Automatic welding system for suspension bridge grating

Abstract

The utility model relates to suspension bridge grating welding equipment, in particular to an automatic welding system for a suspension bridge grating, which comprises a workbench arranged on a mounting base and used for bearing grating workpieces. Cantilever type eight-axis linkage intelligent welding robots are mounted on the mounting bases on the left side and the right side in the longitudinal direction of the workbench respectively; a stand column of the welding robot can slide in the longitudinal direction of the workbench, a cross beam of the welding robot extends to the position above the workbench in the transverse direction of the workbench, and a mechanical arm which can slide in the transverse direction of the workbench and is located below the cross beam is assembled on the cross beam of the welding robot. The two welding robots are in signal connection with the central control system through the corresponding execution control systems. According to the utility model, the two welding robots are cooperated to carry out balanced and automatic welding on the grating workpiece, so that on one hand, the welding efficiency is improved, and on the other hand, the welding thermal deformation is controlled, the welding quality is improved, and the welding technical difficulty is reduced.

Description

Technical Field

[0001] This utility model relates to welding equipment for suspension bridge grilles, specifically an automated welding system for suspension bridge grilles. Background Technology

[0002] In the load-bearing structural system of a suspension bridge, the grid is embedded in the top of the main tower and supports the cable saddles, thus playing a crucial role in transmitting the force on the cable saddles on the main tower. The grid of a suspension bridge is welded together from a top steel plate, a bottom steel plate, and several longitudinal and transverse steel plates arranged between the top and bottom steel plates. It is an integral box-shaped steel frame structure made of a large number of welded steel plates, with numerous welds. Moreover, it is permanently anchored in the suspension bridge structural system and cannot be replaced, so the weld quality requirements are high.

[0003] For a long time, the welding of suspension bridge gratings has been done manually. This inevitably leads to technical problems such as low welding efficiency and inconsistent welding quality control. Utility Model Content

[0004] The technical objective of this utility model is to provide an automated welding system for suspension bridge gratings that improves welding efficiency, reduces welding difficulty, and controls welding heat deformation, taking into account the special characteristics of the aforementioned suspension bridge gratings and the shortcomings of existing welding technologies.

[0005] The technical objective of this utility model is achieved through the following technical solution: an automated welding system for suspension bridge grids, comprising a workbench arranged on an installation foundation, wherein the workbench is used to support grid workpieces.

[0006] On the left and right sides of the workbench along its longitudinal direction, cantilevered eight-axis linkage intelligent welding robots are installed respectively.

[0007] The column of the welding robot can slide longitudinally along the worktable, and the crossbeam of the welding robot extends laterally along the worktable to the top of the worktable. A robotic arm that can slide laterally along the worktable and is located below the crossbeam is mounted on the crossbeam of the welding robot.

[0008] The two welding robots located on the left and right sides of the workbench are connected to the central control system via corresponding execution control systems.

[0009] As one of the preferred technical solutions, the welding robot has a ground rail arranged on the corresponding side of the workbench, a column mounted on the ground rail with a sliding structure and extending upward, a crossbeam fixedly connected to the top of the column and extending to the top of the workbench, a robotic arm mounted on the crossbeam with a sliding structure and located below the crossbeam, a welding torch mounted on the front end of the robotic arm with a flange structure, and an execution control system for receiving and outputting control commands.

[0010] Furthermore, the bottom of the crossbeam of the welding robot has a linear slide rail.

[0011] The robotic arm of the welding robot is mounted on the linear slide rail via a mounting base using a linear sliding structure.

[0012] Furthermore, the welding robot also has a global vision system arranged at the rear end of the robotic arm, close to the crossbeam, for image recognition of the current grid workpiece.

[0013] Furthermore, the effective recognition range of the global vision system is between the near-field and the far-field, with the near-field being 950mm long × 2550mm wide × 1800mm high and the far-field being 1850mm long × 4000mm wide × 2800mm high.

[0014] Furthermore, the welding robot also has a precision positioning vision system arranged at the welding torch flange to perform image recognition of the current cavity joint of the current grid workpiece.

[0015] Furthermore, the flange of the welding torch has an adjustment structure for adjusting the relative position of the precision positioning vision system along the length of the welding torch.

[0016] Furthermore, the effective recognition range of the precision positioning vision system is between 300 and 800 mm from the lens.

[0017] As one of the preferred technical solutions, the installation horizontal height of the welding robot on the corresponding side of the workbench is controlled within 1mm along the longitudinal direction of the workbench.

[0018] Furthermore, the two welding robots located on the left and right sides of the workbench are arranged in a symmetrical structure.

[0019] The beneficial technical effects of this utility model are as follows: Addressing the unique characteristics of the suspension bridge grating, the above-mentioned technical measures use a worktable supporting the grating workpiece as a positioning reference and intelligent welding robots, which have seen rapid development in recent years, as the execution tool. Two cantilevered eight-axis linkage intelligent welding robots are placed on the left and right sides of the worktable and work together. This allows the welding areas of the two welding robots on the worktable to connect and effectively cover the grating workpiece supported by the worktable. This enables the two welding robots to perform balanced and automated welding of the grating workpiece in a coordinated manner. On the one hand, this improves the welding efficiency of the suspension bridge grating; on the other hand, it facilitates symmetrical welding of the grating workpiece by the two welding robots on the worktable, thereby helping to mitigate the thermal deformation of the suspension bridge grating during welding, control welding thermal deformation, improve welding quality, and reliably reduce the technical difficulty of welding the grating workpiece. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of one structure of the present utility model.

[0021] Figure 2 for Figure 1 A magnified view of a section within the image.

[0022] Figure 3 for Figure 1 Two enlarged views of specific areas are shown.

[0023] Figure 4 for Figure 1 Top view.

[0024] Figure 5 This is a block diagram illustrating the control principle of this utility model.

[0025] The symbols in the diagram have the following meanings: 1—Installation base; 2—Workbench; 3—Grid workpiece; 4—Welding robot; 41—Ground rail; 42—Column; 43—Crossbeam; 44—Robotic arm; 45—Welding torch; 46—Global vision system; 47—Precision positioning vision system; 48—Linear slide rail one; 49—Linear slide rail two; A—Right-side welding robot; A1—Right-side execution control system; B—Left-side welding robot; B1—Left-side execution control system; C—Central control system. Detailed Implementation

[0026] This utility model relates to welding equipment for suspension bridge gratings, specifically an automated welding system for suspension bridge gratings. The main technical solution of this utility model is described in detail below with reference to several embodiments. Embodiment 1 is illustrated in conjunction with the accompanying drawings. Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5The technical solution of this utility model is clearly and thoroughly explained. Although other embodiments are not shown in separate drawings, their main structures can still be referred to the drawings of Embodiment 1.

[0027] It should be noted that the accompanying drawings of this utility model are schematic, and unnecessary details have been simplified to clarify the technical purpose of this utility model, so as to avoid obscuring the technical solution contributed by this utility model to the prior art. In addition, the expressions such as "about" and "basically" regarding quantity or fit relationship in the following text mean that reasonable assembly errors and processing errors are allowed in the industry, and do not literally describe absolute quantity or fit relationship.

[0028] Example 1

[0029] See Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, this utility model is an automated welding system for welding grids of suspension bridges. It includes a workbench 2 arranged on the installation foundation 1, and two welding robots 4 arranged on the left and right sides of the longitudinal direction of the workbench 2 (the welding robot 4 on the right is the right welding robot A, and the welding robot on the left is the left welding robot B).

[0030] Specifically, workbench 2 is used to support the grating workpiece 3 to be welded or already welded. Since suspension bridge gratings are typically rectangular structures with a length greater than their width, workbench 2 is also a rectangular structure with a length greater than its width, with its length direction as longitudinal and its width direction as transverse. Due to the functional characteristics of workbench 2, its effective area is larger than the outline area of ​​the grating workpiece 3 to be supported in the top and bottom directions. To ensure accurate support of the grating workpiece 3 to be welded and to avoid deformation of the grating workpiece 3's shape during support, the flatness of the workbench 2's bearing surface is controlled within 1mm.

[0031] The two welding robots 4 have the same molding structure. Corresponding to the arrangement of the workbench 2 on the mounting base 1, the two welding robots 4 are installed on the mounting base 1 on the left and right sides along the longitudinal direction of the workbench 2, that is, the two welding robots 4 are placed on the left and right sides of the workbench 2 respectively; the installation positions of these two welding robots 4 on the left and right sides of the workbench 2 should not interfere with or affect the bearing surface of the workbench 2.

[0032] The welding robot 4 adopts a cantilevered eight-axis linkage intelligent welding robot. Of course, the main body of the welding robot 4 is a mature equipment that is already circulating in the market and is not the technical contribution of this utility model. For example, the Chinese patent document is published as "An Intelligent and Efficient Eight-Axis Cantilever Welding Robot", with publication number CN 117381264 A and publication date of January 12, 2024.

[0033] More specifically, the welding robot 4 is arranged on the corresponding side of the workbench 2 (i.e., with... Figure 1 For example, the following components are arranged: a ground rail 41 (welding robot A is arranged on the right side of workbench 2, and welding robot B is arranged on the left side of workbench 2); a column 42 (sliding on the ground rail is one axis) mounted on the ground rail 41 with a sliding structure and extending upward; a crossbeam 43 (fixedly connected to the top of the column 42 and extending above workbench 2); a robotic arm 44 (sliding on the crossbeam is one axis; the robotic arm's own movement is six axes) mounted on the crossbeam 43 with a sliding structure and located below the crossbeam 43; a global vision system 46 arranged at the rear end of the robotic arm 44 and close to the crossbeam 43; a welding torch 45 (flange structure) mounted at the front end of the robotic arm 44; a precision positioning vision system 47 arranged at the flange of the welding torch 45; and an execution control system for receiving and outputting control commands.

[0034] The installation height of the ground rail 41 on the corresponding side of the workbench 2 is controlled within 1mm along the longitudinal direction of the workbench 2, matching the flatness of the bearing surface of the workbench 2. Typically, the length of the ground rail 41 is greater than the longitudinal length of the corresponding workbench 2, approximately 26m, sufficient to accommodate the welding of various specifications of suspension bridge gratings. The distance between the ground rails of the welding robots on the left and right sides of the workbench 2—namely, welding robot A on the right and welding robot B on the left—is greater than the lateral width of the corresponding workbench 2, approximately 7m, sufficient to accommodate the welding of various specifications of suspension bridge gratings.

[0035] The column 42 is mounted on the ground rail 41 using a linear slide rail structure and is connected to a synchronous belt mounted on the ground rail 41. The ground rail 41 has a servo motor that drives the synchronous belt drive. This servo motor is controlled by commands from the execution control system, thereby driving the column 42 to slide linearly on the ground rail 41 via the synchronous belt. The column 42 has a fixed height and its height is not adjustable.

[0036] The crossbeam 43 is located at the top of the column 42 and engages with the column 42 in a T-shaped structure to relatively balance the inclined force of the column 42 on the ground rail 41, ensuring the stability of the column 42 mounted on the ground rail 41. Simultaneously, to accommodate the sliding installation of the robotic arm 44, a linear slide rail 48 is formed at the bottom of the crossbeam 43 extending above the worktable 2. The mounting base of the robotic arm 44 is mounted upside down on the linear slide rail 48 at the bottom of the crossbeam 43 using a linear slide rail structure and is connected to a synchronous belt mounted on the crossbeam 43. The crossbeam 43 has a servo motor that drives the synchronous belt drive. This servo motor is controlled by commands from the execution control system, thereby driving the robotic arm 44 to slide linearly on the crossbeam 43 via the synchronous belt. Typically, the effective length of the crossbeam 43 extending above the worktable 2 is about 4.5m. In this way, the crossbeams of the welding robot A on the right and the welding robot B on the left can be effectively connected above the worktable 2, so as to ensure that the cooperation between the corresponding robotic arms can effectively cover the grid workpiece 3 carried by the worktable 2.

[0037] A global vision system 46 is mounted on the mounting base of the robotic arm 44. Its effective recognition range is between the near-field and far-field of view. The near-field of view is 950mm long × 2550mm wide × 1800mm high, and the far-field of view is 1850mm long × 4000mm wide × 2800mm high. The global vision system 46 is used to perform image recognition on the current grid workpiece 3 and feed it back to the execution control system.

[0038] The robotic arm 44 is a six-degree-of-freedom rotary structure (i.e., a six-axis structure), with a repeatability accuracy of ±0.03mm. As described above, the robotic arm 44 is invertedly mounted on the crossbeam 43 and can be slidably assembled via linear slide rail 48, thereby reliably expanding the effective welding area. The six-degree-of-freedom rotary structure of the robotic arm 44, combined with the linear sliding of the column 42 on the ground rail 41 and the linear sliding of the robotic arm 44 on the crossbeam 43, forms an eight-axis linkage effect, ensuring flexible adjustment of its weldable area to adapt to the welding of various cavity joints on the suspension bridge grid.

[0039] A precision positioning vision system 47 is mounted on the flange of the welding torch 45. The effective recognition range of the precision positioning vision system 47 is between 300 and 800 mm from the lens. The precision positioning vision system 47 is used to perform image recognition on the current cavity joint of the current grille workpiece 3 and to provide feedback to the execution control system. In order to meet the adaptability welding of different cavity depths of the grille workpiece 3, the precision positioning vision system 47 is mounted on the flange of the welding torch 45 with a linear sliding structure. A linear slide rail 49 is formed on the flange of the welding torch 45 along the length direction of the welding torch 45, and the precision positioning vision system 47 is mounted on the linear slide rail 49 with a linear sliding structure. A servo screw drive structure for driving the linear sliding of the precision positioning vision system 47 is mounted on the flange of the welding torch 45. This servo screw drive structure is controlled by the command of the execution control system.

[0040] The two welding robots 4 with the above structure are arranged on the left and right sides of the workbench 2. To ensure stable operation, the two welding robots 4 are best arranged in a left-right symmetrical structure.

[0041] When the two welding robots 4 above are carrying out welding operations, they independently perform welding tasks under the control of the corresponding execution control system. Of course, in order to ensure that the two work together and prevent positional interference between them during the welding process, the welding tasks need to be assigned by an independent control system - namely, the central control system.

[0042] See Figure 5 As shown, the two welding robots 4 on the left and right sides of the workbench 2 are connected to the central control system C through their respective execution control systems (welding robot A on the right side is connected to the right execution control system A1, and welding robot B on the left side is connected to the left execution control system B1).

[0043] The system structure of the central control system C is basically the same as that of the right execution control system A1 and the left execution control system B1. The only difference is that its role is to output welding task allocation instructions to the right execution control system A1 and the left execution control system B1. The allocation of welding task instructions is based on the imported three-dimensional model of the grid structure theory and the input welding partition.

[0044] In fact, the central control system C is an external system of the current intelligent welding robot's control system (i.e., the execution control system described in this utility model), mainly responsible for defining welding tasks. The current control system of a single intelligent welding robot executes welding tasks based on an imported theoretical three-dimensional model, while the central control system C of this utility model interacts with two welding robots by combining the imported theoretical three-dimensional model with partition settings of the theoretical three-dimensional model.

[0045] This utility model is based on the control system of the currently purchased welding robot, and connects the two welding robots mentioned above to form a cooperative operation to adapt to the cooperative welding of the suspension bridge grid. It does not involve any technical contribution to the welding robot control system itself.

[0046] Example 2

[0047] This utility model is an automated welding system for welding grids of suspension bridges. It includes a workbench arranged on the installation foundation and two welding robots arranged on the left and right sides of the longitudinal direction of the workbench (the welding robot on the right is called right welding robot A, and the welding robot on the left is called left welding robot B).

[0048] Specifically, the workbench is used to support the grating workpiece to be welded or already welded. Since suspension bridge gratings are typically rectangular structures with a length greater than their width, the workbench is also rectangular with a length greater than its width, with its length direction as the longitudinal direction and its width direction as the transverse direction. Due to the characteristics of the workbench, its effective area is larger than the contour area of ​​the grating workpiece in the top and bottom directions. To ensure accurate support of the grating workpiece to be welded and to avoid deformation of the grating workpiece's structural shape during support, the flatness of the workbench's bearing surface is controlled within 1mm.

[0049] The two welding robots have identical molding structures. Corresponding to the arrangement of the workbench on the mounting base, the two welding robots are installed on the mounting base on the left and right sides along the longitudinal direction of the workbench, that is, the two welding robots are placed on the left and right sides of the workbench; the installation positions of these two welding robots on the left and right sides of the workbench should not interfere with or affect the load-bearing surface of the workbench.

[0050] The welding robot is a cantilevered eight-axis linkage intelligent welding robot. Of course, the main body of the welding robot is a mature equipment that is already on the market and is not the technical contribution of this utility model.

[0051] More specifically, the welding robot has a ground rail arranged on the corresponding side of the worktable, a column mounted on the ground rail with a sliding structure and extending upward, a crossbeam fixedly connected to the top of the column and extending to the top of the worktable, a robotic arm mounted on the crossbeam with a sliding structure and located below the crossbeam, a global vision system arranged at the rear end of the robotic arm and close to the crossbeam, a welding torch mounted at the front end of the robotic arm with a flange structure, a precision positioning vision system arranged at the flange of the welding torch, and an execution control system for receiving and outputting control commands.

[0052] The installation height of the ground rail on the corresponding side of the workbench is controlled within 1mm along the longitudinal direction of the workbench, matching the flatness of the workbench's bearing surface. Typically, the length of the ground rail is greater than the longitudinal length of the corresponding workbench, approximately 26m, sufficient to accommodate the welding of various specifications of suspension bridge gratings. The distance between the ground rails of the welding robots on the left and right sides of the workbench—namely, welding robot A on the right and welding robot B on the left—is greater than the lateral width of the corresponding workbench, approximately 7m, sufficient to accommodate the welding of various specifications of suspension bridge gratings.

[0053] The column is mounted on a ground rail using a linear slide rail structure and is connected to a synchronous belt mounted on the ground rail. The ground rail has a servo motor that drives the synchronous belt drive. This servo motor is controlled by commands from the execution control system, thereby driving the column to slide linearly on the ground rail via the synchronous belt. The column has a fixed height and its height is not adjustable.

[0054] The crossbeam, located at the top of the column, engages with the column in a T-shape to balance the inclined forces on the column's ground rail, ensuring the stability of the column's assembly on the ground rail. Simultaneously, to accommodate the sliding installation of the robotic arm, a linear guide rail is formed at the bottom of the crossbeam extending above the worktable. The robotic arm's mounting base is inverted and mounted on the linear guide rail at the bottom of the crossbeam using this linear guide rail structure, and connects to a synchronous belt mounted on the crossbeam. The crossbeam has a servo motor that drives the synchronous belt drive. This servo motor is controlled by the execution control system, thereby driving the robotic arm to slide linearly along the crossbeam via the synchronous belt. Typically, the effective length of the crossbeam extending above the worktable is approximately 4.5m. This allows the crossbeams of welding robots A on the right and B on the left to effectively connect above the worktable, ensuring that the corresponding robotic arms can effectively cover the grid workpiece carried by the worktable.

[0055] The global vision system is mounted on the robotic arm's mounting base. Its effective recognition range is between the near-field and far-field of view. The near-field of view measures 950mm (length) × 2550mm (width) × 1800mm (height), and the far-field of view measures 1850mm (length) × 4000mm (width) × 2800mm (height). The global vision system is used to perform image recognition on the current grid workpiece and provide feedback to the execution control system.

[0056] The robotic arm is a six-degree-of-freedom rotary structure with a repeatability accuracy of ±0.03mm. As described above, the robotic arm is mounted upside down on the crossbeam and can be slidably assembled via linear guide rails, thereby reliably expanding the effective welding area. The six-degree-of-freedom rotary structure of the robotic arm, combined with the linear sliding of the column on the ground rail and the linear sliding of the robotic arm on the crossbeam, forms an eight-axis linkage effect, ensuring flexible adjustment of the weldable area to adapt to the welding of various cavity joints on the suspension bridge grating.

[0057] The precision positioning vision system is mounted on the flange of the welding torch, and its effective recognition range is between 300 and 800 mm from the lens. The system is used to perform image recognition of the current cavity joint of the current grille workpiece and feeds back to the execution control system. To accommodate welding of different cavity depths on the grille workpiece, the precision positioning vision system is arranged with an adjustable, extendable flange structure between the welding torch and the robotic arm. Specifically, the system is fixedly mounted on the flange of the welding torch, while the flange itself is mounted on the proximal end of the robotic arm using a replaceable and adjustable flange bolt structure, allowing for adjustment of the precision positioning vision system to accommodate different cavity depths.

[0058] The two welding robots with the above structure are arranged on the left and right sides of the workbench. To ensure stable operation, the two welding robots are best arranged in a symmetrical structure.

[0059] When the two welding robots above are carrying out welding operations, they independently perform welding tasks under the control of their respective execution control systems. Of course, in order to ensure that the two work together and prevent positional interference between them during the welding process, the welding tasks need to be assigned by an independent control system - namely, a central control system.

[0060] The two welding robots on the left and right sides of the workbench are connected to the central control system C via their respective execution control systems (welding robot A on the right is connected to the right execution control system, and welding robot B on the left is connected to the left execution control system).

[0061] The system structure of the central control system C is basically the same as that of the right-side execution control system / left-side execution control system. The only difference is that its role is to output welding task allocation instructions to the right-side execution control system and the left-side execution control system. The allocation of welding task instructions is based on the imported three-dimensional model of the grid structure theory and the input welding partition.

[0062] In fact, the central control system C is an external system of the current intelligent welding robot's control system (i.e., the execution control system described in this utility model), mainly responsible for defining welding tasks. The current control system of a single intelligent welding robot executes welding tasks based on an imported theoretical three-dimensional model, while the central control system C of this utility model interacts with two welding robots by combining the imported theoretical three-dimensional model with partition settings of the theoretical three-dimensional model.

[0063] This utility model is based on the control system of the currently purchased welding robot, and connects the two welding robots mentioned above to form a cooperative operation to adapt to the cooperative welding of the suspension bridge grid. It does not involve any technical contribution to the welding robot control system itself.

[0064] Example 3

[0065] The rest of the content of this embodiment is the same as that of embodiment 1 or embodiment 2, except that:

[0066] The drive structure for the column to slide linearly on the ground rail is a screw drive pair structure;

[0067] And / or, the drive structure that drives the robotic arm to slide linearly on the crossbeam is a screw drive structure.

[0068] The above embodiments are only used to illustrate the present invention and are not intended to limit it.

[0069] Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that modifications can still be made to the specific technical solutions of the above embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the present invention.

Claims

1. An automated welding system for suspension bridge gratings, comprising a workbench (2) arranged on a mounting base (1), the workbench (2) serving as a support for grating workpieces (3). Its features are: On the left and right sides along the longitudinal direction of the workbench (2), a cantilevered eight-axis linkage intelligent welding robot is installed on the mounting base (1). The column (42) of the welding robot (4) can slide along the longitudinal direction of the workbench (2), and the crossbeam (43) of the welding robot (4) extends along the transverse direction of the workbench (2) to the top of the workbench (2). A mechanical arm (44) that can slide along the transverse direction of the workbench (2) and is located below the crossbeam (43) is mounted on the crossbeam (43) of the welding robot (4). The two welding robots (4) located on the left and right sides of the workbench (2) are connected to the central control system (C) via corresponding execution control systems.

2. The automated welding system for suspension bridge gratings according to claim 1, characterized in that: The welding robot (4) has a ground rail (41) arranged on the corresponding side of the workbench (2), a column (42) mounted on the ground rail (41) with a sliding structure and extending upward, a crossbeam (43) fixedly connected to the top of the column (42) and extending to the top of the workbench (2), a robotic arm (44) mounted on the crossbeam (43) with a sliding structure and located below the crossbeam (43), a welding torch (45) mounted on the front end of the robotic arm (44) with a flange structure, and an execution control system for receiving and outputting control commands.

3. The automated welding system for suspension bridge gratings according to claim 2, characterized in that: The welding robot (4) has a linear slide rail (48) at the bottom of the crossbeam (43). The robotic arm (44) of the welding robot (4) is mounted on the linear slide rail (48) via a mounting base in a linear sliding structure.

4. The automated welding system for suspension bridge gratings according to claim 2 or 3, characterized in that: The welding robot (4) also has a global vision system (46) arranged at the rear end of the robotic arm (44) and close to the crossbeam (43) for image recognition of the current grid workpiece (3).

5. The automated welding system for suspension bridge gratings according to claim 4, characterized in that: The effective recognition range of the global vision system (46) is between the near field of view and the far field of view, and the near field of view is 950mm long × 2550mm wide × 1800mm high, and the far field of view is 1850mm long × 4000mm wide × 2800mm high.

6. The automated welding system for suspension bridge gratings according to claim 2 or 3, characterized in that: The welding robot (4) also has a precision positioning vision system (47) arranged at the flange of the welding torch (45) to perform image recognition of the current cavity joint of the current grid workpiece (3).

7. The automated welding system for suspension bridge gratings according to claim 6, characterized in that: The flange of the welding torch (45) has an adjustment structure for adjusting the relative position of the precision positioning vision system (47) in the length direction of the welding torch (45).

8. The automated welding system for suspension bridge gratings according to claim 6, characterized in that: The effective recognition range of the precision positioning vision system (47) is between 300 and 800 mm from the lens.

9. The automated welding system for suspension bridge gratings according to claim 1 or 2, characterized in that: The installation height of the welding robot (4) on the corresponding side of the workbench (2) is controlled within 1 mm along the longitudinal direction of the workbench (2).

10. The automated welding system for suspension bridge gratings according to claim 8, characterized in that: The two welding robots (4) on the left and right sides of the workbench (2) are arranged in a symmetrical structure.

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