Steel box girder segment assembling and welding equipment

Abstract

The utility model discloses a kind of steel box girder section assembly welding equipment, relate to steel box girder welding equipment field.The equipment includes welding robot, magnetic attraction fixed track and moving trolley, magnetic attraction fixed track is arranged along the length direction of steel box girder section, with its U rib quick release connection, magnetic attraction fixed track is detachably installed with moving base, the bottom quick release connection of welding robot is on moving base, moving trolley is located in one side of magnetic attraction fixed track, can be moved along the length direction of magnetic attraction fixed track with moving base, moving trolley is detachably installed with welding power supply, electric cabinet, wire feeder and welding wire reel, welding power supply and electric cabinet are electrically connected with welding robot by cable, welding wire is sent to welding robot by welding wire reel.The utility model's each structure unit can be quickly disassembled, equipment is conveniently moved, suitable for plane, vertical plane Construction environment and narrow space operation, can realize welding to different parts weld, convenient to use and efficient.

Description

Technical Field

[0001] This utility model relates to the field of steel box girder welding equipment, specifically to a steel box girder segment assembly and welding equipment that can quickly and automatically weld fillet welds between the transverse diaphragms, top plate, bottom plate, and U-ribs of a steel box girder on-site. Background Technology

[0002] Welding is one of the most important connection methods in the steel structure manufacturing industry. However, due to the high labor intensity, high skill requirements, harsh working environment, and certain health hazards, there has been a growing shortage of skilled welders in recent years, and the overall skill level is declining. This makes it difficult to meet the high standards of production efficiency and product quality required by modern manufacturing. Promoting automated and intelligent welding to replace manual labor is an inevitable trend, and the demand for welding robots is increasing.

[0003] Steel box girders are the most widely used structural form in bridge steel structures. Previously, welding was primarily done manually. However, with the continuous promotion of robotic welding technology, automated welding of steel box girder bridges is now possible, with dedicated welding robots used for components such as the top, bottom, and transverse diaphragms. However, during the assembly of steel box girders into segments, automation or robotic welding is difficult due to the large size, complex structure, and limited space of the steel box girders. This is especially true for fillet welds between transverse diaphragms and the top and bottom plates, as well as U-ribs. These fillet welds are short, numerous, and come in various forms, including horizontal, vertical, and wrap-around fillet welds, making them unsuitable for general-purpose welding robots. Yet, these welds constitute a significant proportion of the steel box girder assembly work, creating an urgent need for automated robotic welding.

[0004] To automate the welding of fillet welds between the diaphragm and the top, bottom, and U-ribs, the diaphragm is divided into upper and lower parts. The upper part, smaller in size, is called the diaphragm connecting plate. After the top is welded in the factory, the connecting plate is assembled onto the top, and a large diaphragm robot is used to weld the fillet welds between the connecting plate and the top and U-ribs. This automates the process and improves welding quality. However, welding the top and connecting plate increases the height, making transportation more difficult, requiring more space, and increasing transportation costs. It also increases the risk of collisions and damage. This method can only be used in the factory and can only solve the automated welding problem between the diaphragm and the top and U-ribs; it cannot be used during on-site assembly and cannot solve the welding problem between the bottom plate and the U-ribs.

[0005] Another approach involves placing a small welding robot between the two U-ribs. This robot welds the seams between the diaphragm and the top plate, bottom plate, and U-ribs. After welding, the robot is moved to the other two U-ribs for further welding. This method enables automated welding of the diaphragm, bottom plate, and U-ribs during on-site assembly. However, it requires a lightweight, small robot for easy manual handling and the ability to operate between the two U-ribs. The robot's size and functionality are limited, resulting in a lower level of intelligence. Furthermore, the frequent movement of the robot increases the risk of collisions, potentially damaging the machine or workers. Utility Model Content

[0006] To address the shortcomings of the aforementioned technologies, this invention provides a steel box girder segment assembly and welding equipment that enables rapid and automated welding of fillet welds between the transverse diaphragms, top plate, bottom plate, and U-ribs of the steel box girder on-site.

[0007] The technical solution adopted by this utility model to achieve the above-mentioned technical effects is:

[0008] A steel box girder segment assembly and welding equipment includes a welding robot. A magnetically attached fixing track is provided on the U-rib of the steel box girder segment, and a movable base is detachably mounted on the magnetically attached fixing track. The bottom of the welding robot is quickly connected to the movable base. On one side of the magnetically attached fixing track, a movable trolley is provided, which can move along the length of the magnetically attached fixing track with the movable base. The movable trolley is equipped with a detachably mounted welding power supply, an electrical control box, a wire feeder, and a welding wire spool. The welding power supply and the electrical control box are electrically connected to the welding robot via cables, and the welding wire is fed to the welding robot via the welding wire spool.

[0009] Preferably, in the above-mentioned steel box girder segment assembly and welding equipment, the welding robot is a six-axis small robotic arm, the robotic arm base of the six-axis small robotic arm is quickly connected to the mobile base, and the end of the robotic arm of the six-axis small robotic arm is equipped with a binocular vision camera and a welding torch.

[0010] Preferably, in the above-mentioned steel box girder segment assembly and welding equipment, the movable base includes a movable base body and track clamping arms fixed at the four corners of the lower surface of the movable base body. The magnetic fixing track is located in the track clamping arms on both sides in the length direction, and the two can slide relative to each other in the length direction.

[0011] Preferably, in the above-mentioned steel box girder segment assembly and welding equipment, the inner end face of the track clamping arm is formed with an adapter groove for adapting to the side edge of the magnetic fixing track, and a roller is provided on the upper side of the adapter groove, and the lower wheel surface of the roller is in rolling connection with the upper surface of the side edge of the magnetic fixing track.

[0012] Preferably, in the above-mentioned steel box girder segment assembly and welding equipment, the bottom of the movable base body is provided with a mechanical drive device for driving it to move automatically on the magnetic fixed track.

[0013] Preferably, in the above-mentioned steel box girder segment assembly and welding equipment, the mechanical drive device includes a servo motor fixed to the bottom of the movable base body, a worm gear reducer driven by the servo motor, a horizontal shaft driven by the worm gear reducer, and traveling rollers fixed at both ends of the horizontal shaft. The lower wheel surface of the traveling rollers is driven by the upper surface of the side edge of the magnetic fixing track.

[0014] Preferably, in the above-mentioned steel box girder segment assembly and welding equipment, the magnetic fixing track is composed of multiple track units with the same structure spliced ​​together by a quick-release connection structure. In the vertical direction, a support part extending vertically downward is formed at the center position on the lower surface of the track unit. In the horizontal direction, the support part extends along the length direction of the track unit, and its two ends are respectively flush with the corresponding ends of the track unit. The support part is magnetically connected and fixed to the U-rib of the steel box girder segment by a first magnetic chuck installed on its lower surface.

[0015] Preferably, in the above-mentioned steel box girder segment assembly and welding equipment, the lower surface of the support part is provided with a fixing groove for fixing the first magnetic chuck.

[0016] Preferably, in the above-mentioned steel box girder segment assembly and welding equipment, adjacent track units are quickly connected by a second magnetic chuck.

[0017] Preferably, in the above-mentioned steel box girder segment assembly and welding equipment, the welding robot weighs no more than 20 kg and has a working radius of no less than 600 mm.

[0018] The beneficial effects of this utility model are as follows: The steel box girder segment assembly and welding equipment of this utility model, by setting a magnetic fixed track on the U-rib of the steel box girder segment, allows the welding robot to move and weld on the track. It has a large working range, eliminates the need for frequent movement of the welding robot, and is highly adaptable. It can achieve automated welding of the fillet welds between the diaphragm and the bottom plate, as well as between the U-ribs. The equipment is small in size and light in weight, enabling better automated welding in confined spaces. Each structural unit can be quickly assembled and disassembled, allowing operators to easily move the equipment in complex environments such as inside the steel box girder. It is suitable for flat and vertical construction environments and confined spaces, and can weld welds on different parts, making it convenient and efficient to use. Attached Figure Description

[0019] Figure 1 This is a diagram showing the state of the present invention during use;

[0020] Figure 2 This is a perspective view of the present utility model;

[0021] Figure 3 This is a perspective view of the movable base described in this utility model;

[0022] Figure 4 This is a side view of the movable base described in this utility model;

[0023] Figure 5 This is a perspective view of the track unit described in this utility model;

[0024] Figure 6 This is a side view of the track unit described in this utility model;

[0025] Figure 7 This is a perspective view of the welding robot described in this utility model. Detailed Implementation

[0026] To provide a further understanding of this utility model, the following description, with reference to the accompanying drawings and specific embodiments, will further illustrate the utility model:

[0027] In the description of this utility model, it should be noted that the terms "vertical," "upper," "lower," and "horizontal," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this utility model and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. In addition, "first," "second," "third," and "fourth" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0028] In the description of this utility model, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set up," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or a connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0029] Please see Figure 1 , Figure 2 As shown in the figure, an embodiment of this utility model proposes a steel box girder segment assembly and welding equipment. This welding equipment includes a welding robot 2, and a magnetically attached fixing track 1 that can be quickly detached is provided on the U-rib of the steel box girder segment 100. A movable base 8 is detachably mounted on the magnetically attached fixing track 1. Figure 1As shown, the bottom of the welding robot 2 is quickly connected to the movable base 8. A movable trolley 3 is located on one side of the magnetic fixing track 1, and can move along the length of the magnetic fixing track 1 with the movable base 8. Figure 2 As shown, the mobile trolley 3 is equipped with a detachable welding power supply 4, an electrical control box 5, a wire feeder 6, and a wire reel 7. The welding power supply 4 and the electrical control box 5 are electrically connected to the welding robot 2 via cables, and the welding wire is fed to the welding robot 2 via the wire reel 7. This welding equipment adopts a lightweight welding robot 2, a magnetically fixed track 1, and a mobile trolley 3, which can greatly reduce the weight of the equipment. The welding robot 2, the mobile base 8, the magnetically fixed track 1, the wire feeder 6, and other parts can be quickly assembled and disassembled, allowing operators to easily move the equipment in complex environments such as inside steel box girders. It is suitable for flat and vertical construction environments and operations in confined spaces, and can realize automated welding of welds in different parts.

[0030] Furthermore, in a preferred embodiment of this utility model, such as Figure 2 and Figure 7 As shown, the welding robot 2 is a six-axis miniature robotic arm 21, weighing no more than 20 kg and with a working radius of no less than 600 mm. The robotic arm base 22 of the six-axis miniature robotic arm 21 is quickly connected to the movable base 8. A binocular vision camera 23 and a welding torch 24 are installed at the end of the robotic arm 21. A vision recognition processor 25 is also installed on the six-axis miniature robotic arm 21. The binocular vision camera 23 transmits scanned data to the vision recognition processor 25, which plans the welding path and welding process to guide the six-axis miniature robotic arm 21 in completing automated welding. To further improve welding efficiency, a work task model can be established in the system for the welds between the diaphragm and the top plate, bottom plate, and U-rib fillet welds, based on their structural characteristics. Key parameters include the U-rib height, upper opening size, lower opening size, spacing, and the height of the weld between the diaphragm and the U-rib. Several common fixed parameters are also built-in and can be retrieved at any time. The system can also pre-establish a welding process library, defining the weld between the diaphragm and the base plate as a T-shaped fillet weld without beveling or a beveled fillet weld, with the welding position being a flat angle; and defining the weld between the diaphragm and the U-rib as a T-shaped fillet weld, with the welding position being an upright position. In order to adapt to the changes in assembly gaps on site, different welding processes are formulated for different assembly gaps.

[0031] It should be noted that, in the process of achieving rapid and automated welding of fillet welds between the transverse diaphragms, top plate, bottom plate, and U-ribs of steel box girders on the work site, the embodiments of this utility model do not rely on the aforementioned work task model and welding process library. Establishing a welding work task model and welding process library is existing technology in the field of automated welding. This utility model only makes improvements to the equipment structure, and establishing a work task model and welding process library is merely an adaptive modification of parameters on the existing technology to further improve the welding efficiency of the welding equipment of this utility model.

[0032] Before welding, the welding equipment of this invention selects a model based on the actual dimensions of the structure, or sets several key parameters such as the height of the U-rib, the upper opening size, the lower opening size, the spacing, and the height of the weld between the transverse diaphragm and the U-rib. Then, the welding equipment is started, and the welding robot 2 automatically scans the component using a binocular vision camera 23. Based on the scan results, the weld trajectory is accurately determined, and different welding processes are matched according to the bevel size and assembly gap obtained from the scan. Then, the welding robot 2 and the moving carriage 3 are moved to perform automatic welding. After welding is completed, it automatically moves to the next welding position, scans again, and then welds automatically. To prevent overtravel, proximity sensors are installed at both ends of the magnetic fixing track 1. When the welding robot 2 moves to the edge of the magnetic fixing track 1, overtravel protection is automatically triggered, controlling the moving base 8 to stop moving and perform other operations. To prevent the welding torch 24 from colliding with the workpiece, an obstacle avoidance sensor is also installed on the welding torch 24. When the welding torch 24 touches the workpiece, the obstacle avoidance sensor triggers automatic protection, and the welding equipment stops all operations. After welding is completed, the welding robot 2, the mobile trolley 3 and the magnetic fixed track 1 can be quickly disassembled and moved separately to the next cross diaphragm for welding of the next segment.

[0033] Furthermore, in a preferred embodiment of this utility model, such as Figure 3 and Figure 4 As shown, the movable base 8 includes a movable base body 81 and track clamping arms 82 fixed at the four corners of the lower surface of the movable base body 81. The magnetically fixed track 1 is located on both sides of the track clamping arms 82 along its length, and the two can slide relative to each other along the length. In embodiments of this invention, the movable base 8 can be mechanically driven or manually pushed. When manually pushed, the movable base 8 can further simplify the mechanism, reduce the overall weight of the equipment, and facilitate equipment transport. Similarly, the movable trolley 3 can also be mechanically driven or manually pushed. Figure 2 As shown, the mobile trolley 3 is equipped with a handle 31, which can be used to push the mobile trolley 3 to move along with the mobile base 8.

[0034] Specifically, such as Figure 4As shown, the inner end face of the track clamping arm 82 is formed with an adapter groove 821 for fitting the side edge of the magnetically fixed track 1. A roller 822 is provided on the upper side of the adapter groove 821, and the lower wheel surface of the roller 822 is in rolling contact with the upper surface of the side edge of the magnetically fixed track 1. When the movable base 8 moves on the magnetically fixed track 1, the adapter groove 821 restricts the movable base 8 to move only in the longitudinal direction of the magnetically fixed track 1, and the roller 822 reduces the frictional force during movement. At this time, the movable base 8 can be pushed manually, thereby reducing the weight of the equipment and facilitating transportation.

[0035] In some embodiments, the movable base 8 may also be mechanically driven, such as... Figure 3 As shown, the bottom of the movable base body 81 is provided with a mechanical drive device 83 for automatically moving it on the magnetic fixed track 1. The mechanical drive device 83 can improve the efficiency of mobile welding. Specifically, as shown... Figure 3 and Figure 4 As shown, the mechanical drive device 83 includes a servo motor 831 fixed to the bottom of the mobile base body 81, a worm gear reducer 832 driven by the servo motor 831, a horizontal shaft 834 driven by the worm gear reducer 832, and traveling rollers 833 fixed at both ends of the horizontal shaft 834. The lower surface of the traveling rollers 833 is driven by the upper surface of the side edge of the magnetic fixed track 1. When it is necessary to drive the mobile base 8 to move automatically on the magnetic fixed track 1, the control box 5 sends a walking command signal to the servo motor 831, which drives the traveling rollers 833 to roll on the magnetic fixed track 1, thereby moving the entire mobile base 8 and the welding robot 2 on the magnetic fixed track 1.

[0036] Furthermore, in a preferred embodiment of this utility model, such as Figure 5 , Figure 6 As shown, the magnetically fixed track 1 is constructed by splicing multiple identical track units 11 using a quick-release connection structure. Vertically, a downwardly extending support portion 12 is formed at the center of the lower surface of each track unit 11. Horizontally, the support portion 12 extends along the length of the track unit 11, with both ends flush with the corresponding ends of the track unit 11. The support portion 12 is magnetically connected and fixed to the U-rib of the steel box girder segment 100 via a first magnetic chuck 14 mounted on its lower surface. Figure 6 As shown, the lower surface of the support portion 12 has a fixing groove 121 for fixing the first magnetic chuck 14. To reduce the weight of the track unit 11, the track unit 11 adopts a hollow design, and hollow weight-reducing grooves are respectively provided on the track unit 11 and the support portion 12. To achieve rapid assembly of the track unit 11, as shown... Figure 5 As shown, adjacent track units 11 are quickly connected by a second magnetic chuck 13.

[0037] In some embodiments, the first magnetic chuck 14 and the second magnetic chuck 13 are both manual permanent magnet chucks with magnetic field on / off control. By rotating the magnetic change switch handle, they can be made to have strong magnetic attraction or no magnetic attraction, which facilitates the rapid splicing of the track unit 11 and the magnetic connection and fixation on the U-rib.

[0038] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely the principles of this utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope. All such changes and modifications fall within the scope of protection claimed by this utility model, which is defined by the appended claims and their equivalents.

Claims

1. A steel box girder segment assembly and welding equipment, comprising a welding robot (2), characterized in that, A magnetically fixed track (1) that can be quickly detached is provided on the U-rib of the steel box girder segment (100). A movable base (8) is detachably installed on the magnetically fixed track (1). The bottom of the welding robot (2) is quickly connected to the movable base (8). On one side of the magnetically fixed track (1), a movable trolley (3) that can move along the length direction of the magnetically fixed track (1) with the movable base (8) is provided. The movable trolley (3) is provided with a detachably installed welding power supply (4), an electrical control box (5), a wire feeder (6), and a welding wire spool (7). The welding power supply (4) and the electrical control box (5) are electrically connected to the welding robot (2) through cables. The welding wire is fed to the welding robot (2) through the welding wire spool (7).

2. The steel box girder segment assembly and welding equipment according to claim 1, characterized in that, The welding robot (2) is a six-axis small robotic arm (21). The robotic arm base (22) of the six-axis small robotic arm (21) is quickly connected to the movable base (8). The robotic arm end of the six-axis small robotic arm (21) is equipped with a binocular vision camera (23) and a welding torch (24).

3. The steel box girder segment assembly and welding equipment according to claim 1, characterized in that, The movable base (8) includes a movable base body (81) and track clamping arms (82) fixed at the four corners of the lower surface of the movable base body (81). The magnetic fixing track (1) is located in the track clamping arms (82) on both sides in the length direction, and the two can slide relative to each other in the length direction.

4. The steel box girder segment assembly and welding equipment according to claim 3, characterized in that, The inner end face of the track clamping arm (82) is formed with an adapter groove (821) for fitting the side edge of the magnetic fixing track (1). A roller (822) is provided on the upper side of the adapter groove (821), and the lower wheel surface of the roller (822) is rolledly connected to the upper surface of the side edge of the magnetic fixing track (1).

5. The steel box girder segment assembly and welding equipment according to claim 3, characterized in that, The bottom of the mobile base body (81) is provided with a mechanical drive device (83) for driving it to move automatically on the magnetic fixed track (1).

6. The steel box girder segment assembly and welding equipment according to claim 5, characterized in that, The mechanical drive device (83) includes a servo motor (831) fixed to the bottom of the movable base body (81), a worm gear reducer (832) connected to the servo motor (831), a horizontal shaft (834) connected to the worm gear reducer (832), and traveling rollers (833) fixed at both ends of the horizontal shaft (834). The lower wheel surface of the traveling rollers (833) is connected to the upper surface of the side edge of the magnetic fixed track (1).

7. The steel box girder segment assembly and welding equipment according to claim 1, characterized in that, The magnetically fixed track (1) is composed of multiple track units (11) with the same structure spliced ​​together by a quick-release connection structure. In the vertical direction, the lower surface of the track unit (11) has a support part (12) extending vertically downward at the center position. In the horizontal direction, the support part (12) extends along the length direction of the track unit (11), and its two ends are respectively flush with the corresponding ends of the track unit (11). The support part (12) is magnetically connected and fixed to the U-rib of the steel box girder segment (100) by a first magnetic chuck (14) installed on its lower surface.

8. The steel box girder segment assembly and welding equipment according to claim 7, characterized in that, The lower surface of the support (12) is provided with a fixing groove (121) for fixing the first magnetic chuck (14).

9. The steel box girder segment assembly and welding equipment according to claim 7, characterized in that, The adjacent track units (11) are quickly connected by a second magnetic chuck (13).

10. The steel box girder segment assembly and welding equipment according to claim 1, characterized in that, The welding robot (2) weighs no more than 20 kg and has a working radius of no less than 600 mm.

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