Automatic welding device for steel structure

Abstract

The utility model discloses a kind of steel structure automatic welding device, including wall-climbing robot, guide and mounting piece, wall-climbing robot is used to complete climbing operation on steel structure surface;Guide has two groups, two groups of guides are respectively arranged in the front and rear ends of wall-climbing robot, guide is used to guide limit for the movement track of wall-climbing robot;Mounting piece is fixedly installed in the top of one end of wall-climbing robot;The utility model is set through the setting of wall-climbing robot, wall-climbing robot replaces artificial to complete steel structure surface climbing, need not in narrow area or high altitude to erect scaffold, directly in-depth traditional artificial difficult to reach narrow welding position, solve the pain point that operation space is limited, operation flexibility is poor, simultaneously, wall-climbing robot is combined with driving part to drive welding torch automatic welding, compared with traditional artificial welding, operation efficiency is greatly improved, and a large number of reinforcing repair welding tasks can be completed quickly.

Description

Technical Field

[0001] This utility model relates to the technical field of automatic welding devices for steel structures, specifically an automatic welding device for steel structures. Background Technology

[0002] During the renovation of old steel structures, the welds of the original structure may crack due to fatigue, corrosion, etc. The connection strength can be restored by repair welding.

[0003] The reinforcement and welding of steel structures involves a large amount of work. Traditional manual welding is inefficient and cannot meet the time requirements. In addition, the welding construction sites are mostly narrow, which limits the space for manual operation and reduces the flexibility of operation. Furthermore, traditional welding construction requires a large amount of scaffolding to be erected, power supply to be set up at different heights, and a large number of welders and welding equipment, resulting in high costs and high resource consumption. Utility Model Content

[0004] The purpose of this invention is to provide an automatic welding device for steel structures to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, this utility model provides the following technical solution: An automatic steel structure welding device includes a wall-climbing robot for climbing on a steel structure surface; two sets of guide members respectively disposed at the front and rear ends of the wall-climbing robot, which guide and limit the movement trajectory of the wall-climbing robot; a mounting member fixedly mounted on the top of one end of the wall-climbing robot; a connecting plate with one end connected to the mounting member and the other end extending towards one side of the wall-climbing robot; a driving member mounted on the other end of the connecting plate; and a welding torch connected to the output shaft of the driving member via the connecting member, which is used for welding the steel structure.

[0006] As a preferred technical solution, the guide includes mounting plates disposed at both ends of the wall-climbing robot. The two sets of mounting plates are respectively connected to the ends of the wall-climbing robot through detachable parts. A connecting block is fixedly connected to the opposite ends of the two sets of mounting plates. A fixing strip is provided at the opposite ends of the two sets of connecting blocks. A strip-shaped hole is opened on the outer side of the two sets of fixing strips. A limiting bolt passes through the inner cavity of the two sets of strip-shaped holes. The two sets of limiting bolts pass through the corresponding side strip-shaped holes and are threaded to the surface of the corresponding side connecting block. The lower ends of the two sets of fixing strips are bent inward into an L-shape. Rollers are rotatably connected to the lower ends of the two sets of fixing strips, and ball bearings are rotatably connected to the top of the lower ends of the two sets of fixing strips.

[0007] As a preferred technical solution, the detachable component includes rectangular holes respectively opened on the surface of each set of mounting plates. Each set of rectangular holes is arranged along the length of the mounting plate. Multiple sets of butterfly bolts are inserted into the inner cavity of each set of rectangular holes. The screws of the multiple sets of butterfly bolts at the same end pass through the corresponding side rectangular holes and are threaded to the end of the wall-climbing robot.

[0008] As a preferred technical solution, the mounting component includes a support base fixedly installed on the top of one end of the wall-climbing robot. A threaded seat is fixedly installed on the top rear side of the support base. A strip groove is slidably connected to the surface of the threaded seat. A hand-tightening bolt is rotatably inserted into one end of the strip groove. The thread of the hand-tightening bolt passes through the threaded seat. The relative position of the strip groove and the threaded seat can be adjusted by tightening the hand-tightening bolt. One end of the connecting plate is fixedly connected to the rear surface of the strip groove.

[0009] As a preferred technical solution, the driving component includes a drive motor fixedly installed on the extension end of the connecting plate, with the output shaft of the drive motor facing upwards.

[0010] As a preferred technical solution, the connector includes a fixing clip sleeved on the output shaft surface of the drive motor. One end of the fixing clip is threaded with a fixing bolt, and one end of the bolt threaded through the other end of the fixing clip. An upwardly bent connecting strip is fixedly installed on the outer surface of the fixing clip. A connecting clip is fixedly installed on the inner side of the upper end of the connecting strip. The inner cavity of the connecting clip engages with a welding gun. A connecting bolt is rotatably connected to the top of the connecting strip. The bolt can engage with the top of the outer end of the connecting clip. A hand-tightening nut is threadedly connected to the surface of the bolt. The end of the hand-tightening nut abuts against the outer surface of the connecting clip. Tightening the hand-tightening nut can push the outer end of the connecting clip inward to fix the welding gun.

[0011] As a preferred technical solution, the surface of the wall-climbing robot is equipped with a protective shell, and the inner cavity of the protective shell is equipped with a control board. The control board is used to control the swing angle and speed of the drive motor. A battery is installed on the back of the protective shell, and the battery is used to power the wall-climbing robot and the drive motor.

[0012] Compared with the prior art, the beneficial effects of this utility model are: 1. This utility model uses a wall-climbing robot to replace manual labor in climbing steel structure surfaces. It eliminates the need for scaffolding in narrow areas or at high altitudes, allowing it to directly access narrow welding positions that are difficult for traditional manual labor to reach. This solves the problems of limited operating space and poor operational flexibility. At the same time, the wall-climbing robot, combined with a drive unit, drives the welding torch to perform automated welding, which greatly improves work efficiency compared to traditional manual welding and can quickly complete a large number of reinforcement and repair welding tasks.

[0013] 2. This utility model, through the setting of guide components, allows the strip-shaped holes on the outer side of the fixing strip to cooperate with the limiting bolts, so that the position of the fixing strip can be flexibly adjusted according to the surface shape of the steel structure. This enables the L-shaped end of the fixing strip, the rollers and balls to adapt to different parts of the steel structure such as the flanges and webs. Furthermore, the rollers and balls roll in contact with the surface of the steel structure, which can reduce the frictional resistance between the fixing strip and the steel structure, ensuring smooth climbing of the wall-climbing robot. It can also accurately limit the movement trajectory of the wall-climbing robot from both the front and rear ends, preventing deviation from the preset path during climbing, and improving the adaptability and movement guidance accuracy of the device to steel structures with different structural shapes.

[0014] 3. This utility model, through the setting of the control board and battery, the protective shell can effectively protect the internal control board, avoiding damage to the control board from spatter and dust generated during the steel structure welding process, extending the service life of the control board. In addition, the control board can accurately set and control the swing angle and speed of the drive motor, ensuring that the welding torch angle and movement speed meet the welding process requirements, improving the stability of welding quality. The battery can provide continuous power to both the wall-climbing robot and the drive motor at the same time, eliminating the limitation of the device's working range on external power supply, enabling the device to adapt to different working environments, and significantly improving the device's mobility and operational flexibility. Attached Figure Description

[0015] Figure 1 This is a structural schematic diagram of the automatic steel structure welding device of this utility model; Figure 2 This is a structural schematic diagram from another perspective of the present invention; Figure 3 This is a schematic diagram of the installation position of the drive motor of this utility model.

[0016] In the picture: 100. Wall-climbing robot; 101. Wing bolt; 102. Rectangular hole; 103. Mounting plate; 104. Connecting block; 105. Fixing strip; 106. Strip hole; 107. Limit bolt; 108. Ball bearing; 109. Roller; 200. Protective shell; 201. Control board; 202. Support base; 203. Strip groove; 204. Drive motor; 205. Connecting plate; 206. Hand-tightening bolt; 207. Threaded seat; 300. Fixing bolt; 301. Fixing clip; 302. Connecting strip; 303. Connecting bolt; 304. Connecting clip; 305. Welding torch. Detailed Implementation

[0017] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0018] Please see Figure 1-3 This embodiment provides an automatic steel structure welding device, including a wall-climbing robot 100, which is used to climb on the surface of a steel structure; two sets of guide members, which are respectively disposed at the front and rear ends of the wall-climbing robot 100, and are used to guide and limit the movement trajectory of the wall-climbing robot 100; a mounting member, which is fixedly installed on the top of one end of the wall-climbing robot 100; a connecting plate 205, one end of which is connected to the mounting member, and the other end of which extends toward one side of the wall-climbing robot 100; a driving member, which is installed at the other end of the connecting plate 205; and a welding torch. 305, the welding torch 305 is connected to the output shaft of the drive unit via a connector. The welding torch 305 is used for welding operations on steel structures. At the same time, the welding torch 305 is connected to the welding equipment. With the setting of the wall-climbing robot 100, the wall-climbing robot 100 replaces manual labor to climb the surface of the steel structure. There is no need to set up scaffolding in narrow areas or at high altitudes. It can directly reach narrow welding positions that are difficult for traditional manual labor to reach, solving the pain points of limited operating space and poor operation flexibility. At the same time, the wall-climbing robot 100, together with the drive unit, drives the welding torch 305 to perform automated welding. Compared with traditional manual welding, it greatly improves the work efficiency and can quickly complete a large number of reinforcement and repair welding tasks.

[0019] Among them, the wall-climbing robot 100 can be purchased on the market. The preferred model is either the WRobot-25 or WRobot-15 wall-climbing welding robot from the Institute of Intelligent Manufacturing, Guangdong Academy of Sciences. This is not a strict limitation. Both robots have magnetic wheels, which are used to adhere to the surface of the steel structure, thus achieving the necessary conditions for stable climbing on vertical and horizontal surfaces.

[0020] The guide includes mounting plates 103 at both ends of the wall-climbing robot 100. The two sets of mounting plates 103 are connected to the ends of the wall-climbing robot 100 through detachable parts. A connecting block 104 is fixedly connected to the opposite ends of the two sets of mounting plates 103. A fixing strip 105 is provided at the opposite ends of the two sets of connecting blocks 104. A strip hole 106 is opened on the outer side of the two sets of fixing strips 105. A limiting bolt 107 is passed through the inner cavity of the two sets of strip holes 106. The two sets of limiting bolts 107 pass through the corresponding side strip holes 106 and are threaded to the surface of the corresponding side connecting block 104. The lower ends of the two sets of fixing bars 105 are bent inward into an L-shape. Rollers 109 are rotatably connected to the lower ends of both sets of fixing bars 105, and balls 108 are rolledly connected to the top of the lower ends of both sets of fixing bars 105. Through the setting of the guide, the strip-shaped holes 106 on the outer side of the fixing bars 105, together with the limiting bolts 107, can flexibly adjust the position of the fixing bars 105 according to the surface shape of the steel structure. This allows the lower L-shaped ends of the fixing bars 105, the rollers 109, and the balls 108 to adapt to different parts of the steel structure, such as the flanges and webs. Furthermore, the rollers 109 and the balls 108 roll in contact with the surface of the steel structure, which can reduce the frictional resistance between the fixing bars 105 and the steel structure, ensuring smooth climbing of the wall-climbing robot 100. It can also accurately limit the movement trajectory of the wall-climbing robot 100 from both the front and rear ends, preventing deviation from the preset path during climbing, and improving the adaptability and movement guidance accuracy of the device to steel structures with different structural shapes.

[0021] The detachable component includes rectangular holes 102 respectively formed on the surface of each set of mounting plates 103. Each set of rectangular holes 102 is arranged along the length of the mounting plate 103. Multiple sets of wing bolts 101 pass through the inner cavity of each set of rectangular holes 102. The screws of the multiple sets of wing bolts 101 located at the same end pass through the corresponding side rectangular holes 102 and are threaded to the end of the wall-climbing robot 100. Through the setting of the detachable component, the cooperation between the rectangular holes 102 and the wing bolts 101 realizes the detachable connection between the mounting plate 103 and the end of the wall-climbing robot 100. The rectangular hole 102 is set along the length of the mounting plate 103, which facilitates the adjustment of the mounting position of the mounting plate 103 at the end of the wall-climbing robot 100, adapting to the end structure of the wall-climbing robot 100 of different sizes. At the same time, the wing bolts 101 can be tightened and disassembled without the need for complicated tools, simplifying the assembly, disassembly and maintenance process of the mounting plate 103 and reducing the difficulty of operation. Meanwhile, multiple sets of wing bolts 101 can ensure the firmness of the connection between the mounting plate 103 and the wall-climbing robot 100, and prevent the mounting plate 103 from loosening during operation.

[0022] The mounting components include a support base 202 fixedly mounted on the top of one end of the wall-climbing robot 100. A threaded seat 207 is fixedly mounted on the top rear side of the support base 202. A strip groove 203 is slidably connected to the surface of the threaded seat 207. A hand-tightening bolt 206 is rotatably inserted into one end of the strip groove 203. The thread of the hand-tightening bolt 206 passes through the threaded seat 207. The relative position of the strip groove 203 and the threaded seat 207 can be adjusted by tightening the hand-tightening bolt 206. One end of the connecting plate 205 is fixedly connected to the rear surface of the strip groove 203. Through the sliding engagement of the threaded seat 207 and the strip groove 203, combined with the fixing effect of the hand-tightening bolt 206, the horizontal position of the strip groove 203 and the connecting plate 205 can be flexibly adjusted, thereby driving the welding torch 305 to adjust its horizontal position synchronously. The hand-tightening bolt 206 can quickly fix the position of the strip groove 205 without the need for professional tools, making the operation convenient and efficient. It can accurately position the horizontal position of the welding torch 305 according to the welding requirements, ensuring that the welding torch 305 can be aligned with the welding parts at different horizontal positions, improving the flexibility and accuracy of the welding torch 305 position adjustment, and adapting to diverse welding position requirements.

[0023] The driving component includes a drive motor 204 fixedly mounted on the extension end of the connecting plate 205. The output shaft of the drive motor 204 is set upwards. Through the setting of the drive component, stable power can be directly provided for the angle adjustment of the welding torch 305. The output shaft of the drive motor 204 is directly connected to the connecting component, and the power transmission path is short and efficient. It can drive the connecting component and the welding torch 305 to rotate stably as required, realize the flexible adjustment of the welding angle of the welding torch 305. Furthermore, the drive motor 204 is installed on the extension end of the connecting plate 205, which is a reasonable layout and does not occupy the climbing space of the main body of the wall-climbing robot 100. At the same time, it can ensure that there is a suitable working distance between the welding torch 305 and the wall-climbing robot 100, avoid mutual interference, and ensure the smooth progress of the welding operation.

[0024] The connector includes a retaining clip 301 fitted onto the output shaft surface of the drive motor 204. One end of the retaining clip 301 is threaded with a retaining bolt 300. One end of the bolt 300's thread passes through the other end of the retaining clip 301. Tightening the bolt 300 pulls the two ends of the retaining clip 301 closer together, thereby reducing the inner diameter of the retaining clip 301 and ensuring a secure connection with the output shaft of the drive motor 204. An upwardly bent connecting strip 302 is fixedly installed on the outer surface of the retaining clip 301. A connecting clip 304 is fixedly installed on the inner side of the upper end of the connecting strip 302. A welding gun 305 is engaged within the inner cavity of the connecting clip 304. A connecting bolt 303 is rotatably connected to the top of the connecting strip 302. The bolt 303's thread can engage with the top of the outer end of the connecting clip 304. A hand-tightening nut is threaded onto the surface of the bolt 303's thread. The end of the nut abuts against the outer surface of the connecting clip 304. Tightening the nut pushes the outer end of the connecting clip 304 inward to fix the welding torch 305. Through the cooperation of the fixing clip 301 and the fixing bolt 300, the inner diameter of the fixing clip 301 can be reduced by tightening the fixing bolt 300, thus achieving a firm connection with the output shaft of the drive motor 204 and preventing the fixing clip 301 from loosening during power transmission. The combination of the connecting clip 304, the nut, and the connecting bolt 303 can push the connecting clip 304 inward to clamp the welding torch 305 by tightening the nut, effectively preventing the welding torch 305 from loosening due to welding vibration and ensuring the operational stability of the welding torch 305. The overall connecting component has a simple structure, is easy to install and disassemble, and can be adapted to different specifications of drive motor 204 output shafts and welding torches 305, improving the compatibility of the device with different accessories and reducing the difficulty of replacing accessories.

[0025] The wall-climbing robot 100 is equipped with a protective shell 200. A control board 201 is installed inside the protective shell 200. The control board 201 controls the swing angle and speed of the drive motor 204. A battery is installed on the back of the protective shell 200, providing power to both the wall-climbing robot 100 and the drive motor 204. Through the control board 201 and the battery, the protective shell 200 effectively protects the internal control board 201, preventing damage from spatter and dust generated during steel structure welding, thus extending its service life. Furthermore, the control board 201 can precisely set and control the swing angle and speed of the drive motor 204, ensuring that the angle and speed of the welding torch 305 meet welding process requirements, improving the stability of welding quality. The battery can simultaneously provide continuous power to both the wall-climbing robot 100 and the drive motor 204, eliminating the limitations of external power sources on the device's operating range, enabling the device to adapt to different working environments, and significantly improving its mobility and operational flexibility.

[0026] Among them, the control board 201 can be an STM32F103 stepper motor control board 201; The motor can be a 42BYGH48-1.8 degree stepper motor, and it comes with an encoder of model E40S6-1000-3-T-5.

[0027] Working principle; First, align the two sets of mounting plates 103 with the front and rear ends of the wall-climbing robot 100 respectively, so that the end of the wall-climbing robot 100 is aligned with the rectangular hole 102 on the surface of the mounting plate 103. Insert multiple sets of butterfly bolts 101 and tighten them to fix the mounting plate 103 to the end of the wall-climbing robot 100. According to the surface morphology of the steel structure, adjust the fixing strip 105 along the connecting block 104 so that the L-shaped end of the fixing strip 105 bent below is engaged with the surface of the steel structure flange. Then, pass the limiting bolt 107 through the strip hole 106 on the outside of the fixing strip 105 and tighten it to fix the relative position of the fixing strip 105 and the connecting block 104. At this time, the roller 109 at the lower end of the fixing strip 105 rolls in contact with the web surface of the steel structure, while the balls 108 roll and connect to the surface of the steel structure flange respectively, preparing for subsequent guidance. If it is necessary to adjust the horizontal position of the welding torch 305, loosen the hand-tightening bolt 206, push the strip groove 203 to slide along the threaded seat 207, drive the connecting plate 205 and the end drive motor 204 and welding torch 305 to move synchronously, and after the welding torch 305 reaches the target horizontal position, tighten the hand-tightening bolt 206 to fix the position. Furthermore, the swing angle and speed of the drive motor 204 can be set by the control board 201 according to the welding requirements. The control board 201 sends corresponding control signals to the drive motor 204. After receiving the signals, the output shaft of the drive motor 204 drives the connector and the welding torch 305 to rotate synchronously according to the set parameters until the welding torch 305 is precisely aligned with the steel structure to be welded. During this process, the battery continuously supplies power to the drive motor 204. Keep the hand-tightened nut always tight to ensure that the connecting clip 304 continuously and stably clamps the welding gun 305, preventing the welding gun 305 from loosening during welding vibration; The wall-climbing robot 100 is started and climbs along a preset path on the steel structure surface. During the climbing process, the rollers 109 of the guide members roll along the steel structure surface, and the balls 108 help reduce the friction between the fixing strip 105 and the steel structure surface. At the same time, the two sets of guide members restrict the movement trajectory of the wall-climbing robot 100 from the front and rear ends to prevent the wall-climbing robot 100 from deviating from the preset path and ensure that it always moves in the direction required for welding. During this process, the battery on the back of the protective shell 200 continuously powers the wall-climbing robot 100. Meanwhile, the wall-climbing robot 100 continues to move slowly along the trajectory defined by the guide, driving the welding torch 305 to move at a constant speed along the part to be welded, thus completing the continuous welding operation.

[0028] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An automatic welding device for steel structures, characterized in that, include: A wall-climbing robot (100) is used to perform climbing operations on the surface of a steel structure; The guide has two sets, which are respectively disposed at the front and rear ends of the wall-climbing robot (100). The guide is used to guide and limit the movement trajectory of the wall-climbing robot (100). Mounting component, which is fixedly mounted on the top of one end of the wall-climbing robot (100); A connecting plate (205) is provided, one end of which is connected to the mounting component, and the other end of which extends toward one side of the wall-climbing robot (100). A driving component, which is mounted on the other end of the connecting plate (205); A welding torch (305) is connected to the output shaft of a drive unit via a connector. The welding torch (305) is used to perform welding operations on steel structures. The guide includes mounting plates (103) disposed at both ends of the wall-climbing robot (100). The two sets of mounting plates (103) are respectively connected to the ends of the wall-climbing robot (100) through detachable parts. A connecting block (104) is fixedly connected to the opposite ends of the two sets of mounting plates (103). A fixing strip (105) is provided on the opposite ends of the two sets of connecting blocks (104). A strip hole (106) is opened on the outer side of the two sets of fixing strips (105). A limiting bolt (107) passes through the inner cavity of the two sets of strip holes (106). The two sets of limiting bolts (107) pass through the corresponding side strip hole (106) and are threaded to the surface of the corresponding side connecting block (104).

2. The automatic steel structure welding device according to claim 1, characterized in that: The lower ends of the two sets of fixing strips (105) are bent inward to form an L-shape. Rollers (109) are rotatably connected to the lower ends of the two sets of fixing strips (105), and ball bearings (108) are rotatably connected to the top of the lower ends of the two sets of fixing strips (105).

3. The automatic steel structure welding device according to claim 2, characterized in that: The detachable component includes rectangular holes (102) respectively opened on the surface of each set of mounting plates (103). Each set of rectangular holes (102) is arranged along the length of the mounting plate (103). Multiple sets of butterfly bolts (101) are passed through the inner cavity of each set of rectangular holes (102). The screws of the multiple sets of butterfly bolts (101) at the same end pass through the corresponding side rectangular holes (102) and are threaded to the end of the wall-climbing robot (100).

4. The automatic steel structure welding device according to claim 3, characterized in that: The mounting component includes a support base (202) fixedly mounted on the top of one end of the wall-climbing robot (100). A threaded seat (207) is fixedly mounted on the top rear side of the support base (202). A strip groove (203) is slidably connected to the surface of the threaded seat (207). A hand-tightening bolt (206) is rotatably inserted into one end of the strip groove (203). The thread of the hand-tightening bolt (206) passes through the threaded seat (207). The relative position of the strip groove (203) and the threaded seat (207) can be adjusted by tightening the hand-tightening bolt (206). One end of the connecting plate (205) is fixedly connected to the rear surface of the strip groove (203).

5. The automatic steel structure welding device according to claim 4, characterized in that: The driving component includes a drive motor (204) fixedly mounted on the extension end of the connecting plate (205), with the output shaft of the drive motor (204) facing upward.

6. The automatic steel structure welding device according to claim 5, characterized in that: The connector includes a fixing clip (301) sleeved on the output shaft surface of the drive motor (204). One end of the fixing clip (301) is threadedly connected to a fixing bolt (300). One end of the bolt (300) is threaded through the other end of the fixing clip (301). An upwardly bent connecting strip (302) is fixedly installed on the outer surface of the fixing clip (301). A connecting clip (304) is fixedly installed on the inner side of the upper end of the connecting strip (302). 4) The inner cavity of the welding gun (305) is connected. The top of the connecting strip (302) is rotatably connected to the connecting bolt (303). The screw of the connecting bolt (303) can be engaged with the top of the outer end of the connecting clip (304). The surface of the screw of the connecting bolt (303) is threaded with a hand-tightening nut. The end of the hand-tightening nut abuts against the outer surface of the connecting clip (304). Tightening the hand-tightening nut can push the outer end of the connecting clip (304) inward to fix the welding gun (305).

7. The automatic steel structure welding device according to claim 5, characterized in that: The wall-climbing robot (100) is covered with a protective shell (200). A control board (201) is installed inside the protective shell (200). The control board (201) is used to control the swing angle and speed of the drive motor (204). A battery is installed on the back of the protective shell (200). The battery is used to power the wall-climbing robot (100) and the drive motor (204).

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