A mechanical arm welding device for bridge steel structure

Abstract

The utility model relates to the field of bridge construction, concretely relates to a mechanical arm welding set for bridge steel structure, include: flat car: be equipped with first bearing on the flat car, horizontal shift mechanism: horizontal shift mechanism bottom surface middle part is equipped with support shaft, support shaft with first bearing links together, drive mechanism: output with support shaft drive connection, for drive support shaft rotates, support mechanism: detachable type set up on horizontal shift mechanism, can extend downward and with bridge deck abuts, welding mechanism: for steel structure welding operation, set up on horizontal shift mechanism, can along horizontal shift mechanism length direction removes. The utility model discloses through setting up the flat car that can move along the bridge construction track, and setting up the horizontal rotation horizontal shift mechanism on the flat car, and the welding mechanism can move the welding operation area through the horizontal shift mechanism, improves the construction efficiency, and the labor intensity and the security risk have been reduced.

Description

Technical Field

[0001] This utility model relates to the field of bridge construction, and in particular to a robotic arm welding device for bridge steel structures. Background Technology

[0002] Welding is a crucial process in bridge steel structure construction. Especially on bridge construction sites, the assembly, connection, and reinforcement of large steel structures often require extensive on-site welding. To improve construction efficiency and quality, welding equipment is increasingly developing towards automation and integration.

[0003] Currently, bridge construction sites typically lay construction tracks along the longitudinal direction of the bridge for transporting materials or moving construction equipment. Some welding devices are integrated into track-walking platforms, allowing them to move along the tracks to different work positions for welding. With the development of automated welding technology, automated welding devices with multi-degree-of-freedom robotic arms (such as six-axis articulated robotic arms) have emerged. These devices integrate welding heads, vision sensors, and laser trackers at their end effectors, enabling automatic weld seam recognition, trajectory planning, and high-quality automated welding, significantly improving welding efficiency and consistency.

[0004] However, in actual construction, the width of the bridge deck is often much greater than the spacing of the construction tracks (i.e., the tracks are narrow and the bridge deck is wide), and the welding operation points may be located at any lateral position on the bridge deck, including areas far from the tracks, such as the edges of the bridge deck and near the crash barriers. Even if the platform is equipped with an automatic welding device with a multi-degree-of-freedom robotic arm, the lateral extension range of the robotic arm is still limited and cannot reliably cover welding positions on the bridge deck far from the tracks.

[0005] To address this issue, the current practice typically involves unloading the welding equipment from the track platform and moving it manually or with the aid of other lifting equipment to the specific welding location on the bridge deck. After welding is completed at that location, it is then reloaded onto the track platform and moved to the next work point. This repeated loading and unloading operation consumes a significant amount of effective working time. Furthermore, the welding equipment itself is quite heavy, and repeatedly moving it across the bridge deck places high demands on the physical strength of the operators and poses safety risks. Utility Model Content

[0006] The purpose of this invention is to overcome the technical problems of the limited lateral working range of welding devices on existing track-walking platforms, which makes it difficult to cover areas outside the construction track, resulting in the need for repeated loading and unloading of welding devices, leading to low construction efficiency, high labor intensity, and safety risks. This invention provides a robotic arm welding device for bridge steel structures.

[0007] This utility model provides a robotic arm welding device for bridge steel structures, comprising:

[0008] Flatbed truck: capable of moving along the bridge construction track, the flatbed truck is equipped with a first bearing;

[0009] Lateral movement mechanism: The length is adapted to the width of the bridge, and a support shaft is provided in the middle of the bottom surface of the lateral movement mechanism, which is connected to the first bearing;

[0010] Drive mechanism: disposed between the transverse mechanism and the top surface of the flatbed, the output end of the drive mechanism is connected to the support shaft for driving the support shaft to rotate;

[0011] Support mechanism: It is detachably mounted on the lateral movement mechanism and can extend downward to abut against the bridge deck;

[0012] Welding mechanism: Used for steel structure welding operations, mounted on the transverse mechanism, and capable of moving along the length of the transverse mechanism.

[0013] This utility model discloses a robotic arm welding device for bridge steel structures. In use, a flatbed truck moves along the bridge construction track to the vicinity of the welding position. The drive mechanism drives the support shaft to rotate, causing the lateral movement mechanism to rotate in the horizontal plane to the desired direction (e.g., to a direction perpendicular to the bridge construction track), thus pointing the length direction of the lateral movement mechanism towards the area to be welded on the bridge deck. Subsequently, a support mechanism is installed on the lateral movement mechanism with its lower end abutting against the bridge deck, providing auxiliary support for the lateral movement mechanism. Finally, the welding mechanism moves along the length direction of the lateral movement mechanism to the specific welding point for welding operations. After welding is completed, the support mechanism can be disassembled or retracted, the drive mechanism drives the lateral movement mechanism to rotate and reset, and the flatbed truck continues to move along the track to the next working position. Throughout the entire process, the welding mechanism does not need to be disassembled from the device, achieving a large-scale lateral coverage of the bridge deck.

[0014] Preferably, the driving mechanism includes a first motor, a first gear is sleeved on the shaft of the first motor, and a second gear is sleeved on the support shaft, wherein the first gear meshes with the second gear.

[0015] The rotation angle of the transverse mechanism can be precisely controlled through gear transmission. The transmission is smooth and the load-bearing capacity is strong. The gear meshing has a self-locking characteristic, which can prevent the transverse mechanism from rotating unexpectedly due to external forces during the welding process, thus improving the safety of the operation.

[0016] Preferably, the top surface of the flatbed truck is provided with a groove, and the first motor is fixedly installed in the groove.

[0017] Embedding the first motor in the groove lowers the overall height of the motor and transmission mechanism, making the center of gravity of the device lower and improving the stability of the flatbed vehicle when it moves and the lateral movement mechanism rotates; at the same time, the groove protects the motor and reduces the corrosion of the motor by dust and debris at the construction site.

[0018] Preferably, the transverse mechanism includes a crossbeam, with rail grooves on both sides of the crossbeam, and a mounting plate on the crossbeam. The welding mechanism is fixedly mounted on the mounting plate, and a first rotating shaft and a second rotating shaft are spaced apart at the bottom of the mounting plate along the length direction of the transverse mechanism. The first rotating shaft and the second rotating shaft are arranged in parallel, and a traveling wheel is provided at both ends of the first rotating shaft and the second rotating shaft. A second motor that is drivenly connected to the first rotating shaft is provided on the mounting plate.

[0019] The system employs a dual-axis structure with the first and second rotating shafts arranged in parallel, and travel wheels are arranged at both ends to form a stable four-point support structure between the mounting plate and the crossbeam, thereby improving the reliability and positioning accuracy of long-distance lateral movement.

[0020] Preferably, the mounting plate has two bearing assemblies at its bottom, each bearing assembly including two second bearings, which are respectively disposed on both sides of the bottom of the mounting plate, and the first rotating shaft and the second rotating shaft are respectively connected to the two bearing assemblies.

[0021] By setting up two sets of bearing groups, with each group having two second bearings corresponding to the end supports of the first and second shafts respectively, the load-bearing capacity of the shaft is significantly improved, making it suitable for high-frequency, long-stroke reciprocating movement conditions at bridge construction sites.

[0022] Preferably, a third gear is fitted on the first rotating shaft, a fourth gear is fitted on the rotating shaft of the second motor, and a clearance groove is provided on the mounting plate, through which the fourth gear meshes with the third gear.

[0023] With the above structure, the second motor directly meshes with the third gear on the first rotating shaft through the fourth gear, realizing the compact transmission of motor power to the traveling wheel. The clearance slot opened on the mounting plate provides a physical window for the fourth gear to pass through the mounting plate and mesh with the third gear, so that the motor can be arranged above or to one side of the mounting plate, avoiding spatial interference between the motor and the mounting plate and the cross frame. This helps to reduce the overall height of the welding mechanism in the vertical direction, lower the center of gravity, and improve the stability of travel.

[0024] Preferably, the crossbar includes two parallel crossbars, two rail grooves are respectively disposed on the two crossbars, the rail grooves extend along the length direction of the crossbars, and a plurality of connecting rods are provided between the two crossbars.

[0025] The double crossbar structure improves the overall rigidity and bending strength of the crossbar, effectively resisting the overturning moment generated when the welding mechanism moves; the connecting rod connects the two crossbars into a whole, further enhancing the structural stability. Compared with the direct use of a plate structure, this device is lighter overall, which can reduce the load on the first motor.

[0026] Preferably, the bottom of the crossbar is provided with a fixing plate, the top surface of the fixing plate is connected to the two crossbars respectively, and the support shaft is connected to the bottom surface of the fixing plate.

[0027] The fixed plate evenly transmits the driving force and support reaction force of the support shaft to the two crossbars, avoiding deformation of the crossbar due to single-point force; at the same time, the fixed plate serves as a connecting base, facilitating the installation and maintenance of the support shaft.

[0028] Preferably, the support mechanism includes a plurality of support rods, and each crossbar has a plurality of threaded sleeves on its outer side, with the support rods threadedly connected to the threaded sleeves.

[0029] The support rod is threadedly connected to the threaded sleeve. The extension length can be adjusted by rotating the support rod to adapt to uneven bridge surfaces. The support rod is detachable and can be removed after the lateral movement mechanism is rotated and reset, or it can be used to support the lateral movement mechanism and the flatbed truck without affecting the movement of the flatbed truck, making it flexible to operate.

[0030] Preferably, the support rod is provided with a turntable at the top, and the turntable is arranged around the axis of the support rod.

[0031] The turntable provides a gripping position for operators, allowing them to easily adjust the height of the support rod by hand without the need for tools, thus improving the convenience and efficiency of on-site operations.

[0032] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0033] 1. This utility model provides a robotic arm welding device for bridge steel structures. By setting up a flatbed truck that can move along the bridge construction track, and setting up a horizontally rotating transverse mechanism on the flatbed truck with a length adapted to the width of the bridge, the flatbed truck can be longitudinally moved and positioned along the track. The transverse mechanism can then be rotated to point to the area to be welded on the bridge deck, thereby expanding the working range of the welding mechanism from near the track to the transverse range of the bridge deck. This eliminates the need for repeated loading and unloading of the welding mechanism, significantly improving construction efficiency and reducing labor intensity and safety risks.

[0034] 2. This utility model provides a robotic arm welding device for bridge steel structures. By setting a support shaft in the middle of the bottom surface of the transverse mechanism, the support shaft is connected to the first bearing on the flatbed, and the support shaft is driven to rotate by the drive mechanism, so as to realize the smooth rotation of the transverse mechanism in the horizontal plane. It can flexibly adjust the working direction. Even when the track width is much smaller than the bridge deck width, the welding mechanism can still be sent to the welding area through the transverse mechanism, which improves the operational flexibility and on-site adaptability of the device.

[0035] 3. This utility model provides a robotic arm welding device for bridge steel structures. By setting a detachable support mechanism, after the lateral movement mechanism rotates to the working direction, the support mechanism is installed between the lateral movement mechanism and the bridge deck to form an auxiliary support, which effectively shares the load of the cantilevered part of the lateral movement mechanism, offsets the overturning moment generated during the movement of the welding mechanism, and ensures the stability of the welding mechanism during lateral movement. Attached Figure Description

[0036] Figure 1 This is a top view of a robotic arm welding device for bridge steel structures according to this utility model (the transverse mechanism is in the retracted state).

[0037] Figure 2 This is a side view of a robotic arm welding device for bridge steel structures according to this utility model;

[0038] Figure 3 yes Figure 2 Enlarged view of area A in the middle;

[0039] Figure 4 This is a top view of the mounting plate described in this utility model;

[0040] Figure 5 This is a schematic diagram of the internal structure of the mounting plate described in this utility model;

[0041] Figure 6 This is a top view of a robotic arm welding device for bridge steel structures according to this utility model (the lateral movement mechanism is in working state).

[0042] Marked in the image:

[0043] 1-Flatbed trolley, 11-Groove, 2-First bearing, 3-Support shaft, 31-Second gear, 4-Support mechanism, 41-Support rod, 411-Turntable, 5-Welding mechanism, 6-First motor, 61-First gear, 7-Horizontal frame, 71-Horizontal bar, 711-Railway groove, 712-Threaded sleeve, 72-Connecting rod, 8-Mounting plate, 81-First rotating shaft, 82-Traveling wheel, 83-Second motor, 84-Second bearing, 85-Third gear, 86-Fourth gear, 87-Allowing groove, 88-Fixing plate, 9-Construction track. Detailed Implementation

[0044] The present invention will be further described in detail below with reference to specific embodiments. However, it should not be construed as limiting the scope of the present invention to the following embodiments; all technologies implemented based on the content of the present invention fall within the scope of the present invention.

[0045] Unless otherwise specified, the use of terms such as "upper," "lower," "inner," and "outer" to indicate orientation or positional relationships in the description of specific embodiments of this utility model is based on the orientation or positional relationships shown in the accompanying drawings, or the orientation or positional relationship in which the utility model product / equipment / device is typically placed during use. These terms are merely for the purpose of facilitating the description of the utility model solution or simplifying the description in specific embodiments, enabling those skilled in the art to quickly understand the solution, and do not indicate or imply that a specific device / component / element must have a specific orientation, or be constructed and operated in a specific positional relationship. Therefore, they should not be construed as limitations on this utility model.

[0046] Furthermore, the use of terms such as "vertical" or "parallel" does not imply that the corresponding device / component / element must be absolutely vertical or parallel. Slight tilt or deviation is permissible, as long as it does not affect the normal function of the relevant component. Alternatively, it can be simplified to mean that the corresponding device / component / element, when positioned in a "vertical" or "parallel" direction, can have an error / deviation of ±10% relative to that direction, more preferably within ±8%, more preferably within ±6%, more preferably within ±5%, and more preferably within ±4%. As long as the corresponding device / component / element remains within the error / deviation range and still fulfills its function in this invention, it is acceptable.

[0047] Furthermore, the use of terms such as "first," "second," and "third" in terminology is merely for distinguishing descriptions of identical or similar components and should not be interpreted as emphasizing or implying the relative importance of a particular component.

[0048] Furthermore, in the description of the embodiments of this utility model, "multiple" means at least two. It can be any number of two, three, four, five, six, seven, eight, nine, etc., and can even be more than nine.

[0049] Furthermore, in the description of the technical solution of this utility model, unless otherwise explicitly specified / limited / restricted, the terms "set up," "connected," "linked," "equipped with," and "arranged" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to common connection methods in the art, such as welding, riveting, bolting, and threaded connections. Such connections can be mechanical, electrical, or communication connections; they can be direct connections or indirect connections through an intermediate medium; and they can refer to the internal communication between two components.

[0050] Example 1

[0051] like Figure 1 , Figure 2 and Figure 3 As shown, a robotic arm welding device for bridge steel structures includes:

[0052] Flatbed 1: It adopts a traditional railcar structure and can move along the bridge construction track 9. A first bearing 2 is installed on the top surface of the flatbed 1.

[0053] Lateral movement mechanism: The length is adapted to the width of the bridge (the length of the lateral movement mechanism is slightly smaller than the width of the bridge). A support shaft 3 is set in the middle of the bottom surface of the lateral movement mechanism. The support shaft 3 is connected to the first bearing 2, so that the support shaft 3 can rotate around the axis of the first bearing 2.

[0054] Drive mechanism: Located between the transverse mechanism and the top surface of the flatbed 1, the drive mechanism can be a first motor 6, whose output end is connected to the support shaft 3, which can drive the support shaft 3 to rotate, thereby realizing the transverse mechanism from the longitudinal direction to the transverse direction;

[0055] Support mechanism 4: It is detachably installed on the transverse mechanism. When the transverse mechanism is rotated out from the flatbed 1, the support mechanism 4 can be installed between the bridge deck and the transverse mechanism to support the suspended part of the transverse mechanism.

[0056] Welding mechanism 5: Used for steel structure welding operations, set on the transverse mechanism, and can move along the length of the transverse mechanism. Welding mechanism 5 adopts an existing mature automatic welding machine, which typically includes a multi-degree-of-freedom articulated robotic arm. The end of the robotic arm integrates a welding head, a vision sensor, and a laser tracker.

[0057] like Figure 1 , Figure 2 and Figure 6 As shown, during use, the flatbed trolley 1 moves along the bridge construction track 9 to the vicinity of the welding position. The drive mechanism drives the support shaft 3 to rotate, causing the transverse mechanism to rotate in the horizontal plane to the desired direction, so that the length direction of the transverse mechanism points to the area to be welded on the bridge deck. Subsequently, the support mechanism 4 is installed on the transverse mechanism and its lower end abuts against the bridge deck to provide auxiliary support for the transverse mechanism. Finally, the welding mechanism 5 moves along the length direction of the transverse mechanism to the specific welding point to perform welding operations. After welding is completed, the support mechanism 4 can be disassembled or retracted, the drive mechanism drives the transverse mechanism to rotate and reset, and the flatbed trolley 1 continues to move along the track to the next working position.

[0058] like Figure 2 and Figure 3As shown, in an optional embodiment, a vertical and circular groove 11 can be provided on the flatbed 1. The first motor 6 is vertically arranged in the groove 11, and a first gear 61 is sleeved on the first motor 6. At the same time, a second gear 31 is sleeved on the support shaft 3. The first gear 61 and the second gear 31 mesh. By driving the support shaft 3 to rotate through the first motor 6, the rotation angle of the transverse mechanism can be precisely controlled, resulting in smooth transmission and strong load-bearing capacity.

[0059] like Figure 1 , Figure 2 and Figure 3 As shown, in one or more embodiments, the transverse movement mechanism may include a crossbeam 7, a fixed plate 88, a mounting plate 8, and a second motor 83.

[0060] like Figure 1 As shown, the crossbar 7 includes two crossbars 71, and multiple connecting rods 72 are provided between the two crossbars 71. Each crossbar 71 has a rail groove 711 along its length.

[0061] like Figure 2 and Figure 3 As shown, the fixing plate 88 is set at the bottom of the cross frame 7 and located in the middle of the length direction of the cross frame 7. It is connected to the two cross bars 71 respectively, and the lower end face of the fixing plate 88 is connected to the top of the support shaft 3.

[0062] like Figure 4 and Figure 5 As shown, mounting plate 8 is set on the top of crossbar 7. The bottom of mounting plate 8 is provided with a first rotating shaft 81 and a second rotating shaft at intervals along the length of crossbar 7. The first rotating shaft 81 and the second rotating shaft are parallel to each other. Both ends of the first rotating shaft 81 and the second rotating shaft are provided with travel wheels 82. When in use, the travel wheels 82 are embedded in the rail grooves 711 on the crossbar 71. The bottom of mounting plate 8 is provided with two bearing groups. Each bearing group includes two second bearings 84, which are respectively set on both sides of the bottom of mounting plate 8. The first rotating shaft 81 and the second rotating shaft are respectively connected to the two bearing groups.

[0063] like Figure 5As shown, the second motor 83 is mounted on the top surface of the mounting plate 8. A fourth gear 86 is fitted on the shaft of the second motor 83, while a third gear 85 is fitted on the first shaft 81. A clearance groove 87 is provided on the mounting plate 8 at the position corresponding to the third gear 85. The fourth gear 86 on the second motor 83 passes through the clearance groove 87 and meshes with the third gear 85, realizing the compact transmission of motor power to the traveling wheel 82. The clearance groove 87 on the mounting plate 8 provides a physical window for the fourth gear 86 to pass through the mounting plate 8 and mesh with the third gear 85, allowing the motor to be arranged above the mounting plate 8. This avoids spatial interference between the motor and the mounting plate 8 and the crossbeam 7, which helps to reduce the overall height of the welding mechanism 5 in the vertical direction, lower the center of gravity, and improve the walking stability.

[0064] like Figure 1 and Figure 2 As shown, in one or more embodiments, the support mechanism 4 may include a plurality of support rods 41, and each crossbar 71 is provided with a plurality of threaded sleeves 712 on its outer side (the specific number and setting position are determined according to the suspension length of the crossbar 71). The support rods 41 are threadedly connected to the threaded sleeves 712. The support rods 41 and the threaded sleeves 712 are threadedly connected. The extension length can be adjusted by rotating the support rods 41 to adapt to uneven bridge surfaces. The support rods 41 are detachable and can be removed after the transverse mechanism is rotated and reset, or used to support the transverse mechanism and the flatbed 1 without affecting the movement of the flatbed 1, and the operation is flexible.

[0065] like Figure 2 As shown, in an optional embodiment, a turntable 411 can be provided on the top of the support rod 41. The turntable 411 is arranged around the axis of the support rod 41 to provide a gripping position for the operator, so as to facilitate manual rotation of the support rod 41 for height adjustment.

[0066] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A mechanical arm welding device for a bridge steel structure, characterized by, include: Flatbed vehicle (1): capable of moving along the bridge construction track (9), the flatbed vehicle (1) is equipped with a first bearing (2); Lateral movement mechanism: The length is adapted to the width of the bridge. The lateral movement mechanism has a support shaft (3) in the middle of its bottom surface. The support shaft (3) is connected to the first bearing (2). Drive mechanism: It is set between the transverse mechanism and the top surface of the flatbed (1). The output end of the drive mechanism is connected to the support shaft (3) for driving the support shaft (3) to rotate. Support mechanism (4): It is detachably mounted on the transverse mechanism and can extend downward to abut against the bridge surface; Welding mechanism (5): Used for steel structure welding operations, set on the transverse mechanism, and can move along the length direction of the transverse mechanism.

2. The mechanical arm welding device for bridge steel structure according to claim 1, characterized in that, The driving mechanism includes a first motor (6), a first gear (61) is sleeved on the shaft of the first motor (6), and a second gear (31) is sleeved on the support shaft (3). The first gear (61) meshes with the second gear (31).

3. The mechanical arm welding device for bridge steel structure according to claim 2, characterized in that, The flatbed (1) has a groove (11) on its top surface, and the first motor (6) is fixedly installed in the groove (11).

4. The mechanical arm welding device for bridge steel structure according to claim 1, characterized in that, The transverse mechanism includes a cross frame (7), with rail grooves (711) on both sides of the cross frame (7). A mounting plate (8) is provided on the cross frame (7). The welding mechanism (5) is fixedly mounted on the mounting plate (8). A first rotating shaft (81) and a second rotating shaft are spaced apart at the bottom of the mounting plate (8) along the length direction of the transverse mechanism. The first rotating shaft (81) and the second rotating shaft are arranged in parallel. Traveling wheels (82) are provided at both ends of the first rotating shaft (81) and the second rotating shaft. A second motor (83) is provided on the mounting plate (8) and is connected to the first rotating shaft (81) in a transmission.

5. The mechanical arm welding device for bridge steel structure according to claim 4, characterized in that, The mounting plate (8) has two bearing groups at its bottom. Each bearing group includes two second bearings (84), which are respectively located on both sides of the bottom of the mounting plate (8). The first rotating shaft (81) and the second rotating shaft are respectively connected to the two bearing groups.

6. The mechanical arm welding device for bridge steel structure according to claim 4, characterized in that, A third gear (85) is fitted on the first rotating shaft (81), and a fourth gear (86) is fitted on the rotating shaft of the second motor (83). A clearance groove (87) is provided on the mounting plate (8), and the fourth gear (86) meshes with the third gear (85) through the clearance groove (87).

7. The mechanical arm welding device for bridge steel structure according to claim 4, characterized in that, The crossbar (7) includes two parallel crossbars (71), two rail grooves (711) are respectively provided on the two crossbars (71), the rail grooves (711) extend along the length direction of the crossbars (71), and a number of connecting rods (72) are provided between the two crossbars (71).

8. The mechanical arm welding device for bridge steel structure according to claim 7, characterized in that, The bottom of the cross frame (7) is provided with a fixing plate (88), the top surface of the fixing plate (88) is connected to the two cross bars (71) respectively, and the support shaft (3) is connected to the bottom surface of the fixing plate (88).

9. The mechanical arm welding device for bridge steel structure according to claim 7, characterized in that, The support mechanism (4) includes several support rods (41), and each crossbar (71) has several threaded sleeves (712) on its outer side. The support rods (41) are threadedly connected to the threaded sleeves (712).

10. The mechanical arm welding device for bridge steel structure according to claim 9, characterized in that, The top of the support rod (41) is provided with a turntable (411), which is arranged around the axis of the support rod (41).

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