Steel box girder welding device for bridge

Abstract

The present application relates to the technical field of intelligent welding, and particularly relates to a steel box girder welding device for bridges. The device comprises a guide support rail, an electric sliding seat is slidably connected to the guide support rail, a multi-axis mechanical arm is fixedly connected to the electric sliding seat, a laser welding gun is fixedly connected to the control end of the multi-axis mechanical arm, the guide support rail is composed of a plurality of support blocks, two symmetrical butt blocks are fixedly connected to one side of each support block, two symmetrical butt notches are arranged on the other side of each support block, and a limiting assembly is arranged on each support block. The guide support rail is divided into a plurality of support blocks, so that the support blocks of the completed welding area can be transferred to the to-be-welded area along with the welding process. The electric sliding seat and the multi-axis mechanical arm can be quickly switched between adjacent U ribs without carrying the whole guide support rail, the continuity of the welding operation is maintained, the effective welding time ratio of the equipment is ensured, and the overall welding efficiency is improved.

Description

Technical Field

[0001] This invention relates to the field of intelligent welding technology, and in particular to a welding device for steel box girders used in bridges. Background Technology

[0002] Steel box girders have become the preferred main girder structure for long-span bridges due to their advantages such as high bending and torsional stiffness, light weight, and strong spanning capacity. Their top and bottom plates are typically formed by connecting the bridge deck and longitudinal stiffening ribs (mainly U-shaped ribs, or U-ribs) via fillet welds. The welding quality between the U-ribs and the bridge deck directly affects the fatigue life of the bridge deck system and traffic safety, making it one of the core processes in steel box girder manufacturing. With the penetration of intelligent manufacturing technology, the industry has now introduced high-precision small six-axis robotic arms, combined with three-dimensional spatial laser scanning systems, for automated welding of the inclined fillet welds between the two ends of the U-ribs and the side plates (i.e., the bridge deck). This has, to a certain extent, reduced reliance on manual instruction and visual observation, improving the stability of welding quality.

[0003] In practical engineering applications, this equipment system has significant structural defects. Existing equipment usually adopts a "single-station fixed" layout, that is, it is fixed between two adjacent U-rib slots. This means that after each U-rib is completed, the equipment must be transported as a whole to the next U-rib slot. This process involves repeated handling of the equipment, which seriously disrupts the continuous welding operation rhythm and significantly reduces the proportion of effective welding time of the equipment. This has become a key bottleneck restricting the improvement of the welding rate of the entire steel box girder plate unit production line. Summary of the Invention

[0004] In order to overcome the shortcomings mentioned in the background art, the present invention provides a steel box girder welding device for bridges.

[0005] Technical Solution: A steel box girder welding device for bridges includes a guide support rail, an electric slide block slidably connected to the guide support rail, a multi-axis robotic arm fixedly connected to the electric slide block, a laser welding gun for welding fixedly connected to the control end of the multi-axis robotic arm, and a 3D scanner for scanning the welding position fixedly connected to the control end of the multi-axis robotic arm. The guide support rail is composed of several support blocks. Two symmetrically distributed docking blocks are fixedly connected to one side of each support block, and two symmetrically distributed docking notches are provided on the other side of each support block. The docking notches are used to insert the corresponding docking blocks to achieve splicing of the two support blocks. A limiting component is provided on each support block to lock the two docking blocks on the spliced ​​support block to itself.

[0006] To further explain, the docking notch is provided with symmetrically distributed inclined surfaces to facilitate the entry of the docking block.

[0007] To further explain, the limiting component includes two symmetrically distributed limiting blocks. A first elastic element is fixedly connected between the limiting block and the support block. The docking block is used to squeeze the corresponding limiting block. The docking block is provided with a limiting groove for the corresponding limiting block to enter. The limiting block is limited by the upper limiting groove of the corresponding docking block.

[0008] To further explain, the support block is slidably connected to two symmetrically distributed locking blocks, the limiting block is used to squeeze the corresponding locking block, and the locking block is used to limit the corresponding limiting block. The support block is fixedly connected to two symmetrically distributed first fixing blocks, and a second elastic element is fixedly connected between the first fixing block and the corresponding locking block.

[0009] To further explain, the support block is slidably connected to two symmetrically distributed reset blocks, the docking block is used to squeeze and push the corresponding reset block, the support block is fixedly connected to two symmetrically distributed second fixing blocks, the second fixing blocks are fixedly connected to the corresponding reset blocks with a third elastic element, the reset blocks are fixedly connected to the corresponding locking blocks with a pull rope, and the support block is provided with a connecting groove for the pull rope to slide.

[0010] To further explain, the guide support rail is slidably connected to three supports, the supports are fixedly connected to two symmetrically distributed fixed frames, the fixed frames are slidably connected to sliding rods, and the sliding rods are rotatably connected to clamping plates.

[0011] To further explain, a fourth elastic element is fixedly connected between the sliding rod and the corresponding fixed frame, and a sixth elastic element is fixedly connected between the sliding rod and the corresponding clamping plate.

[0012] To further explain, the fixing frame is threadedly connected to a push shaft, which is used to push the corresponding clamping plate.

[0013] To further explain, the support is threaded with two symmetrically distributed locking bolts, which are used to press against the adjacent support blocks, locking the support and the support blocks together.

[0014] To further explain, a number of rubber strips are fixedly connected to the side of the clamping plate away from the corresponding push shaft.

[0015] Compared with the prior art, the present invention has the following advantages: 1. By dividing the guide support rail into multiple support blocks, the support blocks of the completed welding area can be transferred to the area to be welded as the welding process progresses. The electric slide and the multi-axis robotic arm can quickly switch between adjacent U-ribs without the need to transport the entire guide support rail, thus maintaining the continuity of welding operations, ensuring the effective welding time ratio of the equipment, and improving the overall welding efficiency.

[0016] 2. During the separation of the support blocks, the limit block is temporarily locked in the upper position by the jamming block, so that the operator can release his hands after the limit block is released from the connection of the support block and the docking block. No continuous force is required, making the operation convenient and labor-saving. After the two support blocks are separated, the limit block is automatically reset by the linkage of the reset block and the pull rope, realizing the rapid restoration after the separation of the two support blocks and improving the efficiency of workstation switching.

[0017] 3. The U-shaped rib outer wall is symmetrically clamped by two clamping plates, so that the device is connected to the U-shaped rib as one unit during the welding process. This effectively suppresses the vibration and displacement caused by the sliding of the electric slide and the movement of the multi-axis robotic arm, ensuring the stability of the laser welding torch welding trajectory and improving the weld formation quality. At the same time, the push shaft pushes the clamping plate to adaptively deflect along the sliding rod, which can fit the outer wall of the U-shaped rib with different slope specifications. It can be compatible with the clamping requirements of various types of U-shaped ribs, improving the versatility of the device. Attached Figure Description

[0018] Figure 1 This is a three-dimensional structural diagram of the present invention; Figure 2 This is a three-dimensional structural diagram of the multi-axis robotic arm of the present invention; Figure 3 This is a three-dimensional structural diagram of the support block of the present invention; Figure 4 This is a three-dimensional structural diagram of the docking block of the present invention; Figure 5 for Figure 4 Enlarged schematic diagram of the three-dimensional structure at point A; Figure 6 This is a three-dimensional structural diagram of the reset block of the present invention; Figure 7 This is a three-dimensional structural diagram of the clamping plate of the present invention.

[0019] The labels in the diagram are as follows: 1: Guide support rail, 2: Electric slide, 3: Multi-axis robotic arm, 4: Laser welding gun, 5: 3D scanner, 101: Support block, 102: Docking block, 103: Docking notch, 201: Limiting block, 202: First elastic element, 301: Locking block, 302: First fixing block, 303: Second elastic element, 304: Reset block, 305: Second fixing block, 306: Third elastic element, 307: Pull rope, 401: Support, 402: Fixing frame, 403: Sliding rod, 404: Clamping plate, 405: Fourth elastic element, 406: Sixth elastic element, 407: Push shaft, 408: Locking bolt, 409: Rubber strip. Detailed Implementation

[0020] The invention will now be described more fully below with reference to the accompanying drawings, in which presently preferred embodiments of the invention are illustrated. However, the invention may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided for thoroughness and completeness and to fully convey the scope of the invention to those skilled in the art.

[0021] The existing equipment adopts a "single-station fixed" layout, which can only weld fillet welds between two adjacent U-ribs. After each weld is completed, the entire piece needs to be moved to the next U-rib slot. Repeated transfers severely interrupt the welding continuity and significantly reduce the proportion of effective welding time, becoming a key bottleneck restricting the improvement of welding efficiency in the steel box girder plate unit production line.

[0022] Example 1 This embodiment provides a welding device for steel box girders used in bridges to improve the welding rate.

[0023] like Figures 1-5 As shown, the system includes a guide support rail 1, the length of which needs to be greater than the distance between the three U-shaped ribs. An electric slide block 2 is slidably connected to the guide support rail 1, providing a straight sliding path for the electric slide block 2. A multi-axis robotic arm 3 is fixedly connected to the electric slide block 2. A laser welding gun 4 for welding is fixedly connected to the control end of the multi-axis robotic arm 3. The multi-axis robotic arm 3 can drive the laser welding gun 4 at its control end to meet the complex spatial trajectory requirements of the inclined fillet weld between the U-shaped ribs and the side plates. A three-dimensional scanner 5 for scanning the welding position is fixedly connected to the control end of the multi-axis robotic arm 3. The three-dimensional scanner 5 can scan the three-dimensional structure between the U-shaped ribs and the side plates to obtain the spatial coordinates of the weld position. The guide support rail 1 consists of several support blocks 101, one of which is fixedly connected to a symmetrical... The two connecting blocks 102 of the cloth, and the other side of the support block 101 are provided with two symmetrically distributed connecting notches 103. The connecting notches 103 are used to insert the corresponding connecting blocks 102 to realize the splicing of the two support blocks 101. The support block 101 is the basic component of the guide support rail 1. Multiple support blocks 101 can be spliced ​​end to end to adjust the length of the guide support rail 1 arbitrarily, which is convenient for segmented disassembly, transportation and reassembly. The support block 101 corresponding to the completed welding area can be separated from the guide support rail 1 and transferred to the front end of the area to be welded and reconnected, realizing the cyclic rolling use of the guide rail and improving the welding speed. The connecting notches 103 are provided with symmetrically distributed inclined surfaces to facilitate the entry of the connecting blocks 102. The support block 101 is provided with a limiting component for locking the two connecting blocks 102 on the support block 101 to itself.

[0024] like Figures 4-6As shown, the limiting component includes two symmetrically distributed limiting blocks 201. A first elastic element 202, which is a spring, is fixedly connected between the limiting block 201 and the support block 101. The first elastic element 202 is used to drive the corresponding limiting block 201 to reset and slide. The docking block 102 is used to press the corresponding limiting block 201. The limiting block 201 has an inclined surface, and the docking block 102 has an inclined surface for pressing the inclined surface of the limiting block 201, so that the docking block 102 pushes the corresponding limiting block 201. The docking block 102 is provided with a limiting groove for the corresponding limiting block 201 to enter. The limiting block 201 passes through the corresponding docking block. The upper limit groove of the 102 limits its movement. The support block 101 is slidably connected to two symmetrically distributed locking blocks 301. The limiting block 201 is used to press the corresponding locking block 301. The upper side of the limiting block 201 is provided with an inclined surface. The locking block 301 has an inclined surface for pressing the inclined surface of the limiting block 201, so that when the limiting block 201 is pulled by the worker, it presses the corresponding locking block 301. The locking block 301 is used to limit the corresponding limiting block 201. The depth of the upper limit groove of the docking block 102 is less than the height difference between the limiting block 201 and the corresponding locking block 301. That is, the limiting block 201 slides upward under the pressure of the docking block 102 until the limiting block 201 resets. The limiting block 201 enters the limiting groove of the docking block 102 to complete the limiting. The limiting block 201 will not contact the corresponding locking block 301. The support block 101 is fixedly connected to two symmetrically distributed first fixing blocks 302. A second elastic element 303 is fixedly connected between the first fixing block 302 and the corresponding locking block 301. The second elastic element 303 is a spring and is used to drive the corresponding locking block 301 to reset. The support block 101 is slidably connected to two symmetrically distributed reset blocks 304. The docking block 102 is used to squeeze and push the corresponding reset block 304. The support block 101 is fixedly connected to two symmetrically distributed second fixing blocks 305. A third elastic element 306 is fixedly connected between the two fixed blocks 305 and the corresponding reset block 304. The third elastic element 306 is a spring. The third elastic element 306 is initially in a compressed state, and the elastic coefficient of the third elastic element 306 is greater than the elastic coefficient of the corresponding second elastic element 303. A pull rope 307 is fixedly connected between the reset block 304 and the corresponding locking block 301. The pull rope 307 passes through the corresponding first fixed block 302 and the corresponding second fixed block 305. A connecting groove for the pull rope 307 to slide is provided on the support block 101. The connecting groove is U-shaped. The pull rope 307 slides in the connecting groove and is initially in a taut state.

[0025] Working principle: When welding the two ends of the U-shaped ribs to the side plates of the steel box girder, the operator places the guide support rail 1 in the center on the three U-shaped ribs, then activates the electric slide 2, which drives the multi-axis robotic arm 3 to move between the two front U-shaped ribs. The operator then controls the control end of the multi-axis robotic arm 3 to move to the welding position and stops, while activating the 3D scanner 5. The 3D scanner 5 scans the three-dimensional structure of the area to obtain the spatial distribution of the welding position and locates it. The operator then closes the 3D scanner 5 and activates the multi-axis robotic arm 3 again, causing the control end of the multi-axis robotic arm 3 to drive the laser welding gun 4 to the welding position. The operator then activates the laser welding gun 4 to begin welding. During this process, the multi-axis robotic arm 3 continuously changes the welding position of the laser welding gun 4 until the welding is completed. Finally, the operator closes the laser welding gun 4 and the control end of the multi-axis robotic arm 3 drives the laser welding gun 4 to return to its initial position.

[0026] After the two U-shaped ribs on the front side are welded to the side plate, the electric slide block 2 is activated, causing the electric slide block 2 to drive the multi-axis robotic arm 3 to slide along the guide support rail 1 to between the two U-shaped ribs on the rear side. The above steps are repeated. However, during the welding process, the worker removes the support block 101 located between the two U-shaped ribs on the front side. The worker selects two adjacent support blocks 101 in the removed and unremoved parts to separate them. At this moment, Figure 4 The description is presented in the indicated direction, taking the separation of the left support block 101 and the right support block 101 as an example. First, the two limiting blocks 201 on the left support block 101 are pulled upwards, causing the limiting blocks 201 to release their corresponding limiting positions on the support block 101. At the same time, the first elastic element 202 is compressed. During the upward movement of the limiting block 201 along the support block 101, it will squeeze the corresponding locking block 301. The locking block 301 slides along the support block 101 while the second elastic element 303 is compressed. After the limiting block 201 passes the corresponding locking block 301, the second elastic element 303 drives the corresponding locking block 301 to reset and limit the limiting block 201. Block 201 cannot slide downwards. Then, the worker moves the left support block 101 to the left, causing the two symmetrically distributed docking blocks 102 on the support block 101 to disengage from the corresponding docking notch 103 on the right support block 101. During this process, the third elastic element 306 pushes the reset block 304 to slide. The reset block 304 pulls the corresponding locking block 301 to slide through the corresponding pull rope 307. At the same time, the second elastic element 303 is compressed, and the locking block 301 releases the limiting state of the corresponding limiting block 201, causing the first elastic element 202 to drive the corresponding limiting block 201 to slide downwards. At this moment, the separation of the two parts is completed.

[0027] After the two parts are separated, the workers connect the separated support blocks 101 to the other end of the remaining support blocks 101 and place them on the next U-shaped rib. The workers manipulate the two docking blocks 102 on the support blocks 101 to enter the corresponding docking notches 103 on the required docking support blocks 101. The docking blocks 102 squeeze the corresponding limiting blocks 201, so that the limiting blocks 201 are squeezed and move upward along the support blocks 101. At the same time, the first elastic element 202 is compressed, the docking blocks 102 push the reset block 304 to move synchronously, the third elastic element 306 is compressed, the second elastic element 303 pushes the locking block 301 to move and tightens the pull rope 307. When the docking blocks 102 slide to the limit position, the first elastic element 202 pushes the corresponding limiting block 201, so that the limiting block 201 is pushed into the limiting groove of the docking blocks 102. The docking is completed in this way. After the welding is completed, the above steps are repeated until all U-shaped ribs are welded.

[0028] Example 2 This embodiment provides a welding device for steel box girders used in bridges, which is a further improvement on embodiment 1.

[0029] like Figure 3 and Figure 7 As shown, the guide support rail 1 is slidably connected to three supports 401. During welding, the three supports 401 need to be placed on three consecutive U-shaped ribs. Each support 401 is fixedly connected to two symmetrically distributed fixing frames 402. Each fixing frame 402 is slidably connected to a sliding rod 403. The sliding rod 403 is rotatably connected to a clamping plate 404. The two clamping plates 404 are located on both sides of the U-shaped rib and can clamp the middle U-shaped rib, thus connecting the support 401 to the U-shaped rib. Two symmetrically distributed fourth elastic elements 405 are fixedly connected between the sliding rod 403 and the corresponding fixing frame 402. The fourth elastic elements 405 are springs and are used to drive the corresponding sliding rod 403 to reset. The sliding rod 403 is fixedly connected to the corresponding clamping plate 404. Two symmetrically distributed sixth elastic elements 406 are connected, each being a torsion spring. These sixth elastic elements 406 are used to drive the clamping plate 404 to reset relative to the sliding rod 403, thereby enabling the clamping plate 404 to fit against different types of U-shaped ribs. The fixing frame 402 is threadedly connected to a push shaft 407, which is used to push the corresponding clamping plate 404. The clamping plate 404 is pushed and fits against the outer wall of the U-shaped rib. The support 401 is threadedly connected to two symmetrically distributed locking bolts 408, which are used to press against the adjacent support block 101, locking the support 401 and the support block 101 into one unit. Several rubber strips 409 are fixedly connected to the side of the clamping plate 404 away from the corresponding push shaft 407. The rubber strips 409 are used to increase the friction between the clamping plate 404 and the U-shaped rib.

[0030] Working Principle: When welding is required, the guide support rail 1 needs to be placed on the three U-shaped ribs. First, the operator rotates the two locking bolts 408 on the support 401 to release the pressure of the locking bolts 408 on the support block 101. At this point, the support 401 can slide freely along the guide support rail 1, allowing the three supports 401 to be positioned at the top of the upper side of the three U-shaped ribs, and the guide support rail 1 to be centered on the three U-shaped ribs. Then, the operator resets and rotates the locking bolts 408, causing them to press against the guide support rail 1, thus locking the support 401 back onto the guide support rail 1. Then, rotate the two symmetrically distributed push shafts 407, causing the push shafts 407 to screw into the fixed frame 402. The push shafts 407 push the adjacent clamping plates 404 closer to the U-shaped rib. During this process, the clamping plates 404 deflect along the sliding rod 403, and the sliding rod 403 slides along the corresponding fixed frame 402. At the same time, the fourth elastic element 405 is stretched and the sixth elastic element 406 is twisted. This continues until the clamping plates 404 drive the rubber strips 409 on them to fit against the outer wall of the U-shaped rib, so that the two symmetrically distributed clamping plates 404 clamp the U-shaped rib, thereby ensuring the stability of the welding process and ensuring the welding quality.

[0031] When replacing the U-shaped rib for welding, the two locking bolts 408 on the corresponding support 401 need to be removed by rotation to release its lock with the guide support rail 1. Then, the two push shafts 407 are rotated to reset the fourth elastic element 405, which drives the corresponding sliding rod 403 to reset relative to the fixed frame 402. The sixth elastic element 406 drives the clamping plate 404 to reset relative to the sliding rod 403. Even if the clamping plate 404 causes the rubber strip 409 on it to separate from the side wall of the U-shaped rib, when the support block 101 is docked, the operator readjusts the position of the support 401 so that it is located in the upper middle part of the next U-shaped rib. Then, the locking bolts 408 are rotated to lock the support 401 back into the guide support rail 1. Then, the two push shafts 407 are rotated to clamp the next U-shaped rib with the two clamping plates 404. This cycle is repeated until the welding is completed.

[0032] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention.

Claims

1. A steel box girder welding device for bridges, comprising a guide support rail (1), an electric slide block (2) slidably connected to the guide support rail (1), a multi-axis robotic arm (3) fixedly connected to the electric slide block (2), a laser welding gun (4) for welding fixedly connected to the control end of the multi-axis robotic arm (3), and a three-dimensional scanner (5) for scanning the welding position fixedly connected to the control end of the multi-axis robotic arm (3), characterized in that, The guide support rail (1) is composed of several support blocks (101). Two symmetrically distributed docking blocks (102) are fixedly connected to one side of the support block (101). Two symmetrically distributed docking notches (103) are provided on the other side of the support block (101). The docking notches (103) are used to insert the corresponding docking blocks (102) to realize the splicing of the two support blocks (101). The support block (101) is provided with a limiting component for locking the two docking blocks (102) on the support block (101) to itself.

2. The steel box girder welding device for bridges according to claim 1, characterized in that, The docking notch (103) is provided with symmetrically distributed inclined surfaces to facilitate the entry of the docking block (102).

3. The steel box girder welding device for bridges according to claim 1, characterized in that, The limiting component includes two symmetrically distributed limiting blocks (201). A first elastic element (202) is fixedly connected between the limiting block (201) and the support block (101). The docking block (102) is used to squeeze the corresponding limiting block (201). The docking block (102) is provided with a limiting groove for the corresponding limiting block (201) to enter. The limiting block (201) is limited by the limiting groove of the corresponding docking block (102).

4. The steel box girder welding device for bridges according to claim 3, characterized in that, The support block (101) is slidably connected to two symmetrically distributed locking blocks (301). The limiting block (201) is used to press the corresponding locking block (301). The locking block (301) is used to limit the corresponding limiting block (201). The support block (101) is fixedly connected to two symmetrically distributed first fixing blocks (302). A second elastic element (303) is fixedly connected between the first fixing block (302) and the corresponding locking block (301).

5. A steel box girder welding device for bridges according to claim 4, characterized in that, The support block (101) is slidably connected to two symmetrically distributed reset blocks (304). The docking block (102) is used to squeeze and push the corresponding reset block (304). The support block (101) is fixedly connected to two symmetrically distributed second fixing blocks (305). A third elastic element (306) is fixedly connected between the second fixing block (305) and the corresponding reset block (304). A pull rope (307) is fixedly connected between the reset block (304) and the corresponding locking block (301). A connecting groove for the pull rope (307) to slide is provided on the support block (101).

6. The steel box girder welding device for bridges according to claim 1, characterized in that, The guide support rail (1) is slidably connected to three supports (401), the supports (401) are fixedly connected to two symmetrically distributed fixed frames (402), the fixed frames (402) are slidably connected to sliding rods (403), and the sliding rods (403) are rotatably connected to clamping plates (404).

7. A steel box girder welding device for bridges according to claim 6, characterized in that, A fourth elastic element (405) is fixedly connected between the sliding rod (403) and the corresponding fixed frame (402), and a sixth elastic element (406) is fixedly connected between the sliding rod (403) and the corresponding clamping plate (404).

8. A steel box girder welding device for bridges according to claim 6, characterized in that, The fixing frame (402) is threadedly connected to a push shaft (407), which is used to push the corresponding clamping plate (404).

9. A steel box girder welding device for bridges according to claim 6, characterized in that, The support (401) is threaded with two symmetrically distributed locking bolts (408), which are used to press against the adjacent support block (101) so that the support (401) and the support block (101) are locked together.

10. A steel box girder welding device for bridges according to claim 8, characterized in that, A number of rubber strips (409) are fixedly connected to the side of the clamping plate (404) away from the corresponding push shaft (407).

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