along the axial direction of the nozzle 217, and the abutment rod 223 is coaxially arranged with the central shaft rod 218.

[0036] It should be noted that the abutment 223 is made of wear-resistant rubber.

[0037] In the initial state, that is, before the welding work between steel structure 11 and steel structure 212 has been carried out, the structural states of the welding assembly are as follows: At this time, the arc ring 210 rotates on the bracket 22 until it is completely located on the bracket 22, that is, the end of the arc ring 210 has not yet passed through the opening of the open ring groove 23, the tension spring 26 has not yet produced elastic deformation, the two push plates 25 are located at the closest position to each other on the guide rod 24, the tension spring 29 has not yet produced elastic deformation, that is, the two push plates 28 on the same push plate 25 are located at the closest position to each other.

[0038] When continuous circumferential welding is required at the connection point between steel structure 11 and steel structure 22, the surrounding welding assembly operates as follows: It should be noted that in actual scenarios, steel structure 11 and steel structure 212 can have various docking situations, such as coaxial end docking, vertical docking, and inclined docking. Here, we take the inclined docking of steel structure 11 and steel structure 212 as an example, and we choose steel structure 11 as the equipment mounting surface.

[0039] At this point, the user needs to install the bracket 22 on the steel structure 11. The user separates the push plate 28 at the top and the push plate 28 at the bottom, so that the two push plates 28 on the same push plate 25 are far apart. At this time, the push plate 28 slides on the guide rod 27 and the push plate 25, while causing the tension spring 29 to undergo elastic deformation. After completion, the user separates the two push plates 25 to both sides while maintaining the elastic deformation of the tension spring 29, so that the two push plates 25 slide to both sides on the guide rod 24, while causing the tension spring 26 to undergo elastic deformation.

[0040] After completion, the user maintains the separation of push plate 1 25 and push plate 28, and inserts bracket 22 into steel structure 1 11 through the bottom opening of open ring groove 23, with robotic arm 214 facing the side of steel structure 1 11 and steel structure 2 12 to be welded. When bracket 22 is fitted onto steel structure 1 11 through open ring groove 23, the two push plates 1 25 are located on both sides of steel structure 1 11, the two push plates 28 closer to guide rod 1 24 are located at the top of steel structure 1 11, and the two push plates 28 farther from guide rod 1 24 are located at the bottom of steel structure 1 11. At this point, the user no longer maintains the separation of the two push plates 1 25. In the off-state, under the elastic reset action of tension spring 26, the two push plates 25 synchronously converge toward the steel structure 11 until both push plates 25 abut against the side wall of the steel structure 11. After completion, the user no longer applies pressure to push plate 28, and under the elastic reset action of tension spring 29, the two push plates 28 on the same push plate 25 move closer to each other. At this time, the two push plates 28 on the same push plate 25 simultaneously converge and slide on push plate 25 and guide rod 27 until the two push plates 28 on the same push plate 25 abut against the top and bottom sides of the steel structure 11 respectively.

[0041] During this process, since the two push plates 25 are horizontally symmetrically distributed with the center of the arc ring 210 as the center of symmetry, when both push plates 25 are in contact with the steel structure 11, the arc ring 210 is adjusted to a position that is vertically coaxial with the steel structure 11. At the same time, since the two push plates 28 on the same push plate 25 are vertically symmetrically distributed with the center of the arc ring 210 as the center of symmetry, when all four push plates 28 are in contact with the steel structure 11, the arc ring 210 is adjusted to a position that is horizontally coaxial with the steel structure 11. That is, when both push plates 25 and push plates 28 are in contact with the steel structure 11, the arc ring 210 can be corrected to a position that is coaxial with the steel structure 11.

[0042] It should be noted that: by setting the bottom opening of the open-ring groove 23 and the arc ring 210, the arc ring 210 can be fitted onto the steel structure 11. Furthermore, since the push plate 25 and the push plate 28 rely on elastic elements to push and limit and correct the position of the arc ring 210, the overall welding device can adapt to steel structures with different cross-sectional dimensions, thus enhancing its versatility.

[0043] Once completed, the user drives the robotic arm 214 to operate, causing the actuator of the robotic arm 214 to move the rotating plate 215 to a position close to the connection between steel structure 11 and steel structure 22. During this process, the actuator of the robotic arm 214 rotates the rotating plate 215, causing the rotating plate 215 to rotate until the opening end of the nozzle 217 faces the joint between steel structure 11 and steel structure 22, until the nozzle 217 moves to the position where the stop rod 223 abuts against the joint between steel structure 11 and steel structure 22.

[0044] At this time, the user drives the servo motor 213 to run, so that the output shaft of the servo motor 213 drives the connected rod gear 212 to rotate. Since the two rod gears 212 are connected by a synchronous belt drive, the two rod gears 212 rotate synchronously and in the same direction. During the rotation of the rod gear 212, the rod gear 212 meshes with the teeth of the arc ring 210, so that the arc ring 210 slides on multiple guide wheels 211. That is, the arc ring 210 rotates on the bracket 22. Since the arc ring 210 has been corrected to be coaxial with the steel structure 11, the arc ring 210 rotates with the steel structure 11 as the center.

[0045] It should be noted that as the arc ring 210 rotates, the end of the arc ring 210 gradually extends to the lower end of the opening side of the open ring groove 23, while the open end of the arc ring 210 gradually flips towards the top of the bracket 22. However, during this process, the arc ring 210 is always slidably limited by multiple guide wheels 211 to prevent the arc ring 210 from derailing. At the same time, at least one rod gear 212 meshes with the teeth of the arc ring 210 to ensure that it can always provide drive for the rotation of the arc ring 210.

[0046] During the rotation of the arc ring 210, the arc ring 210 drives the robotic arm 214 to rotate synchronously. That is, the nozzle 217 at the execution end of the robotic arm 214 rotates around the steel structure 11. During this process, the robotic arm 214 adjusts the coordination of each joint to ensure that the abutment rod 223 on the nozzle 217 always abuts against the joint between the steel structure 11 and the steel structure 22. In other words, the arc ring 210 rotates in a circle around the steel structure 11, but the abutment rod 223 rotates around the steel structure 11 while abutting against it. The movement trajectory of the abutment rod 223 is the shape of the joint between the steel structure 11 and the steel structure 22.

[0047] It should be noted that during the process of adjusting each joint of the robotic arm 214, the vision detection device at the execution end of the robotic arm 214 provides real-time position detection support for the operation of the robotic arm 214.

[0048] During the process of the nozzle 217 circling the joint between steel structure 11 and steel structure 22, the welding equipment box 21 sprays air into the nozzle 217 through the connecting pipe 224. The airflow surges towards the opening side inside the nozzle 217. At this time, the opening side of the nozzle 217 faces the joint between steel structure 11 and steel structure 22, and the opening side of the nozzle 217 is in clearance fit with the push rod 223, that is, the push rod 223 does not interfere with the airflow. This allows the nozzle 217 to spray airflow around the joint between steel structure 11 and steel structure 22, causing the adhering material at the joint to be blown away, thus achieving pretreatment before welding.

[0049] As the airflow moves towards the opening side within the nozzle 217, it pushes the fan blades 219, causing the central shaft 218 to rotate within the nozzle 217. During this rotation, the wavy groove 220 slides relative to the sliding rod 222, causing the sliding rod 222 to exhibit an axial reciprocating motion tendency due to the contour of the groove 220. Since the sliding rod 222 can only slide linearly within the nozzle 217 via the connecting rod 221, it drives the connecting rod 221 to perform a linear reciprocating slide within the nozzle 217. The distance of the linear reciprocating slide of the connecting rod 221 is the distance between the convex and concave points of the wavy groove 220. Simultaneously, the connecting rod 221 drives the abutment rod 223 to move linearly reciprocally. Since the abutment rod 223 is now in contact with the joint of steel structure 11 and steel structure 22, it vibrates at the joint and undergoes elastic deformation. This vibration further loosens the adhesion at the joint, allowing it to be blown away by the airflow from the nozzle 217. Simultaneously, because the abutment rod 223 remains in contact with the joint, it scrapes away the adhesion at the joint, further ensuring the integrity of the pre-welding treatment at the joint and laying a solid foundation for the subsequent welding quality of the welding torch 216.

[0050] After the nozzle 217 has circled the steel structure 11 once, the actuator of the robotic arm 214 moves the nozzle 217 away from the joint between the steel structure 11 and the steel structure 12. Simultaneously, the welding equipment box 21 stops ejecting gas into the nozzle 217, causing the stop rod 223 to stop its linear reciprocating movement. At the same time, the actuator of the robotic arm 214 rotates the turntable 215, switching the positions of the nozzle 217 and the welding torch 216. The actuator of the robotic arm 214 then moves the welding torch 216 toward the joint between the steel structure 11 and the steel structure 12. Simultaneously, the output shaft of the servo motor 213 rotates in the opposite direction, causing the welding torch 216 to move in the opposite direction along the previous trajectory of the nozzle 217. The welding torch 216 then circles the joint between the steel structure 11 and the steel structure 12 to perform welding, thus achieving the surrounding welding of the joint between the steel structure 11 and the steel structure 12.

[0051] It should be noted that when the welding torch 216 moves in the reverse direction to perform welding, the welding torch 216 maintains a certain distance from the joint of steel structure 11 and steel structure 22. This is common knowledge, but it is explained here in order to distinguish it from the movement of the abutment rod 223.

[0052] It should be noted that since the welding torch 216 performs the welding trajectory in the opposite direction to the nozzle 217, this process is achieved through the coordination of the joints of the robotic arm 214 and the reversal of the arc ring 210. The previous movement trajectory of the nozzle 217 can provide reference support for the reverse operation of the welding torch 216, that is, to ensure the accuracy of the welding torch 216 in welding the joint of steel structure 11 and steel structure 22.

[0053] It should be noted that during the process of the nozzle 217 winding around the steel structure 11, the connecting pipe 224 is wound around the steel structure 11 once synchronously with the rotating plate 215. That is, the connecting pipe 224 is wrapped around the steel structure 11. However, since the connecting pipe 224 is provided with sufficient length margin, it will not be pulled or contracted. As the welding gun 216 winds around the steel structure 11 in the opposite direction, the connecting pipe 224 rotates accordingly, thereby releasing the connecting pipe 224 from the winding state on the steel structure 11. That is, after the welding is completed, the connecting pipe 224 is synchronously reset.

[0054] At this point, the welding at the joint between steel structure 11 and steel structure 12 is complete. The user can release the bracket 22 from its limiting state on steel structure 11 by separating push plate 1 25 and push plate 2 28. At the same time, drive the arc ring 210 to rotate until its opening aligns with the opening of the open ring groove 23. The user can then directly remove the bracket 22 from steel structure 11. This completes the welding operation.

[0055] In summary, the following beneficial effects can be achieved through the design of the welded components: By designing the welding assembly, an open-type arc ring 210 is set up with an elastic limit correction structure, which can adaptively clamp steel structures with different cross-sectional dimensions and automatically correct the coaxiality between the arc ring 210 and the steel structure. Combined with the trajectory adaptive adjustment function of the multi-degree-of-freedom robotic arm 214, it can adapt to various bridge steel structure welding conditions such as coaxial docking, vertical docking, and inclined docking, solving the working condition limitations of traditional track-type structures and broadening the application range of the equipment in complex bridge node welding operations.

[0056] Through the design of the welding assembly, an open-type open-ring groove 23-piece sleeve is used in conjunction with an elastic clamping and positioning structure. It can be directly relied on the steel structure itself to complete the rapid sleeve, positioning and fixation without relying on an external installation platform. It is suitable for the special working environment of bridges that are high, narrow and irregular base surfaces. It effectively solves the problem of ineffective positioning and unstable installation of welding equipment under high-altitude conditions, and ensures the safety and stability of high-altitude welding operations.

[0057] Through the design of the perimeter welding assembly, the rapid switching between the nozzle 217 and the welding gun 216 is achieved through the rotating plate 215. The pretreatment and welding operations share the same arc ring 210 rotation trajectory. The pretreatment trajectory can serve as a precise reference benchmark for the welding operation. In conjunction with the vision inspection device mounted on the robotic arm 214, it can correct deviations in real time, effectively improving the accuracy of the perimeter welding trajectory and ensuring the consistency and regularity of the welding of steel structure nodes.

[0058] By designing the welding assembly, the welding gun 216 and the nozzle 217 are integrated at both ends of the rotating plate 215 and can be switched between them. A stop bar 223 is set at the end of the nozzle 217. When moving around the joint, it simultaneously completes the triple action of high-pressure blowing, contact scraping and high-frequency vibration loosening, which replaces manual grinding and blowing, and improves the pretreatment efficiency and cleanliness in high-altitude and narrow working areas.

[0059] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present invention. Any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the scope of the present invention.

Claims

1. A high-efficiency steel structure welding device for highway bridges, characterized in that: The application relates to a steel structure welding device, which comprises a surrounding welding assembly used for surrounding continuous welding at the joint of a first steel structure (11) and a second steel structure (12). The surrounding welding assembly comprises an arc ring (210) with an opening in the circumferential direction, and the circumferential opening at the two ends of the arc ring (210) corresponds to an angle of less than 180 degrees, and the opening of the arc ring (210) is used for radially sleeving the arc ring (210) on the outer side of the first steel structure (11). The side of the arc ring (210) away from the second steel structure (12) is symmetrically provided with two push plates (25) with the center of the arc ring (210) as the symmetric center, and the two push plates (25) are each vertically symmetrically connected with two push plates (28) with the center of the arc ring (210) as the symmetric center, and the push plates (25) and the push plates (28) are used for coaxially assembling the arc ring (210) on the first steel structure (11). The side of the arc ring (210) close to the second steel structure (12) is provided with a welding gun (216) and a nozzle (217), the welding gun (216) and the nozzle (217) are switched and rotated, the nozzle (217) is provided as a cavity structure with a reduced inner diameter away from the welding gun (216), one end of the nozzle (217) away from the welding gun (216) is provided as an opening, the opening side of the nozzle (217) is used for jetting at the joint of the first steel structure (11) and the second steel structure (12), and the opening of the nozzle (217) is gap-connected with a stop rod (223), and the stop rod (223) is used for scraping and vibrating the joint position of the first steel structure (11) and the second steel structure (12).

2. The high-efficiency steel structure welding device for highway bridges according to claim 1, characterized in that: The surrounding welding assembly further comprises a welding equipment box (21) and a support (22), the support (22) is fixedly connected to the bottom of the welding equipment box (21), the support (22) is provided with an open slot (23), the support (22) is fixedly connected with two guide rods (24), the two push plates (25) are slidably connected with the two guide rods (24), the two guide rods (24) are each symmetrically sleeved with two tension springs (26), the two ends of the tension springs (26) are respectively fixedly connected with the ends of the guide rods (24) and the push plates (25), the two push plates (25) are each fixedly connected with a guide rod (27) away from each other, the two push plates (28) on the same push plate (25) are slidably connected with the corresponding guide rods (27), the two guide rods (27) are each symmetrically sleeved with two tension springs (29), and the two ends of the tension springs (29) are respectively fixedly connected with the ends of the guide rods (27) and the push plates (28).

3. The high-efficiency steel structure welding device for highway bridges according to claim 2, characterized in that: The arc ring (210) is rotatably connected to the side of the bracket (22) away from the guide rod (24). Multiple guide wheels (211) are rotatably connected in a ring on the bracket (22). The guide wheels (211) are slidably connected to the arc ring (210). Two rod gears (212) are symmetrically rotatably connected on the bracket (22). The two rod gears (212) are connected to the end of the guide rod (24) by a synchronous belt drive. A servo motor (213) is fixedly connected to the side of the bracket (22) near the guide rod (24). The output shaft end of the servo motor (213) is fixedly connected to one of the rod gears (212).

4. The high-efficiency highway bridge steel structure surrounding welding device according to claim 1, characterized in that: A robotic arm (214) is installed on the side of the arc ring (210) away from the guide rod (24). A rotating plate (215) is fixedly connected to the execution end of the robotic arm (214). The welding torch (216) and the nozzle (217) are respectively fixedly connected to the two ends of the rotating plate (215). A central shaft (218) is rotatably connected inside the nozzle (217). Multiple fan blades (219) are fixedly connected in a ring array on the side of the central shaft (218) near the welding torch (216). The side of the central shaft (218) away from the fan blades (219) is open. A rotating trough (220) is provided, and a connecting rod (221) is slidably connected to the inner wall of the nozzle (217). The end of the connecting rod (221) away from the central shaft (218) is fixedly connected to the abutment rod (223). A sliding rod (222) is slidably connected inside the rotating trough (220). The sliding rod (222) is fixedly connected to the connecting rod (221). A connecting pipe (224) is installed between the nozzle (217) and the welding torch (216). The end of the connecting pipe (224) away from the rotating plate (215) is fixedly installed to the welding equipment box (21).

5. The high-efficiency highway bridge steel structure surrounding welding device according to claim 4, characterized in that: The robotic arm (214) is equipped with a vision inspection device to inspect the joint between steel structure one (11) and steel structure two (12).

6. The high-efficiency highway bridge steel structure surrounding welding device according to claim 3, characterized in that: The open ring groove (23) is set to have a bottom opening. The bottom opening of the open ring groove (23) is adapted to the opening size of the arc ring (210). The two guide wheels (211) at the bottom are located on both sides of the opening of the open ring groove (23). The outer surface of the arc ring (210) is uniformly provided with teeth. The teeth of the rod gear (212) mesh with the teeth of the arc ring (210). The distance between the two rod gears (212) is greater than the distance between the two ends of the opening of the arc ring (210).

7. The high-efficiency highway bridge steel structure surrounding welding device according to claim 4, characterized in that: The swivel (220) is configured as a continuous wave shape around the circumference of the central shaft (218).

8. The high-efficiency highway bridge steel structure surrounding welding device according to claim 4, characterized in that: The connecting rod (221) slides within the nozzle (217) along the axial direction of the nozzle (217), and the abutment rod (223) is coaxially arranged with the central shaft rod (218).

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